EnglishforUnmannedaerialvehicle無人機(jī)專業(yè)英語主講教師：劉肩山HowtoMaintainandRepairaUAVintmain(intargc,char**argv)Mission1RoutinemaintenanceofUAVbodyNewWordsroutine[ru??ti?n]adj.常規(guī)的，日常的abruption[?'br?p??n]n.分裂,斷裂spark[spɑ?k]n.火花,火星vibrate[va??bre?t]v.振動(dòng)intermittent[??nt??m?t?nt]adj.間歇性的drift[dr?ft]v.漂移interface[??nt?fe?s]n.接口hexacopter['heks??k?pt?(r)]n.六旋翼無人機(jī)octocopter[??kt??k?pt?r]n.八旋翼無人機(jī)PosHoldmoden.位置模式；定點(diǎn)模式calibrate[?k?l?bre?t]v.校準(zhǔn)capacitor[k??p?s?t?(r)]n.電容oscilloscope[??s?l?sk??p]n.示波器multimeter[?m?lt?mi?t?(r)]n.萬用表【Objective】:StudentsarerequiredtodiscusshowtomaintainthebodyofUAVssothattheUAVscanworknormally.【Analysis】:DuringtheprocessofUAVoperation,somefaultsmayoccurduetoimproperoperationorlackofmaintenance,affectingthenormaluseofUAV.Thenitisnecessarytoanalyzethepossiblecausesofthefaultsandproposesolutions.Mission1RoutinemaintenanceofUAVbody【分析】

:無人機(jī)在運(yùn)行過程中，由于操作不當(dāng)或缺乏維護(hù)，可能會(huì)出現(xiàn)一些故障，影響無人機(jī)的正常使用。所以有必要分析故障產(chǎn)生的可能原因，并提出解決方案。Fault1:Thedronedoesnotworkafterit’spoweredon.TheLEDindicatorandflightcontrollerindicatorturnoff,andthemotorshavenobeep(self-check)sound.Thesolutionsareasfollows:(1)Checkwhethertheoutputvoltageofbatteryisabove22V;(2)Checkwhethertheplugiswronglypluggedinornotconnected;(3)Checkwhetherthereisabruptionofpowercordandplug;(4)Opentheairframemaintenancecovertocheckwhethertheflightcontrolpowersupplyindicatorisnormal;(5)Checkwhethertheairframecircuitboardisdamaged.Mission1RoutinemaintenanceofUAVbody故障現(xiàn)象一：飛機(jī)通電后沒反應(yīng)。LED指示燈和飛控指示燈不亮，電機(jī)也無嗶嗶（自檢）聲。解決方法如下：（1）檢查電池是否正常輸出22V以上的工作電壓；（2）插頭是否插反或虛接；（3）電源線及插頭是否有斷路情況；（4）開機(jī)身維修蓋,檢查飛控供電指示燈是否正常；（5）機(jī)身電路板是否損壞。Fault2:Whenthedroneispoweredon,thepowerplugsparksandringsout.Itmayresultfromthefollowingreasons:(1)Ifthebatteryplugisdirectlyconnectedtothedronewithoutanti-ignitioncable,itisnormalforthepowercordtostrikefire(astheinstantaneouscurrentwillbecomehighwhenthehigh-voltagecapacitorinESC(ElectronicSpeedControl)ischarged);(2)Theanti-ignitionplugisdamagedortheanti-ignitionplugisnotusedcorrectlyinorder.Mission1RoutinemaintenanceofUAVbody故障現(xiàn)象二：每次飛機(jī)通電時(shí),插頭都會(huì)打火花并響一聲?？赡軙?huì)是以下幾個(gè)原因：（1）無防打火連接線時(shí),電池插頭如果直接連接飛機(jī)，電源打火屬于正常情況(電調(diào)內(nèi)有高壓電容充電時(shí),瞬間電流會(huì)很大)；（2）防打火插頭損壞或者未按照順序正確使用防打火插頭。Fault3:Thedronecannotbearmedfortakeoff.Causesoffailurearelistedasfollows:(1)Thedroneisnotpoweredonnormally;(2)Thecalibrationofremotecontrollerisfailed;(3)GPScannotworknormally;(4)ThereexistsmismatchbetweenRCandreceiver.

