无人机专业英语 第二版 课件 5 How to Maintain and Repair a UAV

EnglishforUnmannedaerialvehicle无人机专业英语主讲教师：刘肩山HowtoMaintainandRepairaUAVintmain(intargc,char**argv)Mission1RoutinemaintenanceofUAVbodyNewWordsroutine[ruːˈtiːn]adj.常规的，日常的abruption[ə'brʌpʃən]n.分裂,断裂spark[spɑːk]n.火花,火星vibrate[vaɪˈbreɪt]v.振动intermittent[ˌɪntəˈmɪtənt]adj.间歇性的drift[drɪft]v.漂移interface[ˈɪntəfeɪs]n.接口hexacopter['heksəˌkɒptə(r)]n.六旋翼无人机octocopter[ˈɒktəˌkɒptər]n.八旋翼无人机PosHoldmoden.位置模式；定点模式calibrate[ˈkælɪbreɪt]v.校准capacitor[kəˈpæsɪtə(r)]n.电容oscilloscope[əˈsɪləskəʊp]n.示波器multimeter[ˈmʌltɪmiːtə(r)]n.万用表【Objective】:StudentsarerequiredtodiscusshowtomaintainthebodyofUAVssothattheUAVscanworknormally.【Analysis】:DuringtheprocessofUAVoperation,somefaultsmayoccurduetoimproperoperationorlackofmaintenance,affectingthenormaluseofUAV.Thenitisnecessarytoanalyzethepossiblecausesofthefaultsandproposesolutions.Mission1RoutinemaintenanceofUAVbody【分析】

:无人机在运行过程中，由于操作不当或缺乏维护，可能会出现一些故障，影响无人机的正常使用。所以有必要分析故障产生的可能原因，并提出解决方案。Fault1:Thedronedoesnotworkafterit’spoweredon.TheLEDindicatorandflightcontrollerindicatorturnoff,andthemotorshavenobeep(self-check)sound.Thesolutionsareasfollows:(1)Checkwhethertheoutputvoltageofbatteryisabove22V;(2)Checkwhethertheplugiswronglypluggedinornotconnected;(3)Checkwhetherthereisabruptionofpowercordandplug;(4)Opentheairframemaintenancecovertocheckwhethertheflightcontrolpowersupplyindicatorisnormal;(5)Checkwhethertheairframecircuitboardisdamaged.Mission1RoutinemaintenanceofUAVbody故障现象一：飞机通电后没反应。LED指示灯和飞控指示灯不亮，电机也无哔哔（自检）声。解决方法如下：（1）检查电池是否正常输出22V以上的工作电压；（2）插头是否插反或虚接；（3）电源线及插头是否有断路情况；（4）开机身维修盖,检查飞控供电指示灯是否正常；（5）机身电路板是否损坏。Fault2:Whenthedroneispoweredon,thepowerplugsparksandringsout.Itmayresultfromthefollowingreasons:(1)Ifthebatteryplugisdirectlyconnectedtothedronewithoutanti-ignitioncable,itisnormalforthepowercordtostrikefire(astheinstantaneouscurrentwillbecomehighwhenthehigh-voltagecapacitorinESC(ElectronicSpeedControl)ischarged);(2)Theanti-ignitionplugisdamagedortheanti-ignitionplugisnotusedcorrectlyinorder.Mission1RoutinemaintenanceofUAVbody故障现象二：每次飞机通电时,插头都会打火花并响一声。可能会是以下几个原因：（1）无防打火连接线时,电池插头如果直接连接飞机，电源打火属于正常情况(电调内有高压电容充电时,瞬间电流会很大)；（2）防打火插头损坏或者未按照顺序正确使用防打火插头。Fault3:Thedronecannotbearmedfortakeoff.Causesoffailurearelistedasfollows:(1)Thedroneisnotpoweredonnormally;(2)Thecalibrationofremotecontrollerisfailed;(3)GPScannotworknormally;(4)ThereexistsmismatchbetweenRCandreceiver.

