Solar PV Module Cleaning Robot Motion Control System Design And Implementation

At present, the majority of solar photovoltaic power station is located in the arid region of Northwest china. Due to sand and dust weather frequency is higher in the region, PV module surface are easily deposited dust, if not promptly removed will lead to the decrease of the photoelectric conversion efficiency of the photovoltaic power station caused by economic losses, so there is an urgent demand developed for a in the Gobi desert region of solar photovoltaic components cleaning robot, under anhydrous or detergent auxiliary conditions automatically cleaning the PV module surface dust. Based on the above reasons, this paper puts forward a suitable for large-scale photovoltaic power plant water cleaning robot.Based on the analysis of the PV module mounting structure based on design, realize and verify the automatic cleaning, low power consumption, stable performance of the solar photovoltaic component cleaning robot travel control system. In this paper, we first introduce the cleaning robot mechanical structure, mainly by the machine foot, attachment structure, machine hand and boundary avoiding composition, followed by the introduction of the main hardware selection and control circuit design, combined with the cleaning robot stroke control all aspects of the requirements, the system uses S7-200 PLC control of the whole system, PID control algorithm is adopted to complete the PWM signal duty ratio of quantization, the control signal through the DC motor drive module to realize of cleaning robot at the lower end of the machine foot DC drive motor speed control. Mainly completes cleaning robot in the photovoltaic component surface normal walking and climbing the slope displacement adjustment, cleaning time and cleaning is completed automatically docked in the boundary region of the avoidance, and through the PC MCGSTPC end of the stroke control system data of acquisition and control. The last part, the paper introduces cleaning robot on the lower end of the walking machine foot displacement difference correction principle and the realization of MCGS configuration and monitoring design.