Thepossiblesolutionsareasfollows:(1)Checkwhetherthedroneisproperlyelectrified;Mission1RoutinemaintenanceofUAVbody故障現(xiàn)象三：飛機(jī)無法解鎖起飛。故障原因：（1）飛機(jī)未正常通電；（2）遙控器校準(zhǔn)不當(dāng)；（3）GPS無法正常使用；（4）遙控器和接收機(jī)不匹配解決方法如下：（1）檢查飛機(jī)是否正確通電；(2)CheckwhethertheuserinterfaceoftheGCSfortheRCpushrodisingreenstate(thethrottleisyellow).Ifitisred,clicktocollectthemedianpositionoftheRCsticksinthesettinginterface.Ifitisinvalid,clicktocalibratetheRCaccordingtoinstructionsafterremovingthepropellers;(3)Poweroffthedroneandreconnectthebattery;(4)CheckwhetherthedataofdroneisnormalandwhetherthenumberofobservableGPSsatellitesis8orabove;(5)Performthecombinationstickcommandtoarmthedroneandexecute“automaticloiter”and“RTL”command;Mission1RoutinemaintenanceofUAVbody（3）斷電重新連接電池；（2）檢查地面站遙控推桿界面是否都是綠色狀態(tài)(油門黃色)，如有紅色的話需要在設(shè)置界面點(diǎn)擊采集遙控器中位，如無效需拆掉螺旋槳后點(diǎn)擊校準(zhǔn)遙控器按照提示操作；（4）檢查飛機(jī)數(shù)據(jù)是否正常，GPS星數(shù)是否8顆星或以上；（5）遙控器打桿解鎖無人機(jī)，并執(zhí)行自動(dòng)懸停和返航降落指令；(6)CheckwhethertheRCmatchesthereceiverofthedrone,ifnot(thereceiverflashesingreenorred),thereceivershouldre-linktothetransmitter;(7)Checkwhetherthedroneisinno-fly

zone,wheredroneisprohibitedfortakeoff;(8)Checkwhetherthereisanyadjustmentinthesub-trimofRC.Ifso,justreturnto“zero”.Mission1RoutinemaintenanceofUAVbody(7)檢查無人機(jī)是否在禁飛區(qū)，禁飛區(qū)禁止無人機(jī)起飛;；（6）檢查飛機(jī)遙控器是否和飛機(jī)上的接收機(jī)匹配一致，如不是(接收機(jī)閃綠燈或紅燈)，則需要重新對(duì)頻；（8）檢查遙控器微調(diào)是否有調(diào)整，如是，歸零即可。Fault4:WhenthedroneisplacedonthegroundandisinPosHoldmode,youpushthethrottlestick,thereareoneormoreofpropellersthatdonotrotate.Thesolutionsareasfollows:(1)Placethedroneonflatground;(2)Re-calibratetheESCs;(3)Checkparameterstoensureweselectthecorrectdronetypethatmatchestheactualconfiguration,suchasoctocopterxconfigurationor+configuration,hexacopterxconfigurationor+configuration,etc.Thissettingwillnotbechangedundernormalcircumstances.Ifchangeshappen,checkwhethertheparametersarerestoredtothedefault;Mission1RoutinemaintenanceofUAVbody故障現(xiàn)象四：當(dāng)飛機(jī)放在地面,處于位置模式下,推油門時(shí)有一個(gè)或多個(gè)螺旋槳不轉(zhuǎn)。（1）把飛機(jī)放到平坦地面上；解決方法如下：（2）重新校準(zhǔn)電調(diào)；（3）檢查參數(shù)，獲取飛機(jī)種類是否和飛機(jī)的軸數(shù)相對(duì)應(yīng)，如八軸x字，八軸+字，六軸x字，六軸+字構(gòu)型等。此設(shè)置一般情況下自己不會(huì)改變。如發(fā)現(xiàn)改變后，要檢查是否把參數(shù)恢復(fù)了默認(rèn)；(4)CheckwhetherthemotororESCisdamaged;(5)Checkwhethertheflightcontroloutputinterfaceisdamaged;(6)Checkwhethertheplugorconnectingwirefallsoff,orisnotfirmlyconnected;(7)Checkwhetherthethrottlestickispushedforalongtime.Ingeneral,thethrottlestickispushedtothemiddleorabovepositionwithin5seconds.Mission1RoutinemaintenanceofUAVbody（4）電機(jī)或電調(diào)損壞；（7）油門推時(shí)間過久，一般情況下5秒鐘左右把油門推到中位或上就好，不宜過久。（5）飛控輸出接口損壞；（6）插頭或連接線脫落，或連接不良；

Fault5:Beforetakingoff,theimbalanceofthemotorlastsmorethan10seconds.Thesolutionsareasfollows:(1)Checkwhetherthethrottlestickispushedovertime,ingeneral,thethrottlestickispushedtothemiddleorabovepositionwithinabout5seconds,andthetimespanshouldnotbetoolong.(2)Poweroffthevehicleandreconnectthebattery.Mission1RoutinemaintenanceofUAVbody故障現(xiàn)象五：未起飛，飛機(jī)就出現(xiàn)電機(jī)不平衡,持續(xù)10秒以上。（1）油門推時(shí)間過久。一般情況下5秒鐘左右把油門推到中位或以上就好，不宜過久；解決方法如下：（2）斷電，重新連接電池。