Thepossiblesolutionsareasfollows:(1)Checkwhetherthedroneisproperlyelectrified;Mission1RoutinemaintenanceofUAVbody故障现象三：飞机无法解锁起飞。故障原因：（1）飞机未正常通电；（2）遥控器校准不当；（3）GPS无法正常使用；（4）遥控器和接收机不匹配解决方法如下：（1）检查飞机是否正确通电；(2)CheckwhethertheuserinterfaceoftheGCSfortheRCpushrodisingreenstate(thethrottleisyellow).Ifitisred,clicktocollectthemedianpositionoftheRCsticksinthesettinginterface.Ifitisinvalid,clicktocalibratetheRCaccordingtoinstructionsafterremovingthepropellers;(3)Poweroffthedroneandreconnectthebattery;(4)CheckwhetherthedataofdroneisnormalandwhetherthenumberofobservableGPSsatellitesis8orabove;(5)Performthecombinationstickcommandtoarmthedroneandexecute“automaticloiter”and“RTL”command;Mission1RoutinemaintenanceofUAVbody（3）断电重新连接电池；（2）检查地面站遥控推杆界面是否都是绿色状态(油门黄色)，如有红色的话需要在设置界面点击采集遥控器中位，如无效需拆掉螺旋桨后点击校准遥控器按照提示操作；（4）检查飞机数据是否正常，GPS星数是否8颗星或以上；（5）遥控器打杆解锁无人机，并执行自动悬停和返航降落指令；(6)CheckwhethertheRCmatchesthereceiverofthedrone,ifnot(thereceiverflashesingreenorred),thereceivershouldre-linktothetransmitter;(7)Checkwhetherthedroneisinno-fly

zone,wheredroneisprohibitedfortakeoff;(8)Checkwhetherthereisanyadjustmentinthesub-trimofRC.Ifso,justreturnto“zero”.Mission1RoutinemaintenanceofUAVbody(7)检查无人机是否在禁飞区，禁飞区禁止无人机起飞;；（6）检查飞机遥控器是否和飞机上的接收机匹配一致，如不是(接收机闪绿灯或红灯)，则需要重新对频；（8）检查遥控器微调是否有调整，如是，归零即可。Fault4:WhenthedroneisplacedonthegroundandisinPosHoldmode,youpushthethrottlestick,thereareoneormoreofpropellersthatdonotrotate.Thesolutionsareasfollows:(1)Placethedroneonflatground;(2)Re-calibratetheESCs;(3)Checkparameterstoensureweselectthecorrectdronetypethatmatchestheactualconfiguration,suchasoctocopterxconfigurationor+configuration,hexacopterxconfigurationor+configuration,etc.Thissettingwillnotbechangedundernormalcircumstances.Ifchangeshappen,checkwhethertheparametersarerestoredtothedefault;Mission1RoutinemaintenanceofUAVbody故障现象四：当飞机放在地面,处于位置模式下,推油门时有一个或多个螺旋桨不转。（1）把飞机放到平坦地面上；解决方法如下：（2）重新校准电调；（3）检查参数，获取飞机种类是否和飞机的轴数相对应，如八轴x字，八轴+字，六轴x字，六轴+字构型等。此设置一般情况下自己不会改变。如发现改变后，要检查是否把参数恢复了默认；(4)CheckwhetherthemotororESCisdamaged;(5)Checkwhethertheflightcontroloutputinterfaceisdamaged;(6)Checkwhethertheplugorconnectingwirefallsoff,orisnotfirmlyconnected;(7)Checkwhetherthethrottlestickispushedforalongtime.Ingeneral,thethrottlestickispushedtothemiddleorabovepositionwithin5seconds.Mission1RoutinemaintenanceofUAVbody（4）电机或电调损坏；（7）油门推时间过久，一般情况下5秒钟左右把油门推到中位或上就好，不宜过久。（5）飞控输出接口损坏；（6）插头或连接线脱落，或连接不良；

