基于自抗扰控制的光伏清洗机器人姿态智能控制研究  

Research on Attitude Intelligent Control of Photovoltaic Cleaning Robot Based on Active Disturbance Rejection Control

作　　者：杨帆 徐纲举 韩那仁朝格图 宋腾飞 YANG Fan;XU Gangju;HANNAREN Zhaogetu;SONG Tenfei(Huadian New Energy Group Corporation Limited Tianjin Brabch,Tianjin 300450,China)

机构地区：[1]华电新能源集团股份有限公司天津分公司,天津300450

出　　处：《自动化与仪表》2025年第3期39-42,47,共5页Automation & Instrumentation

摘　　要：针对已有姿态控制方法存在的精度较低问题,提出基于自抗扰控制的光伏清洗机器人姿态智能控制方法研究。深入分析光伏清洗机器人的结构与动力学模型,以此为基础,确定光伏清洗机器人的姿态信息(坐标信息、倾角与运行方向),应用定位传感器、倾角传感器与磁力计传感器对姿态信息进行感知、处理与获取,将其输入至改进自抗扰控制算法中,输出结果即为姿态控制参量,通过执行机构进行姿态调整,从而实现了光伏清洗机器人姿态的智能控制。由测试结果分析可知,应用提出方法获得的光伏清洗机器人的坐标信息、倾角、运行方向控制结果与期望结果相同,光伏清洗机器人姿态控制响应时间最小值达到了1.1 s。Aiming at the low accuracy of existing attitude control methods,an attitude intelligent control method for photovoltaic cleaning robot based on active disturbance rejection control is proposed.Based on the in-depth analysis of the structure and dynamics model of the photovoltaic cleaning robot,the attitude information of the photovoltaic cleaning robot is determined.The positioning sensor,inclination sensor and magnetometer sensor are applied to sense,process and acquire the attitude information,and input it into the improved auto-disturbance rejection control.algo-rithm.The output result is the attitude control parameter,and the attitude is adjusted by the actuator,so as to realize the intelligent attitude control of the photovoltaic cleaning robot.The analysis of the test results shows that the con-trol results of the attitude information of the photovoltaic cleaning robot,including coordinate information,inclination angle and running direction,obtained by the proposed method are the same as the expected results,and the minimum response time of the attitude control of the photovoltaic cleaning robot reaches 1.1 s.

关 键 词：姿态控制 光伏清洗机器人 动力学模型 自抗扰控制算法 姿态数据处理 控制性能测试 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]