【摘要】：隨著可再生能源的快速發(fā)展,光伏發(fā)電已然成為新能源利用的主要形式之一。實(shí)現(xiàn)光伏發(fā)電應(yīng)用的常見裝置是光伏組件,評(píng)價(jià)其性能的主要指標(biāo)是光電轉(zhuǎn)化效率。然而光伏組件的表面積塵現(xiàn)象是導(dǎo)致組件光電轉(zhuǎn)化效率降低的重要因素,并且有可能形成熱斑效應(yīng),嚴(yán)重時(shí)直接造成組件的損毀。因此,減少或清除光伏組件表面的灰塵覆蓋是非常重要和必要的工作。本文在分析了現(xiàn)有光伏組件除塵裝置的基礎(chǔ)上,結(jié)合實(shí)驗(yàn)室的前期研究成果,設(shè)計(jì)、制造和驗(yàn)證了一種光伏組件清潔機(jī)器人的主體結(jié)構(gòu),并通過全覆蓋路徑規(guī)劃算法的研究為機(jī)器人控制提供依據(jù)。首先,對(duì)清潔機(jī)器人的設(shè)計(jì)目標(biāo)和目標(biāo)參數(shù)進(jìn)行分析,完成行走機(jī)構(gòu)的基礎(chǔ)結(jié)構(gòu)設(shè)計(jì);并通過ANSYS對(duì)結(jié)構(gòu)進(jìn)行有限元分析,提出優(yōu)化目標(biāo),完成改進(jìn)設(shè)計(jì);同時(shí)通過構(gòu)建拉格朗日動(dòng)力學(xué)方程,計(jì)算機(jī)構(gòu)各運(yùn)動(dòng)關(guān)節(jié)的最大輸出,應(yīng)用SolidWorks motion進(jìn)行仿真驗(yàn)證,驗(yàn)證了機(jī)構(gòu)電機(jī)選型的合理性。其次,通過分析機(jī)器人以及吸盤的受力狀態(tài),總結(jié)出機(jī)器人不發(fā)生滑落、傾覆和扭轉(zhuǎn)的吸盤設(shè)計(jì)條件,提供了吸盤設(shè)計(jì)依據(jù);通過有限元分析對(duì)比光伏組件在承受GB/T9535中規(guī)定的機(jī)械載荷和機(jī)器人重力載荷這兩種工況下的變形和應(yīng)力,驗(yàn)證了吸盤設(shè)計(jì)的合理性。再次,根據(jù)清潔機(jī)器人的工作環(huán)境和工作特點(diǎn),確定了全覆蓋路徑規(guī)劃研究思路,通過柵格法構(gòu)建具有全局坐標(biāo)系的環(huán)境模型,通過分析建立了最優(yōu)路徑的數(shù)學(xué)模型,并設(shè)計(jì)了兩種遺傳算法對(duì)模型進(jìn)行求解,得到了全覆蓋路徑規(guī)劃算法,為機(jī)器人的控制提供依據(jù)。最后,通過樣機(jī)試驗(yàn)分別對(duì)機(jī)構(gòu)吸盤設(shè)計(jì)的可靠性、光伏組件受載的有限元模型進(jìn)行驗(yàn)證,結(jié)果表明結(jié)構(gòu)設(shè)計(jì)可靠且合理;通過設(shè)定工況對(duì)路徑規(guī)劃算法進(jìn)行案例仿真,仿真結(jié)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.
【學(xué)位授予單位】：重慶理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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