光伏组件清洁机器人行走机构设计及路径规划研究

发布时间：2018-08-11 19:52

【摘要】：随着可再生能源的快速发展,光伏发电已然成为新能源利用的主要形式之一。实现光伏发电应用的常见装置是光伏组件,评价其性能的主要指标是光电转化效率。然而光伏组件的表面积尘现象是导致组件光电转化效率降低的重要因素,并且有可能形成热斑效应,严重时直接造成组件的损毁。因此,减少或清除光伏组件表面的灰尘覆盖是非常重要和必要的工作。本文在分析了现有光伏组件除尘装置的基础上,结合实验室的前期研究成果,设计、制造和验证了一种光伏组件清洁机器人的主体结构,并通过全覆盖路径规划算法的研究为机器人控制提供依据。首先,对清洁机器人的设计目标和目标参数进行分析,完成行走机构的基础结构设计;并通过ANSYS对结构进行有限元分析,提出优化目标,完成改进设计;同时通过构建拉格朗日动力学方程,计算机构各运动关节的最大输出,应用SolidWorks motion进行仿真验证,验证了机构电机选型的合理性。其次,通过分析机器人以及吸盘的受力状态,总结出机器人不发生滑落、倾覆和扭转的吸盘设计条件,提供了吸盘设计依据;通过有限元分析对比光伏组件在承受GB/T9535中规定的机械载荷和机器人重力载荷这两种工况下的变形和应力,验证了吸盘设计的合理性。再次,根据清洁机器人的工作环境和工作特点,确定了全覆盖路径规划研究思路,通过栅格法构建具有全局坐标系的环境模型,通过分析建立了最优路径的数学模型,并设计了两种遗传算法对模型进行求解,得到了全覆盖路径规划算法,为机器人的控制提供依据。最后,通过样机试验分别对机构吸盘设计的可靠性、光伏组件受载的有限元模型进行验证,结果表明结构设计可靠且合理;通过设定工况对路径规划算法进行案例仿真,仿真结果表明算法合理且可行。
[Abstract]:With the rapid development of renewable energy, photovoltaic power generation has become one of the main forms of new energy utilization. Photovoltaic module is the common device to realize the application of photovoltaic power generation. The main index to evaluate its performance is the efficiency of photovoltaic conversion. However, the surface area dust phenomenon of photovoltaic module is an important factor that leads to the decrease of photovoltaic conversion efficiency, and it may form heat spot effect, which will directly cause damage to the module when it is serious. Therefore, it is very important and necessary to reduce or remove dust cover on photovoltaic module surface. In this paper, based on the analysis of the existing photovoltaic module dedusting device, combined with the previous research results of the laboratory, the main structure of a photovoltaic module cleaning robot is designed, manufactured and verified. The research of full coverage path planning algorithm provides the basis for robot control. Firstly, the design goal and target parameters of the cleaning robot are analyzed to complete the basic structure design of the walking mechanism, and the finite element analysis of the structure is carried out through ANSYS, and the optimization goal is put forward to complete the improved design. At the same time, the Lagrangian dynamic equation is constructed to calculate the maximum output of each kinematic joint of the mechanism, and the rationality of the selection of the mechanism motor is verified by SolidWorks motion simulation. Secondly, by analyzing the mechanical state of the robot and the sucker, the design conditions of the sucker without sliding, capsizing and torsion of the robot are summarized, and the design basis of the sucker is provided. Through finite element analysis, the deformation and stress of photovoltaic module under mechanical load and gravity load in GB/T9535 are compared, and the rationality of the design of sucker is verified. Thirdly, according to the working environment and working characteristics of the clean robot, the research idea of full coverage path planning is determined, the environmental model with global coordinate system is constructed by grid method, and the mathematical model of optimal path is established by analyzing. Two genetic algorithms are designed to solve the model, and the full coverage path planning algorithm is obtained, which provides the basis for robot control. Finally, the reliability of the mechanism sucker design and the finite element model of photovoltaic module loaded are verified by the prototype test. The results show that the structure design is reliable and reasonable; the path planning algorithm is simulated by a case study. Simulation results show that the algorithm is reasonable and feasible.
【学位授予单位】：重庆理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】