基于改进型自抗扰控制的光伏板清洁机器人路径跟踪控制研究

Path tracking control of photovoltaic panel cleaning robot based on Improved Active Disturbance Rejection Control

针对移动式光伏板清洁机器人在清洁作业过程中存在路径跟踪不稳定、低精度等问题,通过分析机器人的运动状态,建立了光伏板清洁机器人路径偏差系统的非线性数学模型,并采用小偏差线性化处理将该系统简化为一个等效的SISO(Single Input Single Output)系统。在传统自抗扰控制理论的基础上,通过改进扩张状态观测器提出一种改进型光伏板清洁机器人自抗扰路径跟踪控制策略。利用MATLAB搭建仿真环境,并进行光伏板清洁机器人路径跟踪仿真实验。结果表明:与传统的自抗扰控制理论相比,改进型控制策略能够减小机器人路径跟踪的运行误差,具有较好的稳定性。一定程度上提高了光伏板清洁机器人路径跟踪的控制精度。

Aiming at the problems of unstable path tracking and low precision in the cleaning process of mobile photovoltaic panel cleaning robot,a nonlinear mathematical model of path deviation system of photovoltaic panel cleaning robot was established by analyzing the robot’s motion state.The system is simplified to an equivalent SISO(Single Input Single Output)system by small deviation linearization.Based on the traditional active disturbance rejection control theory,an improved active disturbance rejection path tracking control strategy for photovoltaic panel cleaning robot is proposed by improving the extended state observer.MATLAB was used to build a simulation environment,and the path tracking simulation experiment of the photovoltaic panel cleaning robot was carried out.The results show that,compared with the traditional ADRC theory,the improved control strategy can reduce the running error of robot path tracking and has better stability.To a certain extent,the control accuracy of the path tracking of the photovoltaic panel cleaning robot is improved.