挂板式光伏清扫机器人动力学建模与控制

Dynamic Modeling and Control of Hanging-Type Photovoltaic Cleaning Robot

摘要: 随着光伏技术发展，光伏电站规模的扩大，不少光伏电站开始利用清扫机器人取代工人来进行光伏面板的清扫，挂板式光伏清扫机器人结构简单，工作效率高，可适用于绝大多数场合，是现在较为常见的一类光清扫机器人，但挂板式光伏清扫机器人运行过程中容易会出现上下驱动无法保持同步导致机器人发生偏摆，严重情况下机器人与光伏板间的相会作用力可能会造成零部件损坏甚至机器人从光伏板上掉落，存在较大安全隐患。为了解决这个问题，采用机理建模的方式对挂板式光伏清扫机器人进行研究。基于对上端悬挂装置的弹性形变分析，给出机器人平移和旋转运动的完整描述，并建立了挂板式光伏清洁机器人动力学模型。通过研究机器人与光伏板间力和运动关系，提出了一种基于线性二次型调节器(LQR)的控制方案，以保证机器人的上下端协同运动，抑制偏摆问题，避免机器人卡死的情况发生。仿真结果表明，设计的线性二次型调节器能够快速纠正挂板式光伏清扫机器人的偏摆，具有良好的稳定性，保证机器人平稳运行，为挂板式光伏清扫机器人的控制系统设计提供了理论基础。

Abstract: With the development of photovoltaic technology and the expansion of photovoltaic power plant scale, an increasing number of photovoltaic power plants are beginning to use cleaning robots to replace workers for the cleaning of photovoltaic panels. Among them, the hanging-type photovoltaic cleaning robot is a common cleaning robot, which has the advantages of simple structure, high effi-ciency, and applicability to most occasions. However, during the operation of the robot, asynchro-nous up and down driving may occur, causing the robot to swing. In severe cases, the robot may fall, causing component damage and safety hazards. To solve this problem, a mechanism modeling method was used to study the hanging-type photovoltaic cleaning robot. Based on the analysis of the elastic deformation of the upper hanging device, a complete description of the robot’s transla-tional and rotational motion is given, and a dynamic model of the hanging-type photovoltaic clean-ing robot is established. By studying the force and motion relationship between the robot and the photovoltaic panel, a control scheme based on a linear quadratic regulator (LQR) is proposed to en-sure the coordinated motion of the upper and lower ends of the robot, suppress the swing problem, and avoid the robot getting stuck. The simulation results show that the designed LQR can quickly correct the swing of the hanging-type photovoltaic cleaning robot, has good stability, and ensures smooth operation of the robot, providing a theoretical basis for the control system design of the hanging-type photovoltaic cleaning robot.