Research On Self-propelled Control System Of Photovoltaic Cleaning Robot

Photovoltaic power generation has become one of the main forms of clean new energy utilization.However,due to the harsh environment of the power station,the photovoltaic panels are prone to dust and snow,resulting in low power generation efficiency.Therefore,the cleaning of photovoltaic panels is of great significance to improve the efficiency of power generation.Aiming at the cleaning needs of photovoltaic panels in power stations,this paper proposes an electric drive cleaning robot that can automatically clean photovoltaic panels at night,focusing on the research of motion control technology and navigation positioning technology of photovoltaic cleaning robots.First of all,according to the stable and accurate requirements of drive control and the simultaneous operation of multiple actuators,the characteristics of the existing transmission mode are analyzed,the load-sensitive control system is studied,and the scheme of electro-hydraulic proportional load-sensitive drive system is proposed to achieve the goal of drive control stability and accuracy.The mathematical model of the electro-hydraulic proportional system of a single wheel set is established,and the PID control algorithm is used to optimize the electro-hydraulic proportional system,which is verified by simulation in the software.Secondly,for navigation positioning problems and photovoltaic station scene conditions,the principles of GPS and differential GPS navigation positioning are studied,the main errors and elimination methods in the GPS positioning system are analyzed,the coordinate system used is converted,and the RTK-GPS positioning system solution is used to achieve centimeter-level positioning targets.Thirdly,for the trajectory tracking problem,based on the complexity and nonlinearity of the photovoltaic cleaning robot's motion control,a kinematics model of the photovoltaic cleaning robot is established.Based on the Backstepping control algorithm,a new virtual feedback control variable is constructed,a suitable Lyapunov function is selected,and a global trajectory tracking controller is designed to achieve global asymptotic stability and achieve the goal of tracking a fixed trajectory.In the software,the simulation of the tracking straight line and circular trajectory is carried out.The simulation results prove that the designed controller has an average tracking error of less than 20 mm,which meets the control requirements.Finally,carry out comprehensive design of photovoltaic cleaning robot software and hardware,and carry out debugging and experiment.The experimental results show that the photovoltaic cleaning robot can track a given trajectory well under the designed walking control system.