Fault5:Beforetakingoff,theimbalanceofthemotorlastsmorethan10seconds.Thesolutionsareasfollows:(1)Checkwhetherthethrottlestickispushedovertime,ingeneral,thethrottlestickispushedtothemiddleorabovepositionwithinabout5seconds,andthetimespanshouldnotbetoolong.(2)Poweroffthevehicleandreconnectthebattery.Mission1RoutinemaintenanceofUAVbody故障现象五：未起飞，飞机就出现电机不平衡,持续10秒以上。（1）油门推时间过久。一般情况下5秒钟左右把油门推到中位或以上就好，不宜过久；解决方法如下：（2）断电，重新连接电池。Fault6:Aftertakingoff,thedronedriftsatfixedheightordrawsalargecircle.Thesolutionsareasfollows:(1)Recalibratethecompass;(2)Checkwhetherthedroneisin“automaticloiter”mode;(3)CheckwhetherallRCsticksareinneutralposition;(4)CheckwhetherthenumberofGPSsatellitesismorethan8.Whenthedroneisflyingaroundthehighbuildingsorattheshelteredplaces,theGPSreceiverwillbedirectlyimpacted,soanopenplaceisusuallychosenasthetake-offposition;Mission1RoutinemaintenanceofUAVbody故障现象六：飞机起飞后定高漂移或画大圈。（1）重新校准磁罗盘；解决方法如下：（2）检查飞机是否在自动悬停状态；（3）检查遥控器是否在中立位置；（4）检查GPS星数是否8颗以上，飞机在高建筑物周围或有遮挡的地方对GPS有直接影响，一定要选择开阔的地方作为起飞场地；(5)Checkwhetherthereisanyimbalanceofthemotorlastingmorethan10seconds;(6)Checkwhetherthereisanyinterferencefromhigh-voltagelinesandhigh-powerwirelessequipment;(7)Togglebacktomanualmode,anddopreflightcheckafterlanding.Mission1RoutinemaintenanceofUAVbody（5）检查电机是否有不平衡持续超过10秒以上；（6）检查是否有地磁或高压线和大功率无线设备干扰；（7）切回手动，降落检查。Fault7:TheRCsticksdonotworkduringflightorinloitermodeuntilwetoggletomanualmode.Thesolutionsareasfollows:(1)RestarttheGCSanddrone(iftheattitudemodecontrolrodispushedbymistake,thereiswarningthatthismodeisnotallowedusewithoutpermission,oryouwillbeartheconsequences);(2)Checkwhetherthedroneisinloitermode.SometimestheRCsticksdonotworkinmissionmode.Mission1RoutinemaintenanceofUAVbody故障现象七：飞行过程中或悬停模式下飞机摇杆全部失灵，只有切换手动才可操控飞机。解决方法如下：（1）重新启动手机地面站和飞机（误碰到手机控制姿态模式，警告:此模式在未经允许下不得擅自运用，否则后果自负）；（2）检查飞行状态是否是自动悬停模式。有时自动导航模式下飞机摇杆不起作用（版本不同）。Fault8:Thedronedoesnotflyinastraightlineduringtheflight.Thereasonsandsolutionsareasfollows:(1)GPSpositioningisinaccurate(highbuildingsintheneighborhoodcanblockthesignalreception,causingpositionerrors);(2)Checkwhetheryoupushtherudderstickbymistakewhileyouarepushingtheelevatorstick;(3)WhethertheGPSreceiverispointingstraightaheadofthedrone(recalibratethecompassaftertheadjustment);(4)Checkwhetherthedirectionofthedroneisstraightened,andthereisnopushingsticksbymistakeduringflight;Mission1RoutinemaintenanceofUAVbody故障现象八：飞行过程中飞机不按照直线飞行。