大跨度柔性支架光伏组件安装设备网络时延补偿策略

李金键; 王海波; 宋泓霖; 杨青波; 包茂成; 钱华政; 李博

doi:10.13700/j.bh.1001-5965.2024.0371

大跨度柔性支架光伏组件安装设备网络时延补偿策略

doi: 10.13700/j.bh.1001-5965.2024.0371

李金键¹,
王海波^{1, 2, ,},
宋泓霖¹,
杨青波¹,
包茂成¹,
钱华政³,
李博³

1.
西南交通大学机械工程学院，成都 610031
2.
轨道交通运维技术与装备四川省重点实验室，成都 610031
3.
通威股份有限公司，成都 610014

基金项目:

四川省科技规划项目(2019YFSY0003)

详细信息

通讯作者:
E-mail：haibowang@home.swjtu.edu.cn

中图分类号: TP274⁺.2
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- 文章访问数: 248
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- PDF下载量: 16
- 被引次数: 0
出版历程
- 收稿日期: 2024-05-31
- 录用日期: 2024-09-06
- 网络出版日期: 2024-10-24
- 整期出版日期: 2026-07-31

Network delay compensation strategy for large-span flexible support photovoltaic module installation equipment

1.
School of Mechanical Engineering，University of Southwest Jiaotong University，Chengdu 610031，China
2.
Technology and Equipment of Rail Transit Operation and Maintenance Key Laboratory of Sichuan Province，Chengdu 610031，China
3.
Tongwei Co.，LTD.，Chengdu 610014，China

Funds:

Science and Technology Project of Sichuan Province, China (2019YFSY0003)

More Information

Corresponding author: E-mail：haibowang@home.swjtu.edu.cn

摘要

摘要:
针对“渔光一体”柔性支架体系光伏电站的建设，提出柔性支架缆索与光伏组件一体化同步安装方式，并设计安装设备。对于柔性支架位置与张力控制器的研究，建立柔性支架动力学模型研究柔性支架系统特性，并针对水上远距离通信存在的随机延迟设计延迟预测算法，将预测后的延迟补偿到位置、张力控制器。通过仿真模拟和试验验证，在考虑随机延迟和加工误差等影响时，基于柔性支架体系的光伏组件安装设备的位置差和张力差分别被控制在0.00645 m和327.3 N以内，证明了控制器设计的准确性，为柔性支架体系光伏电站自动化建设提供新的解决方案。
- 光伏安装 /
- 柔性支架系统 /
- 动力学建模 /
- 时延预测 /
- 协同控制
Abstract:
This paper propose a synchronous installation method for the integration of flexible bracket cables and photovoltaic modules, and design installation equipment, in response to the construction of a photovoltaic power station with a “Fishery-PV Integration” flexible bracket system. In order to investigate position and tension controllers for flexible supports, a dynamic model of the flexible support must be established in order to examine the features of the system. Additionally, a delay prediction method must be designed to account for the random delay in long-distance communication across water. The position and tension controls adjust for the anticipated delay. Through simulation and experimental verification, it has been found that the position error and tension error of photovoltaic module installation equipment based on a flexible support system are controlled within the range of 0.00645 m and 327.3 N, respectively, when considering the effects of random delay and processing errors. This proves the accuracy of the controller design and provides a new solution for the automation construction of photovoltaic power stations with a flexible support system.
- photovoltaic installation /
- flexible support system /
- dynamic modeling /
- delay prediction /
- collaborative control

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图 1 双摩擦卷筒结构原理

Figure 1. Double friction drum structure schematic

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图 2 光伏组件安装设备原理

Figure 2. Schematic diagram of photovoltaic module installation equipment

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图 3 六行一跨横置光伏组件施工场景

Figure 3. Six rows and one span horizontal photovoltaic module construction scenario

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图 4 连接板和过索器

Figure 4. Connecting plate and cable lever

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图 5 柔性支架驱动仿真

Figure 5. Driving simulation of flexible supports

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图 6 不同误差对柔性支架位置的影响

Figure 6. The influence of different errors on the position of flexible supports

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图 7 不同误差对柔性支架张力的影响

Figure 7. The influence of different errors on the tension of flexible supports

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图 8 随机时延预测算法仿真结果

Figure 8. Simulation results of random time delay prediction algorithm

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图 9 不同平滑滤波器效果对比

Figure 9. Comparison of different smoothing filter effects

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图 10 模糊PID联合仿真控制效果

Figure 10. Fuzzy PID joint simulation control effect

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图 11 光伏组件安装控制系统

Figure 11. Photovoltaic module installation control system

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图 12 主控柜布局

Figure 12. Main control cabinet layout

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图 13 随机时延预测算法试验效果

Figure 13. Experimental results of random time delay prediction algorithm

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图 14 位置控制样机试验

Figure 14. Position control prototype test

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图 15 张力控制样机试验

Figure 15. Tension control prototype test

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表 1 法向力与摩擦力参数

Table 1. Normal force and friction force parameters

接触刚度/ (N$ \cdot $m⁻¹)	力指数	阻尼/ ($ \text{N}\cdot \text{s}\cdot {\mathrm{m}}^{-1} $)	穿透深度/m	静摩擦系数	动摩擦系数	静平移速度/ (m$ \cdot $s⁻¹)	摩擦平移速度/ (m·s⁻¹)
$ 2.86\times {10}^{6} $	1.1	577	0.0001	0.1	0.1	0.001	0.01

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表 2 不同误差对柔性支架系统的影响

Table 2. The impact of different errors on flexible support systems

误差类型	位置影响/mm	张力影响/N
双摩擦卷筒加工误差	8.1	3 376.289 1
接触力摩擦系数	2.9	611.892 1
轴套力弹性模量	1.1	341.318 6

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表 3 不同滤波器对数据处理的性能对比

Table 3. Comparison of performance of different filters in data processing

滤波器类型	最大误差/m	平均误差/m
权重0.1 EMA	0.010 001 09	0.008 475 22
权重0.5 EMA	0.005 675 47	0.000 990 45
权重0.9 EMA	0.006 164 81	0.000 326 68
方差调整EMA	0.006 075 82	0.000 533 89
自适应EMA	0.004 203 74	0.000 461 35

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表 4 张力差对比

Table 4. Comparison of tension difference

控制器	最大张力差/N	平均张力差/N
PID	1464.888 348	279.478 507
ADRC	961.795 641	210.484 957
模糊PID	450.692 574	100.283 365

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表 5 中间连接板位置差对比

Table 5. Comparison of intermediate connecting plate positional differences

控制器	最大位置差/mm	平均位置差/mm
PID	30.709	6.369
ADRC	23.387	4.972
模糊PID	8.208	1.911

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