Design Of The Path Planning And Control System For PV Cleaning Vehicles

With the continuous expansion of national support for the photovoltaic(PV)industry,PV power generation is becoming increasingly important in the structure of clean energy.Since photovoltaic solar panels need to be outdoors for a long time to collect solar energy,easily covered by dust,rain and snow,resulting in lower power generation efficiency.In severe cases,it will cause local heat accumulation in the PV panel and damage the PV panel unit parts.For the large photovoltaic power plant,manual cleaning inefficiency and high cost problems,in this paper,the path planning and control system of the PV cleaning vehicle with independent operation function is designed: first,the walking and cleaning path are set and distributed by the handheld terminal,and then the local path planning and tracking control are completed by the on-board computer,so as to realize the autonomous cleaning work of the PV cleaning vehicle in the PV power plant.Firstly,this paper takes the photovoltaic power plant in Shankou PV Park in southeast of Hami,Xinjiang as the basic background,and combines the solar PV panel arrangement law to establish the walking mode map model as well as the cleaning mode map model.In the walking mode,the whole PV panel array is used as the main obstacle and combined with the human-machine interaction system of the handheld terminal to determine the walking path sequence points and generate the walking global path.In the cleaning mode,solar PV panels and inverter modules are used as the main obstacles,and combined with the length and number of rows of solar PV panels,full coverage cleaning global path planning is carried out for different PV panel array vertices.Secondly,a hierarchical local path planning algorithm based on sampling and optimization is introduced to solve the problems of unsmoothed global paths and the PV power plant map model exists unknown obstacles.With the help of obstacle detection module and local path planning algorithm,t the unknown obstacles are analyzed for obstacle avoidance,and the optimal behavioral path with obstacle avoidance capability is selected according to the cost function to establish the motion path planning space.The behavioral path are resampled using B-sample curves,and the motion path are solved by constructing an objective optimization function with constraints to generate smooth,safe,and locally optimal paths with good tracking performance.Thirdly,based on the vehicle dynamics modeling,the PV cleaning vehicle path tracking error model with linear discrete error model in the Frenet coordinate system is derived.Based on the model predictive control theory,the objective optimization function including path tracking error and control amount error is designed.And the path tracking experiment is carried out in the simulation environment,and the controller can realize the tracking control of the straight path and the turning path to meet the control requirements of the PV cleaning vehicle.Finally,the path planning and control system platform of PV cleaning vehicle is built,and the real vehicle experiment and algorithm verification under walking and cleaning mode scebe are completed.The results show that the path planning and control algorithm proposed in this paper can realize the PV cleaning vehicle to complete the walking and cleaning tasks independently and achieve the application target requirements.