Research And Application Of Anti-sway Motion Control Mode For Photovoltaic Panel Cleaning Robo

Traditional energy is increasingly depleted,and mankind urgently needs to develop a new type of energy to solve the problem of unstable traditional energy supply.Solar energy is popular as a renewable energy source with abundant reserves and pollution-free,and with the reduction of photovoltaic power generation costs,countries around the world have introduced a number of policies to encourage the development of photovoltaic power generation technology.In recent years,China’s photovoltaic power generation industry has developed rapidly,and the cumulative installed capacity of photovoltaic power generation in the country has shown explosive growth.Although the installed capacity of photovoltaic power stations is large,the overall power generation efficiency of photovoltaic power plants is low due to the fact that the surface of photovoltaic panels is covered by dust,snow and other covers during use.In order to achieve efficient and low-cost cleaning of photovoltaic panels,this paper develops an in-line wall-mounted photovoltaic panel cleaning robot with light structure and reliable transmission,and optimizes and improves the body deflection problem when the robot is running.At the same time,in order to improve the cleaning efficiency of the photovoltaic panel cleaning robot,the working parameters of the robot are optimized.The main research contents of this paper are as follows:(1)Design and construction of photovoltaic panel cleaning robot.According to the installation method of photovoltaic panel array and the gray situation of photovoltaic panel surface area,the demand performance analysis of photovoltaic panel cleaning robot was carried out,and the mechanical structure design,control system design and hardware selection of photovoltaic panel cleaning robot were completed according to the demand performance.Based on the structural design and control system design,the photovoltaic panel cleaning robot is built,and the built robot is tested and run,and it can be seen from the test operation results that the photovoltaic panel cleaning robot designed in this paper can complete the photovoltaic panel cleaning work normally.(2)Photovoltaic panel cleaning robot body anti-swing control optimization.Through the force analysis of the robot cleaning operation process,the dynamic model of the robot is established.Combined with fuzzy control and PID control,a body anti-deflection controller that conforms to the robot cleaning operation is designed,and a robot simulation model is built based on simulink and simulation experiments are carried out to verify the optimization effect of the fuzzy PID control optimization algorithm on the robot body deflection,and the simulation experiment verifies that the fuzzy PID controller designed in this paper has an optimization effect on the robot body deflection.Finally,the control optimization algorithm is deployed to the robot main control module for cleaning test,and it can be seen from the robot body declination angle change curve that the robot with anti-bias control optimization can correct the body declination angle generated during operation in time,which verifies the anti-bias effect of the anti-bias control optimization algorithm in the actual operation of photovoltaic panel cleaning robot.(3)Optimization of cleaning efficiency of photovoltaic panel cleaning robot.In order to improve the cleaning efficiency of photovoltaic panel cleaning robot,a robot cleaning experiment was carried out to study the influence of two working parameters of roller speed and robot walking speed on robot cleaning efficiency.Using the experimental data of the cleaning experiment as the sample set,the BP neural network was used to establish a robot cleaning efficiency prediction model and predict the cleaning efficiency of the robot under different working parameters.Finally,based on the genetic algorithm,the global optimization of the robot’s working parameters is carried out,and the optimal combination of the robot’s working parameters is obtained.When the walking speed of the robot is 16m/min and the roller speed is 124.84 r/min,the cleaning efficiency of the robot is increased from 91.45% to 96.13%.