原因及解决方法如下：（1）GPS定位不准(周围有高建筑物遮挡信号)；（2）遥控器在推升降舵时是否推到了方向舵；（3）GPS出线方向是否是指向飞机正前方(修改后重新校准磁罗盘)；（4）检查飞机方向是否摆正，飞行中有无误压杆现象；Fault9:Thedronesuddenlyhoversuncontrollablyduringflight,thenafewsecondslater,itautomaticallyrisesabout20meters,andfliestowardsthedirectionofthetake-offpoint.Thesolutionsareasfollows:(1)Checkwhetherthecontrolstickistoggledto“RTL”mode.Ifso,togglebacktoloitermode;(2)TheRCantennaisdamagedorblocked;(3)Therearehigh-voltageorhigh-powerdevicesaroundwithabovetenthousandvoltsinterferingwiththeradiosignaltransmission;(4)Whetherthereceiverisdamagedornotfirmlyconnected;Mission1RoutinemaintenanceofUAVbody故障现象九：飞行过程中飞机突然悬停不受控制，几秒钟后自动升高20米左右，且往起飞点方向飞行。解决方法如下：（1）检查CH6是否拨到返航降落状态，如是，拔回到自动悬停模式即可；（2）遥控器天线损坏或被遮挡；（3）飞机周围有万伏以上高压电或大功率干扰设备，干扰到遥控传输；（4）接收机是否损坏或连接不良；(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）在返航降落状态下，爬升再返回属于正常情况。飞机每次起飞时会自动记录GPS8颗星后的起飞点，返航降落时,如果飞机离起飞点超过25米,为躲避障碍物会自动升高20米左右然后返回起飞点，20米以上高度时飞机按照原有高度返航，25米以内会从现有高度返航降落。返航降落时飞机摇杆是不受控制的，只有到达起飞点开始降落时,方向舵和副翼才起作用。油门是不受控制的，此时操作者可以选择平坦的路面降落，如果想解除返航降落状态,必须把CH6通道切换到自动悬停位置后，再把CH5通道切换到手动状态，才可解除，如果操作者熟练度低可以在切到手动解锁后马上再切回自动悬停，就可以重新操控飞机。Warning:whenswitchingtothemanualmode,don’tpullthethrottlesticktothebottom,andtrytokeepitattheneutralposition,otherwisethedronewilllosepowerandcrash.Inaddition,payattentiontothebatteryvoltagewhenreturningtoland.Ifthevoltageofbatteryislowerthan21.9V,youmusttoggletomanualmodeorloitermodetolandatitscurrentposition,avoidingcrashduetorunningdownofbattery.Mission1RoutinemaintenanceofUAVbody警告：切换手动模式时油门不可以收到底，尽量保持在50%位置，否则飞机失去动力会高空坠毁，另外返航降落时注意观察电池电压,如果电量低于21.9V时，必须切换到手动模式或者悬停模式原地降落，避免电池耗尽摔机。Fault10:Thereisaccidentalvibrationorcontinuousvibrationduringflight.Theoperationalstepstosolvetheproblemareasfollows:(1)ChecktheparameterpageoftheGCS:whetherthereislowvoltagealarm(thedroneshouldlandimmediatelywhenthevoltageisbelow21.9V,anditmaycrashatanytimewhenthevoltageisbelow21.6V);(2)ChecktheparameterpageoftheGCS:whetherthedifferencevaluebetweenbuilt-inmagneticheadingandexternalmagneticheadingexceeds10(adjusttheGPSreceivertobestraightaheadofthevehicleandrecalibratethecompass);

(3)ChecktheparameterpageoftheGCS:whetherthereisafaultdownthepage(thefaultoccurswhenthereexistsexternalinterferenceorimproperoperation,thefaultcanberesolvedbycuttingoffthepowerofvehicleandrestartingthevehicle).Mission1RoutinemaintenanceofUAVbody故障现象十：飞行中飞机间接性振动或者持续性振动。解决该问题的操作顺序为：（1）检查地面站的参数页面是否有低电压报警(电压低于21.9V应该马上降落，电压低于21.6V以下随时可能坠机)；（2）检查地面站的参数页面，本机磁航向和外接磁航向数值是否超过10以上（调整两个GPS箭头冲机头正前方方向，重新校准磁罗盘，如校准后误差超过8以上，需要手动扭转单个GPS和另一个同步）；（3）检查地面站的参数页面，下翻页是否故障(受外界干扰或者操作不当时会出现此故障，此时重新断电重启后即可)。