Study on walking characteristics of cleaning robots with variable slope photovoltaic panels

DOI:	10.11809/bqzbgcxb2023.03.034
Keywords:	photovoltaic cleaning robot; walking characteristics; adhesion properties; double PI control
Abstract:	In view of the cleaning characteristics of photovoltaic panels and the strict requirements for stable walking on large angle slopes, this paper designs an omnidirectional wheeled robot configuration for variable slope photovoltaic cleaning.Based on the establishment of a mathematical model of the robot, its walking characteristics are analyzed and experimented.The adhesion characteristics of the change of the inclined plane angle φ are analyzed, and the stable adhesion angle of the traveling mechanism on the inclined plane under two working conditions is given.Through the simulation and experiments, it is verified that under the constraints of the mechanical model, the symmetrical three omnidirectional wheeled configuration has a certain adhesion angle on the inclined plane.Based on the analysis of the distribution law of speed and torque with the varying attitude angle θ, in order to eliminate the extrusion force between the three omnidirectional wheels of the walking mechanism, the speed of the walking mechanism and the torque of the driving motor are comprehensively controlled.The experimental data show that the speed deviation and power consumption of the robot walking on the inclined plane　reduce by using the double PI control strategy.
Published:	2023-03-28
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