Fault6:Aftertakingoff,thedronedriftsatfixedheightordrawsalargecircle.Thesolutionsareasfollows:(1)Recalibratethecompass;(2)Checkwhetherthedroneisin“automaticloiter”mode;(3)CheckwhetherallRCsticksareinneutralposition;(4)CheckwhetherthenumberofGPSsatellitesismorethan8.Whenthedroneisflyingaroundthehighbuildingsorattheshelteredplaces,theGPSreceiverwillbedirectlyimpacted,soanopenplaceisusuallychosenasthetake-offposition;Mission1RoutinemaintenanceofUAVbody故障現(xiàn)象六：飛機(jī)起飛后定高漂移或畫大圈。（1）重新校準(zhǔn)磁羅盤；解決方法如下：（2）檢查飛機(jī)是否在自動(dòng)懸停狀態(tài)；（3）檢查遙控器是否在中立位置；（4）檢查GPS星數(shù)是否8顆以上，飛機(jī)在高建筑物周圍或有遮擋的地方對(duì)GPS有直接影響，一定要選擇開闊的地方作為起飛場(chǎng)地；(5)Checkwhetherthereisanyimbalanceofthemotorlastingmorethan10seconds;(6)Checkwhetherthereisanyinterferencefromhigh-voltagelinesandhigh-powerwirelessequipment;(7)Togglebacktomanualmode,anddopreflightcheckafterlanding.Mission1RoutinemaintenanceofUAVbody（5）檢查電機(jī)是否有不平衡持續(xù)超過10秒以上；（6）檢查是否有地磁或高壓線和大功率無線設(shè)備干擾；（7）切回手動(dòng)，降落檢查。Fault7:TheRCsticksdonotworkduringflightorinloitermodeuntilwetoggletomanualmode.Thesolutionsareasfollows:(1)RestarttheGCSanddrone(iftheattitudemodecontrolrodispushedbymistake,thereiswarningthatthismodeisnotallowedusewithoutpermission,oryouwillbeartheconsequences);(2)Checkwhetherthedroneisinloitermode.SometimestheRCsticksdonotworkinmissionmode.Mission1RoutinemaintenanceofUAVbody故障現(xiàn)象七：飛行過程中或懸停模式下飛機(jī)搖桿全部失靈，只有切換手動(dòng)才可操控飛機(jī)。解決方法如下：（1）重新啟動(dòng)手機(jī)地面站和飛機(jī)（誤碰到手機(jī)控制姿態(tài)模式，警告:此模式在未經(jīng)允許下不得擅自運(yùn)用，否則后果自負(fù)）；（2）檢查飛行狀態(tài)是否是自動(dòng)懸停模式。有時(shí)自動(dòng)導(dǎo)航模式下飛機(jī)搖桿不起作用（版本不同）。Fault8:Thedronedoesnotflyinastraightlineduringtheflight.Thereasonsandsolutionsareasfollows:(1)GPSpositioningisinaccurate(highbuildingsintheneighborhoodcanblockthesignalreception,causingpositionerrors);(2)Checkwhetheryoupushtherudderstickbymistakewhileyouarepushingtheelevatorstick;(3)WhethertheGPSreceiverispointingstraightaheadofthedrone(recalibratethecompassaftertheadjustment);(4)Checkwhetherthedirectionofthedroneisstraightened,andthereisnopushingsticksbymistakeduringflight;Mission1RoutinemaintenanceofUAVbody故障現(xiàn)象八：飛行過程中飛機(jī)不按照直線飛行。原因及解決方法如下：（1）GPS定位不準(zhǔn)(周圍有高建筑物遮擋信號(hào))；（2）遙控器在推升降舵時(shí)是否推到了方向舵；（3）GPS出線方向是否是指向飛機(jī)正前方(修改后重新校準(zhǔn)磁羅盤)；（4）檢查飛機(jī)方向是否擺正，飛行中有無誤壓桿現(xiàn)象；Fault9:Thedronesuddenlyhoversuncontrollablyduringflight,thenafewsecondslater,itautomaticallyrisesabout20meters,andfliestowardsthedirectionofthetake-offpoint.Thesolutionsareasfollows:(1)Checkwhetherthecontrolstickistoggledto“RTL”mode.Ifso,togglebacktoloitermode;(2)TheRCantennaisdamagedorblocked;(3)Therearehigh-voltageorhigh-powerdevicesaroundwithabovetenthousandvoltsinterferingwiththeradiosignaltransmission;(4)Whetherthereceiverisdamagedornotfirmlyconnected;Mission1RoutinemaintenanceofUAVbody故障現(xiàn)象九：飛行過程中飛機(jī)突然懸停不受控制，幾秒鐘后自動(dòng)升高20米左右，且往起飛點(diǎn)方向飛行。解決方法如下：（1）檢查CH6是否撥到返航降落狀態(tài)，如是，拔回到自動(dòng)懸停模式即可；（2）遙控器天線損壞或被遮擋；（3）飛機(jī)周圍有萬伏以上高壓電或大功率干擾設(shè)備，干擾到遙控傳輸；（4）接收機(jī)是否損壞或連接不良；(5)InRTLmode,it’snormalforthedronetoclimbandthenreturntoitshomelocation.Thetake-offpointisautomaticallyrecordedwhenGPSreceiverobservesaboveeightsatelliteseachtime.WhenthedroneisinRTLmode,thedronewillautomaticallyriseto20metershightoavoidtheobstaclesifitismorethan25metersfarfromthetake-offpointandthenreturntothetake-offpoint.Attheheightofmorethan20meters,thedronereturnstolaunchfromitscurrentheight;whentheheightisbelow20meters,thedronewillclimbtotheRTLheightandthenland.TheRCsticksareuncontrolledwhenthedroneisinRTLmode.Onlywhenitarrivesatthepointoverthehomelocationandbeginstoland,cantherudderandaileronstickswork.Atthemoment,thethrottlestickisuncontrolled,sotheoperatorcanchoosetheflatplaceasthelandingpoint.IfyouwanttoexittheRTLmode,youmusttogglethe“CH6”switchtoloitermode,andthentogglethe“CH5”switchtomanualmode.Iftheoperatorisnotveryskillful,thedronecanbeswitchedtomanualmodefirst,thentoggledbackimmediatelytoloitermode,thusitcanbecontrolledagain.Mission1RoutinemaintenanceofUAVbody（5）在返航降落狀態(tài)下，爬升再返回屬于正常情況。飛機(jī)每次起飛時(shí)會(huì)自動(dòng)記錄GPS8顆星后的起飛點(diǎn)，返航降落時(shí),如果飛機(jī)離起飛點(diǎn)超過25米,為躲避障礙物會(huì)自動(dòng)升高20米左右然后返回起飛點(diǎn)，20米以上高度時(shí)飛機(jī)按照原有高度返航，25米以內(nèi)會(huì)從現(xiàn)有高度返航降落。返航降落時(shí)飛機(jī)搖桿是不受控制的，只有到達(dá)起飛點(diǎn)開始降落時(shí),方向舵和副翼才起作用。油門是不受控制的，此時(shí)操作者可以選擇平坦的路面降落，如果想解除返航降落狀態(tài),必須把CH6通道切換到自動(dòng)懸停位置后，再把CH5通道切換到手動(dòng)狀態(tài)，才可解除，如果操作者熟練度低可以在切到手動(dòng)解鎖后馬上再切回自動(dòng)懸停，就可以重新操控飛機(jī)。Warning:whenswitchingtothemanualmode,don’tpullthethrottlesticktothebottom,andtrytokeepitattheneutralposition,otherwisethedronewilllosepowerandcrash.Inaddition,payattentiontothebatteryvoltagewhenreturningtoland.Ifthevoltageofbatteryislowerthan21.9V,youmusttoggletomanualmodeorloitermodetolandatitscurrentposition,avoidingcrashduetorunningdownofbattery.Mission1RoutinemaintenanceofUAVbody警告：切換手動(dòng)模式時(shí)油門不可以收到底，盡量保持在50%位置，否則飛機(jī)失去動(dòng)力會(huì)高空墜毀，另外返航降落時(shí)注意觀察電池電壓,如果電量低于21.9V時(shí)，必須切換到手動(dòng)模式或者懸停模式原地降落，避免電池耗盡摔機(jī)。Fault10:Thereisaccidentalvibrationorcontinuousvibrationduringflight.Theoperationalstepstosolvetheproblemareasfollows:(1)ChecktheparameterpageoftheGCS:whetherthereislowvoltagealarm(thedroneshouldlandimmediatelywhenthevoltageisbelow21.9V,anditmaycrashatanytimewhenthevoltageisbelow21.6V);(2)ChecktheparameterpageoftheGCS:whetherthedifferencevaluebetweenbuilt-inmagneticheadingandexternalmagneticheadingexceeds10(adjusttheGPSreceivertobestraightaheadofthevehicleandrecalibratethecompass);

(3)ChecktheparameterpageoftheGCS:whetherthereisafaultdownthepage(thefaultoccurswhenthereexistsexternalinterferenceorimproperoperation,thefaultcanberesolvedbycuttingoffthepowerofvehicleandrestartingthevehicle).Mission1RoutinemaintenanceofUAVbody故障現(xiàn)象十：飛行中飛機(jī)間接性振動(dòng)或者持續(xù)性振動(dòng)。解決該問題的操作順序?yàn)椋海?）檢查地面站的參數(shù)頁面是否有低電壓報(bào)警(電壓低于21.9V應(yīng)該馬上降落，電壓低于21.6V以下隨時(shí)可能墜機(jī))；（2）檢查地面站的參數(shù)頁面，本機(jī)磁航向和外接磁航向數(shù)值是否超過10以上（調(diào)整兩個(gè)GPS箭頭沖機(jī)頭正前方方向，重新校準(zhǔn)磁羅盤，如校準(zhǔn)后誤差超過8以上，需要手動(dòng)扭轉(zhuǎn)單個(gè)GPS和另一個(gè)同步）；（3）檢查地面站的參數(shù)頁面，下翻頁是否故障(受外界干擾或者操作不當(dāng)時(shí)會(huì)出現(xiàn)此故障，此時(shí)重新斷電重啟后即可)。Fault11:Thereexitscontinuousmotorimbalanceorintermittentmotorimbalanceformorethan3secondsduringflight.Thesolutionsareasfollows:(1)Checkwhetherthemotorandpropellerareonaparallelplanewiththeairframe,orsimplyconfirmwhetherthetipsofthetwopropellersareparallel(ifnot,loosenthearmscrewsandtightenthemafterleveling);(2)Ifthemotorscontinuetobeunbalancedandtheirspeedisstillincreasing,youshouldlandthedroneassoonaspossible,checktheESCsandmotors.Mission1RoutinemaintenanceofUAVbody故障現(xiàn)象十一：飛行中持續(xù)出現(xiàn)電機(jī)不平衡，或者間歇性出現(xiàn)3秒鐘以上。