Design Of Control System For Intelligent Photovoltaic Cleaning Robot

With the large-scale deployment of photovoltaic power plants,photovoltaic cleaning robots are gradually replacing manual cleaning.At present,centralized photovoltaic power plants mainly use track-type photovoltaic cleaning robots for cleaning work,but there are still some shortcomings: there is a lack of effective remote monitoring methods for photovoltaic cleaning robots;During the cleaning process of the robot,the upper and lower motors are prone to misalignment,leading to self-locking;The system is prone to data loss,low efficiency,and high traffic loss during data transmission.This thesis focuses on the existing problems of photovoltaic cleaning robots and designs an intelligent photovoltaic cleaning robot control system.This system combines technologies such as embedded devices,cloud platforms,front-end and back-end,and microservices to achieve intelligent cleaning,remote monitoring,fault alarm,and remote update functions.This thesis proposes a dual motor synchronous control method based on Fuzzy Control(FC)to address the misalignment of the dual motors of the track-mounted photovoltaic cleaning robot during the cleaning process,which can lead to the robot self-locking or even getting stuck on the track.The content includes: establishing a walking model of the upper and lower motors and designing a synchronous control strategy based on a position difference fuzzy controller according to control requirements;a non-contact angle sensor was designed to detect the displacement difference between the upper and lower motors.This thesis first proves the controller design’s feasibility through simulation,then verifies it through actual testing.The results indicate that during the operation of the motor,it only took 1.20 seconds for the upper and lower motors to shift to the maximum displacement difference and return to a stable operating state.Finally,based on the statistics of the power plant’s walking position difference fault data within one month,it was found that the walking position difference fault rate of the robot designed in this thesis was significantly reduced compared to the first generation,proving the effectiveness of this method.To improve the security and efficiency of the system and reduce unnecessary traffic loss during data transmission,this thesis focuses on designing a data transmission strategy for photovoltaic cleaning machines in the perception and transmission layers.Based on the characteristics of data interaction at various levels,this thesis designs strategies such as parameter monitoring point connection,active batch data reporting,remote upgrade of data disconnection and breakpoint continuation.The results show that the data transmission strategy designed in this thesis can enable the device to save at least 12 minutes of offline data and reupload it;The remote update method of breakpoint continuation achieves a success rate of 100% in downloading update files when the network situation is poor;The data traffic of the system has significantly decreased,reducing by 86.8%compared to the traditional transparent transmission mode;Finally,this thesis conducted long-term stability testing and the system ran normally,proving the effectiveness of the design.