Dynamics Modeling and Position Control of a Robotic Carrier for Solar Panel Cleaning System

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI:10.1109/ICRoM48714.2019.9071821

F. Hajiahmadi, P. Zarafshan, M. Dehghani, S. Moosavian, S. R. Hassan-Beygi

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引用次数: 3

Abstract

In this paper, modeling and control of a robotic carrier for the cleaning system of solar power plants is presented. Since solar panels are placed at natural environments, there is always a problem of dust accumulation on the panels, which results in absorbed energy reduction. Hence, robotic cleaners can be used for solar panels. For relocation of such cleaning robots between solar panel rows, an automated carrier mechanism is required. Hence, a robotic system for cleaner displacement is introduced, and its dynamic modeling and control are presented. To this end, the kinematic characteristics of the robot are introduced, and the dynamic model is derived based on the energy methods. For model validation, the robot is built and simulated in ADAMS, and the results are compared. Finally, the dynamic model is used to design a position controller. The controlled system is simulated using a MATLAB and ADAMS cosimulation. The results show that the derived model and the designed controller are precise and practical.

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太阳能板清洗机器人搬运系统动力学建模与位置控制

介绍了太阳能电站清洁系统机器人搬运系统的建模与控制。由于太阳能电池板放置在自然环境中，电池板上总是存在灰尘积聚的问题，从而导致吸收的能量减少。因此，机器人清洁器可以用于太阳能电池板。为了在太阳能电池板排之间移动这样的清洁机器人，需要一个自动的载体机构。为此，介绍了一种清洁机器人系统，并对其进行了动力学建模和控制。为此，介绍了机器人的运动学特性，并基于能量法建立了机器人的动力学模型。为了验证模型，在ADAMS中对机器人进行了仿真，并对仿真结果进行了比较。最后，利用动态模型设计了位置控制器。利用MATLAB和ADAMS联合仿真软件对被控系统进行了仿真。结果表明，所建立的模型和所设计的控制器具有较好的精度和实用性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2019 7th International Conference on Robotics and Mechatronics (ICRoM)

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