解決方法如下：（2）如果電機(jī)持續(xù)出現(xiàn)不平衡且轉(zhuǎn)速一直增大數(shù)字，應(yīng)盡快或馬上降落，并檢查電機(jī)電調(diào)。（1）檢查電機(jī)以及螺旋槳是否和機(jī)身處在一個(gè)平行面上，也可以簡(jiǎn)單對(duì)比兩個(gè)螺旋槳的槳尖是否是平行的(如果不平行,松開機(jī)臂螺絲調(diào)平后扭緊即可)；Fault12:Thedroneisuncontrolled,anditvibratesbackandforthtowardsoneside.Thesolutionsareasfollows:(1)Ifyoucanskillfullyflythedronemanually,youshouldtoggletomanualmodetolandthedroneimmediately;(2)Ifyouarenotskilledinoperatingthedronemanually,youshouldpulldownthethrottlestickassoonaspossibletoletthedronelandandtogglebacktomanualmodetoreduceunnecessaryloss.Mission1RoutinemaintenanceofUAVbody故障現(xiàn)象十二：飛機(jī)不受控制向某一側(cè)來回抖動(dòng)。解決方法如下：（2）如無手動(dòng)操作能力者，盡快收油原地降落后遙控切回手動(dòng)以減少不必要的損失。

（1）如操作者能熟練掌握手動(dòng)模式飛行能力，你應(yīng)該切手動(dòng)并盡快降落；Mission2RoutinemaintenanceofUAVGCSantenna[?n?ten?]n.天線electromagnetic[??lektr??m?ɡ?net?k]adj.電磁的shield[?i?ld]v.給…加防護(hù)罩omnidirectional[??mn?d??rek??nl]adj.全向性的defectivesponge[sp?nd?]n.海綿barometer[b??r?m?t?(r)]n.氣壓計(jì)NewWordsIntheprocessofoperatingUAVs,duetoinadequatemaintenanceofthedroneandGCS,thedronemayhavethefollowingfaults.Mission2RoutinemaintenanceofUAVGCS在無人機(jī)的使用過程中，由于無人機(jī)與地面站的相關(guān)維護(hù)工作不到位，無人機(jī)在地面站操作過程中可能會(huì)出現(xiàn)以下故障：故障現(xiàn)象一：地面站通信斷開或間歇性通信斷。解決方法如下：Fault1:GCScompletelyorintermittentlydisconnectscommunicationwiththedrone.Thesolutionsareasfollows:(1)Checkwhetherthewiresofdroneareconnectedproperly;（1）檢查飛機(jī)插頭是否正確連接；(2)CheckwhetherthebatteryleveloftheGCSisnormalandwhetherthepowerswitchisturnedoncorrectly;（2）檢查地面電臺(tái)電量是否正常，開關(guān)電源是否正確打開；(3)CheckwhethertheGCSradioantennaandtheradiotelemetryantennaarefirmlyconnected.Ifnot,youshouldcheckthewiringconnectionanddothecommunicationtesttoensurethefunctionisnormal;Mission2RoutinemaintenanceofUAVGCS（3）檢查電臺(tái)天線與機(jī)載電臺(tái)天線連接，有無虛連、虛接，如有，需正常連接；（4）檢查周圍是否有其它手機(jī)或者電子設(shè)備連接WIFI；（5）飛機(jī)起飛后偶爾通信斷開通常不超過3秒，屬正常信號(hào)發(fā)射，與飛機(jī)實(shí)際作業(yè)的地理位置電磁干擾有關(guān)及天氣原因相關(guān)；(4)CheckwhethersmartphonesorelectronicdevicesaroundareconnectedtotheWIFI;(5)ItisnormalthatthedroneoccasionallydisconnectcommunicationwithGCSaftertake-offfornomorethan3seconds,whichisrelatedtotheelectromagneticinterferenceorweather;(6)Checkwhethertherearetallshieldingobjectsorelectromagneticinterferenceequipmentaround(suchashighvoltagelines,powerplants,etc.)whichwillaffectthenormaltransmissionandreceptionofsignals;(7)Puttheantennaashighaspossible.Iftheantennaisomnidirectional,youcan’tmaketheantennaofGCSpointtowardsthedrone.Mission2RoutinemaintenanceofUAVGCS（7）天線盡量放高。此為全向天線，注意擺放時(shí)天線不能指著飛機(jī)。（6）查看周圍有無高大遮擋物或電磁干擾設(shè)備(高壓線、發(fā)電廠等),會(huì)影響信號(hào)正常發(fā)射與接收；Fault2:TheGCSdatadisplaydoesn’tcorrespondwiththeactualstatusofthedrone.Thecausesofthefaultandsolutionsareasfollows:故障現(xiàn)象二：地面站數(shù)據(jù)顯示與飛機(jī)實(shí)際狀態(tài)不符合。故障原因及解決方法如下：(1)Fault:ThealtitudeshowedontheGCSisnottherealaltitude.Solution:Asthealtitudeofthedroneismeasuredbythebarometer,whichisalwayscloselyrelatedtothelocalweatheratthetime.Sothebarometermaybedefectiveorthereisfunctionfailureofthespongethatcoveredonthebarometer.(2)Fault:Thevoltageofdroneintheairisdifferentfromthatofdroneonland.Solution:Itisanormalcasethatthebatteryvoltageincreases(nomorethan1V)whenthedronelandsastheweightofloaddropssharplyafterlanding;(3)Fault:ThereisadeviationbetweentheactualthrottlevalueandtheRCthrottlevalue.

