Research On A Photovoltaic Module Cleaning Vehicle Of Large-scale Photovoltaic Power Stations

In order to reduce the occupation of cultivated land by photovoltaic power station,centralized large-scale photovoltaic power stations are mostly built in deserts,hills and mountains,and the dust cover on the surface of photovoltaic(PV)modules greatly reduces the efficiency of power generation.At present,most of the PV cleaning equipment in the market have high requirements for the laying environment of PV modules and the site flatness of photovoltaic power stations,and the water cleaning is generally used.PV cleaning equipment in the market cannot be applied to photovoltaic power stations with low terrain flatness,a PV module cleaning vehicle was designed in this thesis.The overall scheme of the cleaning vehicle and the structural of key components were determined according to the actual working environment and technical requirements;The adhesion mechanism of dust on the surface of PV modules and the cleaning mechanism of roller brush were studied.The main structural parameters of the dust hood were designed and the flow field simulation analysis of the dust hood was carried out by Fluent software;The automatic leveling device of working platform was designed by the four-point leveling method.The conventional PID and fuzzy PID were compared and simulated by Matlab/Simulink software.The faster response speed and stronger anti-interference ability of fuzzy PID were verified.The relationship between the joint motion and the end effector motion was obtained through the kinematic analysis of the mechanical arm by D-H method.Through the Lagrange function method,the dynamic analysis of the mechanical arm was carried out,and the relationship between the velocity,displacement and other motion parameters of the mechanical arm and the force and moment were studied.The rationality of the mechanical arm was verified by ADAMS software.Finally,according to the actual working situation of the cleaning vehicle,the design of the hydraulic system scheme and the selection of key components were carried out.The hydraulic simulation analysis of the working device was finished by AMESim software,which verified that the displacement accuracy and speed stability of the hydraulic cylinder can meet the working requirements of the PV module cleaning vehicle.The PV module cleaning vehicle was designed in this thesis,which can be applied to large-scale photovoltaic power stations with uneven terrain by torsion bar spring independent suspension and automatic leveling device of working platform.The waterless cleaning can be realized by the cleaning device of roller brush and vacuum cleaning.