Fault11:Thereexitscontinuousmotorimbalanceorintermittentmotorimbalanceformorethan3secondsduringflight.Thesolutionsareasfollows:(1)Checkwhetherthemotorandpropellerareonaparallelplanewiththeairframe,orsimplyconfirmwhetherthetipsofthetwopropellersareparallel(ifnot,loosenthearmscrewsandtightenthemafterleveling);(2)Ifthemotorscontinuetobeunbalancedandtheirspeedisstillincreasing,youshouldlandthedroneassoonaspossible,checktheESCsandmotors.Mission1RoutinemaintenanceofUAVbody故障现象十一：飞行中持续出现电机不平衡，或者间歇性出现3秒钟以上。解决方法如下：（2）如果电机持续出现不平衡且转速一直增大数字，应尽快或马上降落，并检查电机电调。（1）检查电机以及螺旋桨是否和机身处在一个平行面上，也可以简单对比两个螺旋桨的桨尖是否是平行的(如果不平行,松开机臂螺丝调平后扭紧即可)；Fault12:Thedroneisuncontrolled,anditvibratesbackandforthtowardsoneside.Thesolutionsareasfollows:(1)Ifyoucanskillfullyflythedronemanually,youshouldtoggletomanualmodetolandthedroneimmediately;(2)Ifyouarenotskilledinoperatingthedronemanually,youshouldpulldownthethrottlestickassoonaspossibletoletthedronelandandtogglebacktomanualmodetoreduceunnecessaryloss.Mission1RoutinemaintenanceofUAVbody故障现象十二：飞机不受控制向某一侧来回抖动。解决方法如下：（2）如无手动操作能力者，尽快收油原地降落后遥控切回手动以减少不必要的损失。

（1）如操作者能熟练掌握手动模式飞行能力，你应该切手动并尽快降落；Mission2RoutinemaintenanceofUAVGCSantenna[ænˈtenə]n.天线electromagnetic[ɪˌlektrəʊmæɡˈnetɪk]adj.电磁的shield[ʃiːld]v.给…加防护罩omnidirectional[ˌɒmnɪdəˈrekʃənl]adj.全向性的defectivesponge[spʌndʒ]n.海绵barometer[bəˈrɒmɪtə(r)]n.气压计NewWordsIntheprocessofoperatingUAVs,duetoinadequatemaintenanceofthedroneandGCS,thedronemayhavethefollowingfaults.Mission2RoutinemaintenanceofUAVGCS在无人机的使用过程中，由于无人机与地面站的相关维护工作不到位，无人机在地面站操作过程中可能会出现以下故障：故障现象一：地面站通信断开或间歇性通信断。解决方法如下：Fault1:GCScompletelyorintermittentlydisconnectscommunicationwiththedrone.Thesolutionsareasfollows:(1)Checkwhetherthewiresofdroneareconnectedproperly;（1）检查飞机插头是否正确连接；(2)CheckwhetherthebatteryleveloftheGCSisnormalandwhetherthepowerswitchisturnedoncorrectly;（2）检查地面电台电量是否正常，开关电源是否正确打开；(3)CheckwhethertheGCSradioantennaandtheradiotelemetryantennaarefirmlyconnected.Ifnot,youshouldcheckthewiringconnectionanddothecommunicationtesttoensurethefunctionisnormal;Mission2RoutinemaintenanceofUAVGCS（3）检查电台天线与机载电台天线连接，有无虚连、虚接，如有，需正常连接；（4）检查周围是否有其它手机或者电子设备连接WIFI；（5）飞机起飞后偶尔通信断开通常不超过3秒，属正常信号发射，与飞机实际作业的地理位置电磁干扰有关及天气原因相关；(4)CheckwhethersmartphonesorelectronicdevicesaroundareconnectedtotheWIFI;(5)ItisnormalthatthedroneoccasionallydisconnectcommunicationwithGCSaftertake-offfornomorethan3seconds,whichisrelatedtotheelectromagneticinterferenceorweather;(6)Checkwhethertherearetallshieldingobjectsorelectromagneticinterferenceequipmentaround(suchashighvoltagelines,powerplants,etc.)whichwillaffectthenormaltransmissionandreceptionofsignals;(7)Puttheantennaashighaspossible.Iftheantennaisomnidirectional,youcan’tmaketheantennaofGCSpointtowardsthedrone.Mission2RoutinemaintenanceofUAVGCS（7）天线尽量放高。