Solution:Theactualthrottlevalueiscorrectedbytheflightcontroller.Ifthedataexceedsthethreshold,checkwhetherthedroneisoverloaded.Mission2RoutinemaintenanceofUAVGCS（2）故障：飛控電壓顯示飛機(jī)正常飛行與降落時(shí)不符。解決辦法：飛機(jī)降落時(shí)電池負(fù)載值驟降，電池電壓升高(不大于1V)屬于正?；仉?；（3）故障：實(shí)際油門舵量與遙控油門舵量有偏差。解決辦法：實(shí)際油門舵量為飛控計(jì)算數(shù)據(jù)后修正，如有爆紅需檢查是否過載。（1）故障：地面站顯示的飛行高度與實(shí)際高度不符。解決辦法：飛機(jī)飛控定高為氣壓計(jì)定高，與當(dāng)時(shí)當(dāng)?shù)靥鞖庠驎r(shí)時(shí)相關(guān)，飛機(jī)在起飛時(shí)會(huì)實(shí)行重新定高以保證數(shù)據(jù)準(zhǔn)確；Mission3RoutinemaintenanceofRemoteControllermechanism[?mek?n?z?m]n.機(jī)制generative[?d?en?r?t?v]adj.有生產(chǎn)力的;能生產(chǎn)的preset[?pri??set]adj.預(yù)先調(diào)整的solidgreen[?s?l?d][ɡri?n]常綠NewWordsThemaintenanceofRCincludecasesasfollows:Mission3RoutinemaintenanceofRemoteController無人機(jī)遙控器維護(hù)時(shí)會(huì)有以下諸多現(xiàn)象：故障現(xiàn)象一：遙控器開機(jī)后滴滴地響，或連續(xù)響動(dòng)。Fault1:ThereisbeepsoundafterturningontheRC.Thesolutionsareasfollows:(1)CheckwhetherthethrottlestickpositionoftheRCispulleddowntothebottom;(2)CheckwhetherthevoltageoftheRCreachesthepresetalarmvalue(standardinitialsettingis6.8V).解決方法如下：（1）檢查遙控器油門位是否歸零；（2）檢查遙控器電壓是否到達(dá)預(yù)設(shè)報(bào)警值(標(biāo)配初始設(shè)置6.8V)。Mission3RoutinemaintenanceofRemoteController（1）檢查遙控器通道設(shè)置是否一致(日本手出廠默認(rèn)設(shè)置1～6通道分別為j1、j3、j2、j4、SE、SC,美國(guó)手出廠默認(rèn)設(shè)置1～6通道分別為j1、j2、j3、j4、SE、SC)；故障現(xiàn)象二：遙控器打桿與飛機(jī)動(dòng)作不符。Fault2:ThedronecannotreactcorrectlytothecontrolsticksofRC.Thesolutionsareasfollows:(1)checkthechannelsettingofRC(e.g.ThedefaultfactorysettingofJapaneseHand:channels1~6areJ1,J3,J2,J4,SE,SC;ThedefaultfactorysettingofAmericanHand:channels1~6aresetasJ1,J2,J3,J4,SE,SC);(2)CheckwhetherthesignalwiresbetweenflightcontrollerandRCreceiverarecorrectlyconnected;(3)CheckandcalibratetheRC(donotforgettoremoveallthepropellers).解決方法如下：（2）檢查飛機(jī)飛控和接收機(jī)間的信號(hào)線連接是否正確；（3）檢查并校準(zhǔn)遙控器(別忘了移除所有螺旋槳)Mission3RoutinemaintenanceofRemoteController故障現(xiàn)象三：遙控器無法對(duì)頻。Fault3:Thereceivercannotbelinkedwiththetransmitter.Thesolutionsareasfollows:(1)TurnontheRC,thenpoweronthedrone.Ifreceiverstatusindicatorbecomesblinkinggreenwhichmeansthereceiveriswaitingforlink,thenpresstheresetbuttononthereceiveruntilthereceiverstatusindicatorflashesaredlightforthreetimes.Whenthereceiverstatusindicatorbecomessolidgreen,thelinkprocedureissuccessful.Lastly,poweronthereceiveragainandcheckwhetherthereceiverisbeingpairedwiththetransmitter;解決方法如下：（1）打開遙控器，并給飛機(jī)上電?？厥諜C(jī)綠燈單閃為待對(duì)頻狀態(tài)，按下接收機(jī)上按鈕至紅燈單閃三次后松開，綠燈常亮對(duì)頻成功。對(duì)頻成功后接收機(jī)重新上電，檢查是否與本人遙控器對(duì)頻；Mission3RoutinemaintenanceofRemoteController（2）對(duì)頻時(shí)不得長(zhǎng)按接收機(jī)以免改變接收機(jī)模式；(2)Donotpresstheresetbuttonofreceiverforalongtimetoavoidchangingthereceivermode;(3)CheckwhethertheRCcontrolsticksandswitchesareintheinitialpositionbeforeflight(theswitchesareplacedintheOFFposition,thethrottlestickisputatthebottom).（3）飛行前檢查遙控器通道開關(guān)，是否為初始位置（即開關(guān)位置桿向下，油門位最低）；Mission4RoutineMaintenanceofBatteriesswell[swel]v.膨脹;鼓出moisture[?m??st??(r)]n.潮濕rupture[?r?pt??(r)]v.斷裂，裂開，破裂welding[?weld??]n.焊接precaution[pr??k???n]n.注意事項(xiàng)；預(yù)防措施accelerate[?k?sel?re?t]v.加速combustion[k?m?b?st??n]n.燃燒spontaneous[sp?n?te?ni?s]adj.自發(fā)的aeronauticalmeteorology[?e?r??n??t?kl][?mi?ti??r?l?d?i]n.航空氣象學(xué)NewWordsImproperuseofbatteriesmaycausemanyfaultsandevenbringpropertylossandpersonalinjury.Thecausesandsolutionsareasfollows:Mission4RoutineMaintenanceofBatteries（3）電池平衡頭短路。在無人機(jī)日常使用中對(duì)電池使用不當(dāng)會(huì)造成諸多現(xiàn)象，其故障原因和解決辦法如下：

Fault1:theplugofbatteryisabnormallyhotafterflightandthebatterycannotbecharged.Causesoffaults:(1)Improperweldingofbatteryplug;(2)Looseconnectionofbatteryplug;(3)Short-circuitofbatterybalancingplug.故障原因：故障現(xiàn)象一：電池?zé)o法正常充電及飛行結(jié)束后插頭異常發(fā)熱。（1）電池插頭焊接不當(dāng)；（2）電池插頭虛接；Thesolutionsareasfollows:(1)Checkwhetherthebatteryplugisimproperlyweldedorbroken,andwhethertheweldingmeetsthetechnicalrequirements;(2)Checkwhetherthebatteryplugandthedronepowerplugarenotfirmlyconnected,shorted,orincompatible(frequentpluggingandunpluggingwillaffecttheconnectionresultinginlooseconnection).Ifso,thedroneplugshouldbeexternallyexpandedtoincreasethecontactarea;(3)Checkwhetherthebatterybalancingplugisshortedorvirtuallyconnected,whichcanresultinchargefail.

