光伏阵列清洁机器人路径跟踪改进型自抗扰控制

Path Tracking Improved Active Disturbance Rejection Control for Photovoltaic Array Cleaning Robot

针对光伏阵列清洁机器人清洁作业过程中存在路径跟踪精度低与外界不确定干扰等问题,提出了一种改进型自抗扰控制策略来控制驱动单元模型,实现驱动单元角速度(力矩)的高鲁棒性控制,从而提高了机器人的路径跟踪精度.通过分析机器人的运动状态,得到清洁机器人实际运动位姿与期望运动位姿之间的误差.由于外界环境以及其他不确定因素的干扰,通过建立清洁机器人移动底盘带不确定干扰因素的动力学控制模型,在传统自抗扰控制器的基础上通过改进fal函数,提出了一种运动学与动力学内外嵌套的改进型自抗扰策略.改进型扩张状态观测器来实时观测并补偿不确定干扰因素,从而实现清洁机器人高精度跟踪作业目标路径.通过多种目标路径的跟踪仿真实验,最终都表现出了较好的跟踪结果.证明了本文所设计的基于改进型自抗扰控制的光伏阵列清洁机器人路径跟踪控制算法的优越性与有效性,提高了光伏阵列清洁机器人的清洁作业路径跟踪精度.

Aiming at the problems of low path tracking accuracy and external uncertain interference in the cleaning process of photovoltaic array cleaning robot,an improved active disturbance rejection control strategy is proposed to control the driving unit model,which realizes the high robustness control of the angular velocity(torque)of the driving unit and improves the path tracking accuracy of the robot.Error between actual and expected motion poses of a cleaning robot by analyzing the motion state of the robot.Due to the interference of the external environment and other uncertain factors,by establishing the dynamic control model of the mobile chassis of the cleaning robot with uncertain interference factors,and by improving the fal function on the basis of the traditional ADRC,an improved ADRC strategy with embedded kinematics and dynamics is proposed.Cleaning robot realizes high precision tracking target path by improved extended state observer observing uncertain disturbance factors in real time.The robot showed good tracking results through a variety of target path tracking simulation experiments.Therefore,it proves the superiority and effectiveness of the path tracking control algorithm of photovoltaic array cleaning robot based on improved auto disturbance rejection control,and improves the path tracking accuracy of photovoltaic array cleaning robot.