此为全向天线，注意摆放时天线不能指着飞机。（6）查看周围有无高大遮挡物或电磁干扰设备(高压线、发电厂等),会影响信号正常发射与接收；Fault2:TheGCSdatadisplaydoesn’tcorrespondwiththeactualstatusofthedrone.Thecausesofthefaultandsolutionsareasfollows:故障现象二：地面站数据显示与飞机实际状态不符合。故障原因及解决方法如下：(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：飞控电压显示飞机正常飞行与降落时不符。解决办法：飞机降落时电池负载值骤降，电池电压升高(不大于1V)属于正常回电；（3）故障：实际油门舵量与遥控油门舵量有偏差。解决办法：实际油门舵量为飞控计算数据后修正，如有爆红需检查是否过载。（1）故障：地面站显示的飞行高度与实际高度不符。解决办法：飞机飞控定高为气压计定高，与当时当地天气原因时时相关，飞机在起飞时会实行重新定高以保证数据准确；Mission3RoutinemaintenanceofRemoteControllermechanism[ˈmekənɪzəm]n.机制generative[ˈdʒenərətɪv]adj.有生产力的;能生产的preset[ˌpriːˈset]adj.预先调整的solidgreen[ˈsɒlɪd][ɡriːn]常绿NewWordsThemaintenanceofRCincludecasesasfollows:Mission3RoutinemaintenanceofRemoteController无人机遥控器维护时会有以下诸多现象：故障现象一：遥控器开机后滴滴地响，或连续响动。Fault1:ThereisbeepsoundafterturningontheRC.Thesolutionsareasfollows:(1)CheckwhetherthethrottlestickpositionoftheRCispulleddowntothebottom;(2)CheckwhetherthevoltageoftheRCreachesthepresetalarmvalue(standardinitialsettingis6.8V).解决方法如下：（1）检查遥控器油门位是否归零；（2）检查遥控器电压是否到达预设报警值(标配初始设置6.8V)。Mission3RoutinemaintenanceofRemoteController（1）检查遥控器通道设置是否一致(日本手出厂默认设置1～6通道分别为j1、j3、j2、j4、SE、SC,美国手出厂默认设置1～6通道分别为j1、j2、j3、j4、SE、SC)；故障现象二：遥控器打杆与飞机动作不符。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).解决方法如下：（2）检查飞机飞控和接收机间的信号线连接是否正确；（3）检查并校准遥控器(别忘了移除所有螺旋桨)Mission3RoutinemaintenanceofRemoteController故障现象三：遥控器无法对频。Fault3:Thereceivercannotbelinkedwiththetransmitter.Thesolutionsareasfollows:(1)TurnontheRC,thenpoweronthedrone.Ifreceiverstatusindicatorbecomesblinkinggreenwhichmeansthereceiveriswaitingforlink,thenpresstheresetbuttononthereceiveruntilthereceiverstatusindicatorflashesaredlightforthreetimes.Whenthereceiverstatusindicatorbecomessolidgreen,thelinkprocedureissuccessful.Lastly,poweronthereceiveragainandcheckwhetherthereceiverisbeingpairedwiththetransmitter;解决方法如下：（1）打开遥控器，并给飞机上电。控收机绿灯单闪为待对频状态，按下接收机上按钮至红灯单闪三次后松开，绿灯常亮对频成功。对频成功后接收机重新上电，检查是否与本人遥控器对频；Mission3RoutinemaintenanceofRemoteController（2）对频时不得长按接收机以免改变接收机模式；(2)Donotpresstheresetbuttonofreceiverforalongtimetoavoidchangingthereceivermode;(3)CheckwhethertheRCcontrolsticksandswitchesareintheinitialpositionbeforeflight(theswitchesareplacedintheOFFposition,thethrottlestickisputatthebottom).