Mission4RoutineMaintenanceofBatteries（2）檢查電池插頭與飛機(jī)連接插頭有無虛接、短接，是否兼容(長(zhǎng)期插拔會(huì)影響插頭連接，造成虛接)，需將飛機(jī)插頭外擴(kuò)，加大接觸面積即可；解決方法如下：（3）檢查電池平衡頭有無短路、虛接，造成無法正常充電。（1）檢查電池插頭有無虛焊、斷裂，焊接是否達(dá)到技術(shù)要求；Fault2:Batteryisswelling.Causesoffaults:(1)Theuserdoesnotusethesuitedchargerasrequired;(2)Frequentdeepchargeanddischargecausebatteryswellingeasily;(3)Frequentovercharge,over-dischargeandhighchargingcurrent;(4)Beingusedbelow0degreeorinahightemperatureforalongtime;(5)Thebatteryischargedimmediatelywhenthetemperatureofbatteryistoohighafteruse.Mission4RoutineMaintenanceofBatteries（1）用戶不按要求使用匹配的充電器；故障現(xiàn)象二：電池膨脹及使用壽命過短。故障原因：（2）頻繁深度充放電(電量用到極限，然后再去充電)，易造成電池膨脹；（3）長(zhǎng)期過充過放以及充電放電時(shí)電流過大；（5）電池在使用后溫度過高時(shí)立即充電。（4）長(zhǎng)時(shí)間在冰點(diǎn)以下或過熱環(huán)境下使用；Thesolutionsareasfollows:(1)Usetheprofessionalchargerprovidedbytheoriginalmanufacturer;(2)Avoidfrequentdeepdischarge,andkeepreasonablecharginganddischarging;(3)Avoidoverchargeandover-dischargeofbatteries;(4)Choosesuitableflyingenvironmenttoensuretheworkingefficiencyofthedrone;(5)Placetheusedbatteryformorethanfivetotenminutesbeforecharging.

Mission4RoutineMaintenanceofBatteries（5）將使用后的電池放置五到十分鐘以上再進(jìn)行充電。解決方法如下：（2）避免長(zhǎng)期深度放電，合理充放；（3）避免無人機(jī)電池的過充過放，影響其使用壽命；（1）請(qǐng)使用原廠配備的專業(yè)充電器，不合格的充電器易使電池形成膨脹；（4）合理選擇飛行環(huán)境，確保無人機(jī)的工作效率；Fault3:Batteryswellsorexplodesintransportationandstorage.Causesoffaults:(1)Improperprotectivemeasuresaretakenwhenthebatteryisintransportation;(2)Thebatteryisstoragedwithlowvoltageorhighvoltageforalongtime;(3)Thebatteryisstoragedinthehumidandhightemperatureenvironment;(4)Nosupervisiononthebatterychargingsite.Thesolutionsareasfollows:Mission4RoutineMaintenanceofBatteries（1）電池運(yùn)輸過程中保護(hù)措施不當(dāng)；故障原因：（2）電池長(zhǎng)時(shí)間低電壓或高電壓保存；故障現(xiàn)象三：電池運(yùn)輸及保存時(shí)發(fā)生膨脹、爆炸。（3）電池在潮濕、高溫處存放；（4）電池充電現(xiàn)場(chǎng)無人監(jiān)管。解決方法如下：(1)Takeprotectivemeasureswhenthebatteryisintransportation.Dischargethebatteryuntilitreachesthestoragevoltage;adoptanti-deformationprotectorastheouterpackagingandsoftprotectorasinnerpackaging;(2)Keepthevoltagebetween3.8V~3.85V(storagevoltage)whenthebatteryisnotinuseformorethan3days.Toohighvoltagewillbeariskofspontaneouscombustion,whiletoolowvoltagewillaffectthelifespan,soacharginganddischargingcycleisrequiredevery3months;(3)Storethebatteryintheenvironmentoftemperaturebetween0

