Research On Structure Design And Motion Control Of Photovoltaic Cleaning Robot Boom

As an important part of clean energy technology in the world,photovoltaic power generation has been applied increasingly.However,because photovoltaic power plants are mostly located in remote areas with a poor ecological environment,it poses a great challenge to the operation and maintenance of photovoltaic modules.Especially,the dust deposition on the surface of photovoltaic panels seriously affects the power generation efficiency of photovoltaic panels and serve life of photovoltaic modules.The self-propelled photovoltaic cleaning robot can adapt to the complex road conditions and has broad application prospects in the cleaning work of large-scale photovoltaic power station.As an essential part of a selfpropelled photovoltaic cleaning robot,the boom frame,its structure,motion planning and control strategy have become an important topic in the field of autonomous operation of the robot.Based on the actual engineering needs,the research is carried out from three aspects:structural design,motion planning and control strategy.This research focuses on four autonomous operation,including autonomous positioning,pose repetition,autonomous return and dynamic adjustment of the self-propelled photovoltaic cleaning robot boom.Combined with field experiments,this study provides a new way for the autonomous operation of the arm frame of the self-propelled photovoltaic cleaning robot.First of all,we realized that the reasons for the instability of the photovoltaic cleaning robot are the light weight of the active suspension chassis,the heavy weight of the cleaning device and the far working position.Therefore,we put the power station on the boom platform as a counterweight,and designed the boom structure of the photovoltaic cleaning robot.Then we carry out finite element static analysis and modal analysis on the mechanical structure of the boom,and verify the reliability of the structure.Secondly,according to the autonomous operation requirements,the D-H method and geometric method were used to conduct kinematics analysis of the photovoltaic cleaning robot boom,and a motion control scheme for the autonomous operation of the boom was proposed by combining the sensor system of the boom and the cleaning device.Considering the motion comfort and control requirements of the boom operation,the trajectory planning of the joint space of the boom was carried out by using the quintic polynomial algorithm with better joint forces,and the complex control was decomposed into several single system cooperative control problems.Again,in response to the control requirements of the boom drive control system of the photovoltaic cleaning robot,the mathematical model of the boom electro-hydraulic proportional valve-control motor and the valve-control cylinder position control system is established.We propose a valve control motor based on PID control algorithm and a valve control asymmetric cylinder control strategy based on fuzzy PID control algorithm.Then we analyze the response characteristics of the system in combination with the specific working conditions.Finally,the autonomous operation of the PV cleaning robot boom was experimentally explored to check the performance of the robot in actual working conditions.The test results show that the control scheme and control strategy of the autonomous operation proposed by the boom structure designed in this paper can fulfill the autonomous operation requirements of the photovoltaic cleaning robot in the photovoltaic power station.