Two-wheel Motor-driven Photovoltaic Module Cleaning Vehicle

Nowadays,energy problems are becoming more and more serious,the development of new energy,especially solar energy,has attracted the attention of all countries.The installed capacity of photovoltaic power stations in China has increased year by year,but at the same time as photovoltaic power generation is being promoted,it has been found that ash on the surface area of photovoltaic panels has a great influence on the efficiency of power generation,but in the cleaning of photovoltaic modules,there is no efficient and low-cost mechanical equipment In order to solve the cleaning problem of photovoltaic modules,the thesis researches and designs electric engineering vehicles with the function of cleaning photovoltaic modules.First,the design of the vehicle is divided into mechanical arm,driving motor,steering system,and battery management.According to the requirements of cleaning work,the vehicle cleaning machine arm is designed,and the motion model of the machine arm is set up to select the DC servo motor to drive the mechanical arm.Combining the features of the dual-motor wheel-side drive selected by the vehicle,the Ackermann-Jeantand steering model is established for the steering process of the vehicle,the electric differential steering system of the vehicle is designed by using the front wheel steering and the rear wheel drive.After studying all kinds of electric engineering vehicles,the widely used permanent magnet synchronous motor is selected as the driving motor for driving the vehicle.The vehicle driving dynamics is modeled,and the power matching method of the designed motor is used to select the motor type that meets the vehicle load requirements.Lithium iron phosphate battery is selected as the energy source of the vehicle,and the capacity of the vehicle battery is calculated according to the maximum power of the vehicle.The basic principles and four major functions of the battery management system are introduced,and the characteristic curve and the equivalent circuit diagram of the lithium iron phosphate battery are analyzed,then the battery model is set up in Matlab to estimate the charge state of the battery.Finally,the driving motor of vehicle,namely permanent magnet synchronous motor control system,is conducted in-depth research.Based on the knowledge of electrical machinery,the mathematical model of the motor is obtained,and a motor vector control system based on SVPWM modulation technology is designed.The simulation model is established by Matlab/Simuhnk,through the analysis of the output results obtained by the model,use fuzzy control algorithm to optimize results,the final simulation results verify the stability of the control system to meet the vehicle requirements.The TMS320F2812 DSP is used to complete the hardware design of the motor controller and the EPEC controller is used to establish the vehicle control system.