Research On The Structure Design And Control System Of The Hanging Photovoltaic Cleaning Robo

With the deepening global awareness of environmental protection and sustainable development,the demand for renewable energy continues to increase.Photovoltaic(PV)power generation has become one of the most popular clean energy sources due to its high efficiency,reliability,safety,and environmental friendliness.However,the accumulation of pollutants such as dust and dirt can reduce the power generation efficiency and lifespan of PV panels,affecting the stability and reliability of PV power generation.Therefore,regular cleaning of PV panels is of great importance.Using robots for PV panel cleaning is an efficient and stable cleaning method that can reduce cleaning costs and minimize human intervention.Currently,several institutions have developed PV cleaning robots,but these robots still face some issues such as poor environmental adaptability,low cleaning efficiency,poor cleaning quality,and the inability to achieve fully automated cleaning.Based on the analysis of current problems with PV cleaning robots,this paper designs a hangingtype PV cleaning robot and conducts research on its mechanical structure design,system modeling,control strategy design,and electromechanical system design.The main research content and achievements of this paper are as follows:(1)Based on the structural and functional requirements of PV cleaning robots,the mechanical structure of the hanging-type PV cleaning robot is designed.Firstly,by analyzing the types of stains on PV panels and comparing the advantages and disadvantages of various cleaning solutions,a cleaning structure driven by a motordriven spiral brush is designed.Secondly,considering different movement methods and practical working conditions,a simplified crawler structure is designed as the robot’s movement scheme.The suspension device of the hanging-type PV cleaning robot is designed,and a spring structure is added to the suspension wheel to suppress sway and increase the maximum allowable sway angle range of the robot.Finally,the overall mechanical structure of the robot is designed,and a three-dimensional model of the robot is created in UG NX12.0 software to build an experimental prototype.(2)Based on the designed robot structure,the causes of sway problems that may occur during the operation of the hanging-type PV cleaning robot are analyzed,and the motion control scheme of the robot is studied.The motion analysis of the hangingtype PV cleaning robot provides a complete description of the robot’s translation and rotation movements.The force and motion relationship between the robot and the PV panel are studied,and a dynamic model of the hanging-type PV cleaning robot is established.Based on the established kinematic model,a robot control scheme based on Linear Quadratic Regulator(LQR)is proposed.Finally,the dynamic model and controller of the robot are simulated and studied in MATLAB Simulink.The simulation results show that the proposed control scheme can effectively correct the sway problem of the robot.(3)In order to meet the control requirements of the hanging-type PV panel cleaning robot,the hardware and software systems of the robot are designed.This paper selects the system board with STM32F103C8T6 as the main control chip as the main control module,which is responsible for data acquisition,angle fusion tasks,control of the brush motor,and human-machine interaction.The Odrive open-source solution is used to drive the walking motor of the robot.This driver has advantages such as high control accuracy,low torque fluctuation,high efficiency,and fast dynamic response,which can achieve precise control of the robot’s movement.In order to obtain the real-time sway angle of the robot,the MPU6050 six-axis accelerometer and gyroscope sensor are used to detect the robot’s posture.At the same time,the HC-SR04 ultrasonic sensor is used to detect the displacement distance of the robot,perceive the edges of the PV panel,and avoid the robot falling off the panel.Finally,the software system is described,including the MPU6050 data acquisition and angle filtering fusion algorithm,the implementation of the ultrasonic module’s functions,the brush motor drive program,and the walking motor control program.(4)The designed hanging-type PV cleaning robot is experimentally tested.Firstly,the sensor data filtering and fusion processing of the robot are tested,and the actual filtering and fusion effects are verified through practical test results.Subsequently,sway prevention and straight-line motion experiments are conducted.The test results show that the robot can walk stably on the PV panel and can promptly correct sway problems and avoid jamming when disturbed.At the same time,the robot can maintain stability during straight-line motion.Finally,the cleaning capability of the robot is analyzed,and the test results show that the robot has good cleaning efficiency and accuracy,meeting the cleaning requirements of PV panels.