【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。實現(xiàn)光伏發(fā)電應用的常見裝置是光伏組件,評價其性能的主要指標是光電轉化效率。然而光伏組件的表面積塵現(xiàn)象是導致組件光電轉化效率降低的重要因素,并且有可能形成熱斑效應,嚴重時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上,結合實驗室的前期研究成果,設計、制造和驗證了一種光伏組件清潔機器人的主體結構,并通過全覆蓋路徑規(guī)劃算法的研究為機器人控制提供依據(jù)。首先,對清潔機器人的設計目標和目標參數(shù)進行分析,完成行走機構的基礎結構設計;并通過ANSYS對結構進行有限元分析,提出優(yōu)化目標,完成改進設計;同時通過構建拉格朗日動力學方程,計算機構各運動關節(jié)的最大輸出,應用SolidWorks motion進行仿真驗證,驗證了機構電機選型的合理性。其次,通過分析機器人以及吸盤的受力狀態(tài),總結出機器人不發(fā)生滑落、傾覆和扭轉的吸盤設計條件,提供了吸盤設計依據(jù);通過有限元分析對比光伏組件在承受GB/T9535中規(guī)定的機械載荷和機器人重力載荷這兩種工況下的變形和應力,驗證了吸盤設計的合理性。再次,根據(jù)清潔機器人的工作環(huán)境和工作特點,確定了全覆蓋路徑規(guī)劃研究思路,通過柵格法構建具有全局坐標系的環(huán)境模型,通過分析建立了最優(yōu)路徑的數(shù)學模型,并設計了兩種遺傳算法對模型進行求解,得到了全覆蓋路徑規(guī)劃算法,為機器人的控制提供依據(jù)。最后,通過樣機試驗分別對機構吸盤設計的可靠性、光伏組件受載的有限元模型進行驗證,結果表明結構設計可靠且合理;通過設定工況對路徑規(guī)劃算法進行案例仿真,仿真結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.
【學位授予單位】：重慶理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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