挂板式光伏清扫机器人的动力学建模与控制技术分析  

Analysis of Dynamics Modeling and Control Technology of Hanging Plate Photovoltaic Cleaning Robot

作　　者：詹吉勇 张坤慧 孟涛 史峰 ZHAN Jiyong;ZHANG Kunhui;MENG Tao;SHI Feng(State Grid Shandong Electric Power Company Yucheng Power Supply Company,Shandong 251200,China)

机构地区：[1]国网山东省电力公司禹城市供电公司,山东251200

出　　处：《电子技术（上海）》2024年第8期190-191,共2页Electronic Technology

摘　　要：阐述针对挂板式光伏清扫机器人因驱动因素影响出现的质量问题,通过机理建模方式,针对机器人打造动力学模型,提出基于线性二次型调节器的控制方案,使机器人稳定运行,解决偏摆问题。This paper expounds the quality problems of hanging panel photovoltaic cleaning robots caused by driving factors.Through mechanism modeling,a dynamic model is created for the robot,and a control scheme based on linear quadratic regulator is proposed to ensure stable operation of the robot and solve the problem of deflection.

关 键 词：机器人 动力学建模 控制技术 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]