PSO优化模糊PID的光伏板清洁机器人防偏摆运动控制研究  

Research on anti-deflection motion control of photovoltaic panel cleaning robot of PSO optimization fuzzy PID

作　　者：张树晓 Zhang Shuxiao(Datang Renewable Energy Test and Research Institute Co.,Ltd.,Beijing,100052,China)

机构地区：[1]大唐可再生能源试验研究院有限公司,北京100052

出　　处：《机械设计与制造工程》2025年第2期47-51,共5页Machine Design and Manufacturing Engineering

摘　　要：为提高光伏板清洁机器人运动的稳定性,采用粒子群优化(PSO)算法优化模糊PID控制方法对光伏板清洁机器人进行防偏摆运动控制。首先,采用PSO对模糊PID的量化因子和比例因子进行寻优,然后利用PSO参数优化后的模糊PID控制算法构建防偏摆运动控制器,以实现对机器人运动的控制。结果表明,该方法在无干扰和有干扰的情况下,都能使光伏板清洁机器人的偏角接近期望值0 rad,且能将光伏板清洁机器人清洁效率提高到94.22%。由此得出,所提改进方法可实现光伏板清洁机器人车身的稳定控制,并具有较高的清洁效率。In order to improve the stability of the robot,a control method for the fuzzy PID is proposed.First,the particle swarm optimization algorithm is used to optimize the quantification factor and scale factor of the fuzzy PID,and then the fuzzy PID control algorithm after the PSO parameters optimization is used to build the anti-deflection motion controller to realize the motion control of the robot.The results show that the proposed method can make the bias angle of the photovoltaic panel cleaning robot close to the expected value of 0 rad,and can improve the cleaning efficiency of the photovoltaic panel cleaning robot by 94.22%.Therefore,this improvement method can realize the stability control of the photovoltaic panel cleaning robot body,and have a high cleaning efficiency.

关 键 词：光伏板清洁机器人 粒子群优化算法 模糊PID控制 防偏摆运动控制 清洁效率 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TN919[自动化与计算机技术—控制科学与工程]