℃and20℃.Astheself-dischargeoflithiumbatteryisaffectedbyambienttemperatureandhumidity,whichwillacceleratetheself-dischargeofthebattery;(4)Poweroffthechargerafterthebatteryisfullycharged.Thechargingprocessshallbesupervisedallthetime.Mission4RoutineMaintenanceofBatteries（1）電池運(yùn)輸時(shí)必須做好保護(hù)措施:電壓放到保存電壓，外包裝采用防壓保護(hù)，內(nèi)包裝采用軟質(zhì)保護(hù)；（2）電池不使用超過3天時(shí)電壓要保持在3.8V～3.85V之間(保存電壓)，電壓過高會(huì)有自燃危險(xiǎn)，過低會(huì)影響使用壽命，且每3個(gè)月要進(jìn)行一次充放電循環(huán)；（3）鋰電池的自放電受環(huán)境溫度及濕度的影響。高溫及濕溫會(huì)加速電池的自放電，電池應(yīng)盡量存放在0度到20度左右的環(huán)境中；（4）電池充電時(shí)現(xiàn)場(chǎng)不得無人監(jiān)護(hù)，充滿后要及時(shí)斷電。Fault4:Batterycannotbechargednormally.Thesolutionsareasfollows:(1)Checkwhetherthebatterybalancingplugandthechargerconnectionsocketarefirmlyconnectedornot;(2)Checkwhetherthebuttonofchargerispressedcorrectlyafterthebatteryisconnected;(3)IfthechargingtimeofthechargerunderAC220Vvoltagedoesnotmatchthatofthegeneratorintheworkplace,checkwhetherthepowerofthegeneratorcorrespondswiththatofthechargingstation.Mission4RoutineMaintenanceofBatteries解決方法如下：（2）檢查電池連接正確以后有無按動(dòng)按鈕；故障現(xiàn)象四：電池?zé)o法正常充電。（1）檢查電池平衡插頭與充電器連接插口有無虛接；（3）如果在交流220V電壓下，充電器的充電時(shí)間與工作場(chǎng)所發(fā)電機(jī)的充電時(shí)間不匹配，檢查發(fā)電機(jī)的功率與充電站的功率是否對(duì)應(yīng)。Mission5RoutineMaintenanceofSprayingSystemspray[spre?]n.噴霧hose[h??z]n.軟管sprinkler[?spr??kl?(r)]n.噴灑器nozzle[?n?zl]n.噴嘴pump[p?mp]n.泵discharge[?d?st?ɑ?d?]n.放電pesticide['pest?sa?d]n.殺蟲劑，農(nóng)藥rubbergasket[?r?b?(r)?ɡ?sk?t]n.橡膠墊片NewWordsMission5RoutineMaintenanceofSprayingSystem【Objective】:TosolveproblemsrelatedtothesprayingsystemofplantprotectionUAV,suchassprinklerleakage,functionfailureofpumporpoorperformance.【Analysis】:Thesprayingsystemmainlyconsistsofspraytank,pumpmotor,hoses,sprinklersandnozzles.Thepumpmotorpumpspesticidefromspraytankintohose,thenthepesticidewillreachthesprinkler,andequaldistributionoftheliquidoutflowfromthespraynozzleformsawidespectrumofdrops.Youneedtohaveafundamentalunderstandingoftheworkingprincipleofthesprayingsystem,andlearnfromtheusermanualandsafetyguidelinesprovidedbythemanufacture.【分析】：噴灑系統(tǒng)主要由水箱、泵電機(jī)、軟管、噴灑器、噴嘴組成。泵電機(jī)將農(nóng)藥從水箱泵入軟管中，然后農(nóng)藥到達(dá)噴頭，從噴嘴流出的液體均勻分布形成大范圍的霧滴。您需要對(duì)噴灑系統(tǒng)的工作原理有一個(gè)基本的了解，并學(xué)習(xí)由制造商提供的用戶手冊(cè)和安全指南。Mission5RoutineMaintenanceofSprayingSystemFault1:Thepumpdoesn’tworkandthereisnosound.Thesolutionsareasfollows:(1)Checkandmakesurethepumppowerplugisfirmlyconnected;(2)Checkwhetheryouactivatethefunctionofswitchthatcontrolthepump;(3)Checkwhetherthereceiveriscorrectlyconnectedtothesprayingsystemandwhetherthereexistslooseconnection;(4)Checkwhetherthereceiverislinkedtothetransmitter;(5)ItisnecessarytopoweronorrestarttheRCaftertheradiolinkprocedure;(6)Checkwhetherthebuckmoduleworksnormally;故障現(xiàn)象一：水泵不工作并無響動(dòng)。解決方法如下：（1）檢查水泵供電有無漏插或松動(dòng)插頭；（2）檢查是否激活了控制泵的開關(guān)的功能；（3）檢查接收機(jī)接線是否正確，有無虛接；（5）首次對(duì)頻后需重新上電或重啟遙控器即可；（6）檢查降壓模塊是否正常工作。Mission5RoutineMaintenanceofSprayingSystem(7)CheckwhethertheESCofthepumpworksnormallyandwhetherthereisavoltageoutput;(8)Checkwhetherthepumpworksnormallybyperformingate