可变斜面光伏清扫机器人行走特性研究  

Study on walking characteristics of cleaning robotswith variable slope photovoltaic panels

作　　者：梁艺 汪步云[1,4] 全鹏 孙凯 王伟振 汪玉冰 LIANG Yi;WANG Buyun;QUAN Peng;SUN Kai;WANG Weizhen;WANG Yubing(School of Artificial Intelligence,Anhui Polytechnic University,Wuhu 241000,China;State Key Laboratory of Photovoltaic Science and Technology,Trina Solar Co.,Ltd.,Changzhou 213031,China;School of Artificial Intelligence and Innovation,Ma’anshan University,Ma’anshan 243100,China;Anhui Ahpu Robot Technology Research Institute Co.,Ltd.,Wuhu 134000,China)

机构地区：[1]安徽工程大学人工智能学院,安徽芜湖241000 [2]天合光能股份有限公司光伏科学与技术国家重点实验室,江苏常州213031 [3]马鞍山学院人工智能创新学院,安徽马鞍山243100 [4]芜湖安普机器人产业技术研究院,安徽芜湖134000

出　　处：《兵器装备工程学报》2023年第3期239-245,共7页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(61741101);光伏科学与技术国家重点实验室开放基金项目(202100070101);先进制造智能化技术教育部重点实验室开放课题(KFKT202209);安徽省属公办普通本科高校领军骨干人才项目;安徽省高校自然科学研究重点项目(KJ2021A1208,KJ2020A0841,KJ2019A014);安徽工程大学-鸠江区协同创新专项基金重点项目(2021cyxta1)。

摘　　要：针对光伏面板清扫特点、大斜面稳定行走的严苛要求,设计了变斜面光伏清扫全向轮式机器人构型。在建立其数学模型基础上,完成了机器人行走特性分析和实验。分析了斜面角φ变化的附着特性,给出了在2种工况下行走机构斜面上稳定附着角度。通过仿真和实验,验证了在满足力学模型约束下,三全向轮式对称构型,在斜面上有一定附着角度。分析了随姿态角θ变化的速度、力矩分配规律基础上,为了消除行走机构3个全向轮之间挤压力问题,对行走机构速度和驱动电机力矩进行综合控制。实验数据表明,采用双PI控制策略后,机器人在斜面上行走的速度偏差和功耗都有一定的减少。In view of the cleaning characteristics of photovoltaic panels and the strict requirements for stable walking on large-angle slopes,this paper designs an omnidirectional wheeled robot configuration for variable slope photovoltaic cleaning.Based on the establishment of a mathematical model of the robot,its walking characteristics are analyzed and experimented.The adhesion characteristics of the change of the inclined plane angleφare analyzed,and the stable adhesion angle of the traveling mechanism on the inclined plane under two working conditions is given.Through the simulation and experiments,it is verified that under the constraints of the mechanical model,the symmetrical three-omnidirectional wheeled configuration has a certain adhesion angle on the inclined plane.Based on the analysis of the distribution law of speed and torque with the varying attitude angleθ,in order to eliminate the extrusion force between the three omnidirectional wheels of the walking mechanism,the speed of the walking mechanism and the torque of the driving motor are comprehensively controlled.The experimental data show that the speed deviation and power consumption of the robot walking on the inclined plane reduce by using the double PI control strategy.

关 键 词：光伏清扫机器人 行走特性 附着特性 双PI控制 

分 类 号：V19[航空宇航科学与技术—人机与环境工程] TP242.2[自动化与计算机技术—检测技术与自动化装置]