农用多旋翼无人机作业能耗白盒模型构建与试验

为了减少因能量有限而导致无人机飞行时间有限的问题，研究农用无人机在飞行时的作业能耗是十分必要的。本研究以农用多旋翼无人机为研究对象，采用白盒建模的方法，依照动力系统各部件原理，构建了农用无人机的飞行总效率模型，再根据农用无人机的飞行特点，建立了一种针对农用无人机的作业能耗模型，并通过对农用无人机的速度、载荷和航程这3个动态参数分组试验得到的数据进行了验证。结果表明，模型具有较高的精度，最大平均误差约为6.582%,最大绝对误差中位数约为7.654%。最后对模型的各个参数进行分析，引入模型修正系数对模型进行修正，修正后的模型精度相比修正前的最大平均误差减少约3.092个百分点，误差中位数减少约3.612个百分点，修正后效果显著。本研究构建的理论模型可以用于农用无人机作业能耗的计算和预测，在规划无人机任务前就可以得到相应的作业能耗并进行优化，也可以适配不同控制器的其他旋翼机型，具有一定的应用价值。

Construction and Experiment of White Box Model for Energy Consumption of Agricultural Multi-rotor UAV Operation

In order to reduce the problem of limited flight time of UAVs due to limited energy, it is necessary to study the operational energy consumption of agricultural UAVs during flight. Taking agricultural multi-rotor UAV as the research object, the white-box modeling method was used to construct the total flight efficiency model of agricultural UAV according to the principle of each component of the power system, and then an operational energy consumption model was established for agricultural UAV according to the flight characteristics of agricultural UAV, and the data obtained were verified by grouping tests of three dynamic parameters, namely speed, load and range of agricultural UAV. The results showed that the model had a high accuracy, with a maximum average error of about 6.582% and a median maximum absolute error of about 7.654%. Finally, each parameter of the model was analyzed and the model correction coefficient was introduced to correct the model, and the accuracy of the corrected model was reduced by about 3.092 percentage points of the maximum mean error and about 3.612 percentage points of the median error compared with the maximum mean error before the correction, which was significant after the correction. The theoretical model constructed can be used for the calculation and prediction of agricultural UAV operation energy consumption, and the corresponding operation energy consumption can be obtained and optimized before planning the UAV mission, and it can also be adapted to other rotor models with different controllers, which had certain application value.