（3）飞行前检查遥控器通道开关，是否为初始位置（即开关位置杆向下，油门位最低）；Mission4RoutineMaintenanceofBatteriesswell[swel]v.膨胀;鼓出moisture[ˈmɔɪstʃə(r)]n.潮湿rupture[ˈrʌptʃə(r)]v.断裂，裂开，破裂welding[ˈweldɪŋ]n.焊接precaution[prɪˈkɔːʃn]n.注意事项；预防措施accelerate[əkˈseləreɪt]v.加速combustion[kəmˈbʌstʃən]n.燃烧spontaneous[spɒnˈteɪniəs]adj.自发的aeronauticalmeteorology[ˌeərəˈnɔːtɪkl][ˌmiːtiəˈrɒlədʒi]n.航空气象学NewWordsImproperuseofbatteriesmaycausemanyfaultsandevenbringpropertylossandpersonalinjury.Thecausesandsolutionsareasfollows:Mission4RoutineMaintenanceofBatteries（3）电池平衡头短路。在无人机日常使用中对电池使用不当会造成诸多现象，其故障原因和解决办法如下：

Fault1:theplugofbatteryisabnormallyhotafterflightandthebatterycannotbecharged.Causesoffaults:(1)Improperweldingofbatteryplug;(2)Looseconnectionofbatteryplug;(3)Short-circuitofbatterybalancingplug.故障原因：故障现象一：电池无法正常充电及飞行结束后插头异常发热。（1）电池插头焊接不当；（2）电池插头虚接；Thesolutionsareasfollows:(1)Checkwhetherthebatteryplugisimproperlyweldedorbroken,andwhethertheweldingmeetsthetechnicalrequirements;(2)Checkwhetherthebatteryplugandthedronepowerplugarenotfirmlyconnected,shorted,orincompatible(frequentpluggingandunpluggingwillaffecttheconnectionresultinginlooseconnection).Ifso,thedroneplugshouldbeexternallyexpandedtoincreasethecontactarea;(3)Checkwhetherthebatterybalancingplugisshortedorvirtuallyconnected,whichcanresultinchargefail.

Mission4RoutineMaintenanceofBatteries（2）检查电池插头与飞机连接插头有无虚接、短接，是否兼容(长期插拔会影响插头连接，造成虚接)，需将飞机插头外扩，加大接触面积即可；解决方法如下：（3）检查电池平衡头有无短路、虚接，造成无法正常充电。（1）检查电池插头有无虚焊、断裂，焊接是否达到技术要求；Fault2:Batteryisswelling.Causesoffaults:(1)Theuserdoesnotusethesuitedchargerasrequired;(2)Frequentdeepchargeanddischargecausebatteryswellingeasily;(3)Frequentovercharge,over-dischargeandhighchargingcurrent;(4)Beingusedbelow0degreeorinahightemperatureforalongtime;(5)Thebatteryischargedimmediatelywhenthetemperatureofbatteryistoohighafteruse.Mission4RoutineMaintenanceofBatteries（1）用户不按要求使用匹配的充电器；故障现象二：电池膨胀及使用寿命过短。故障原因：（2）频繁深度充放电(电量用到极限，然后再去充电)，易造成电池膨胀；（3）长期过充过放以及充电放电时电流过大；（5）电池在使用后温度过高时立即充电。（4）长时间在冰点以下或过热环境下使用；Thesolutionsareasfollows:(1)Usetheprofessionalchargerprovidedbytheoriginalmanufacturer;(2)Avoidfrequentdeepdischarge,andkeepreasonablecharginganddischarging;(3)Avoidoverchargeandover-dischargeofbatteries;(4)Choosesuitableflyingenvironmenttoensuretheworkingefficiencyofthedrone;(5)Placetheusedbatteryformorethanfivetotenminutesbeforecharging.

