摘要
为了解决光伏阵列清洗机器人在实际应用中受光伏阵列地形分布的影响,导致步态控制精度不足、清洗效果较差的问题,提出了一种基于改进灰色马尔可夫模型的光伏阵列清洗机器人步态控制算法。以机器人质心为基准建立光伏阵列清洗机器人的运动学模型,引入灰色马尔可夫模型,采用新陈代谢机制进行改进,结合机器人的运动特性,预测相应的最优步态轨迹,计算末端弹簧位移及姿态角两个参数,实现步态控制算法的设计。测试结果表明,该算法控制下的光伏阵列清洗机器人能够对光伏阵列进行较为全面地清洗,清洗覆盖率较高,满足了光伏阵列清洗工作的实际需求。
In order to solve the problem of insufficient gait control accuracy and poor cleaning effect caused by the terrain distribution of photovoltaic arrays in practical applications,a gait control algorithm for photovoltaic array cleaning robots based on an improved grey Markov model is proposed.A kinematic model of the photovoltaic array cleaning robot is build based on the center of mass of the robot.It introduces the grey Markov model,improves the model by the metabolic method,combines the motion characteristics of the robot,predicts the corresponding optimal gait trajectory,calculates the end spring displacement and attitude angle parameters,and designs the gait control algorithm.The test results show that the photovoltaic array cleaning robot controlled by this algorithm can comprehensively clean the photovoltaic array,with a high cleaning coverage rate,meeting the actual needs of photovoltaic array cleaning work.
作者
阎凯
董鹏程
Yan Kai;Dong Pengcheng(Tianjin Junliang City Power Generation Co.,Ltd.,Tianjin,300300,China)
出处
《机械设计与制造工程》
2026年第2期87-91,共5页
Machine Design and Manufacturing Engineering