Mission4RoutineMaintenanceofBatteries（5）将使用后的电池放置五到十分钟以上再进行充电。解决方法如下：（2）避免长期深度放电，合理充放；（3）避免无人机电池的过充过放，影响其使用寿命；（1）请使用原厂配备的专业充电器，不合格的充电器易使电池形成膨胀；（4）合理选择飞行环境，确保无人机的工作效率；Fault3:Batteryswellsorexplodesintransportationandstorage.Causesoffaults:(1)Improperprotectivemeasuresaretakenwhenthebatteryisintransportation;(2)Thebatteryisstoragedwithlowvoltageorhighvoltageforalongtime;(3)Thebatteryisstoragedinthehumidandhightemperatureenvironment;(4)Nosupervisiononthebatterychargingsite.Thesolutionsareasfollows:Mission4RoutineMaintenanceofBatteries（1）电池运输过程中保护措施不当；故障原因：（2）电池长时间低电压或高电压保存；故障现象三：电池运输及保存时发生膨胀、爆炸。（3）电池在潮湿、高温处存放；（4）电池充电现场无人监管。解决方法如下：(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）电池运输时必须做好保护措施:电压放到保存电压，外包装采用防压保护，内包装采用软质保护；（2）电池不使用超过3天时电压要保持在3.8V～3.85V之间(保存电压)，电压过高会有自燃危险，过低会影响使用寿命，且每3个月要进行一次充放电循环；（3）锂电池的自放电受环境温度及湿度的影响。高温及湿温会加速电池的自放电，电池应尽量存放在0度到20度左右的环境中；（4）电池充电时现场不得无人监护，充满后要及时断电。Fault4:Batterycannotbechargednormally.Thesolutionsareasfollows:(1)Checkwhetherthebatterybalancingplugandthechargerconnectionsocketarefirmlyconnectedornot;(2)Checkwhetherthebuttonofchargerispressedcorrectlyafterthebatteryisconnected;(3)IfthechargingtimeofthechargerunderAC220Vvoltagedoesnotmatchthatofthegeneratorintheworkplace,checkwhetherthepowerofthegeneratorcorrespondswiththatofthechargingstation.Mission4RoutineMaintenanceofBatteries解决方法如下：（2）检查电池连接正确以后有无按动按钮；故障现象四：电池无法正常充电。（1）检查电池平衡插头与充电器连接插口有无虚接；（3）如果在交流220V电压下，充电器的充电时间与工作场所发电机的充电时间不匹配，检查发电机的功率与充电站的功率是否对应。Mission5RoutineMaintenanceofSprayingSystemspray[spreɪ]n.喷雾hose[həʊz]n.软管sprinkler[ˈsprɪŋklə(r)]n.喷洒器nozzle[ˈnɒzl]n.喷嘴pump[pʌmp]n.泵discharge[ˈdɪstʃɑːdʒ]n.放电pesticide['pestɪsaɪd]n.杀虫剂，农药rubbergasket[ˈrʌbə(r)ˈɡæskɪt]n.橡胶垫片NewWordsMission5RoutineMaintenanceofSprayingSystem【Objective】:TosolveproblemsrelatedtothesprayingsystemofplantprotectionUAV,suchassprinklerleakage,functionfailureofpumporpoorperformance.【Analysis】:Thesprayingsystemmainlyconsistsofspraytank,pumpmotor,hoses,sprinklersandnozzles.Thepumpmotorpumpspesticidefromspraytankintohose,thenthepesticidewillreachthesprinkler,andequaldistributionoftheliquidoutflowfromthespraynozzleformsawidespectrumofdrops.Youneedtohaveafundamentalunderstandingoftheworkingprincipleofthesprayingsystem,andlearnfromtheusermanualandsafetyguidelinesprovidedbythemanufacture.【分析】：喷洒系统主要由水箱、泵电机、软管、喷洒器、喷嘴组成。泵电机将农药从水箱泵入软管中，然后农药到达喷头，从喷嘴流出的液体均匀分布形成大范围的雾滴。您需要对喷洒系统的工作原理有一个基本的了解，并学习由制造商提供的用户手册和安全指南。Mission5RoutineMaintenanceofSprayingSystemFault1:Thepumpdoesn’tworkandthereisnosound.Thesolutionsareasfollows:(1)Checkandmakesurethepumppowerplugisfirmlyconnected;(2)Checkwhetheryouactivatethefunctionofswitchthatcontrolthepump;(3)Checkwhetherthereceiveriscorrectlyconnectedtothesprayingsystemandwhetherthereexistslooseconnection;(4)Checkwhetherthereceiverislinkedtothetransmitter;(5)ItisnecessarytopoweronorrestarttheRCaftertheradiolinkprocedure;(6)Checkwhetherthebuckmoduleworksnormally;故障现象一：水泵不工作并无响动。解决方法如下：（1）检查水泵供电有无漏插或松动插头；（2）检查是否激活了控制泵的开关的功能；（3）检查接收机接线是否正确，有无虚接；（5）首次对频后需重新上电或重启遥控器即可；（6）检查降压模块是否正常工作。Mission5RoutineMaintenanceofSprayingSystem(7)CheckwhethertheESCofthepumpworksnormallyandwhetherthereisavoltageoutput;(8)Checkwhetherthepumpworksnormallybyperformingate