CN111327264A - Control method and system for automatically cleaning solar cell panel - Google Patents
Control method and system for automatically cleaning solar cell panel Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 74
- 238000004140 cleaning Methods 0.000 title claims abstract description 39
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- 239000007921 spray Substances 0.000 claims abstract description 29
- 238000003860 storage Methods 0.000 claims abstract description 23
- 238000005457 optimization Methods 0.000 claims abstract description 15
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D16/00—Control of fluid pressure
- G05D16/02—Modifications to reduce the effects of instability, e.g. due to vibrations, friction, abnormal temperature, overloading or imbalance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D16/00—Control of fluid pressure
- G05D16/20—Control of fluid pressure characterised by the use of electric means
- G05D16/2093—Control of fluid pressure characterised by the use of electric means with combination of electric and non-electric auxiliary power
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
- H02S40/12—Means for removing snow
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
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- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses a control method and a system for automatically cleaning a solar cell panel, wherein the control method comprises the steps that a water storage device provides a water source; pumping water in the water storage device by using a high-pressure water pump to generate pressurized water flow; conveying the pressurized water flow to a pressure setting device for pressure setting control; after the pressure is set, the water flow passes through a throttle valve and is conveyed to the rocker arm type spray head through a multi-way pipeline; the rocker arm type spray head outputs high-pressure water flow to automatically clean the solar cell panel. The invention has the beneficial effects that: firstly, the high-pressure water pump is controlled by the optimization controller, so that the requirements on pressure difference under different degrees can be met, and the energy consumption is reduced; and secondly, compensation control is carried out on the control signal of the controller by adding signal compensation, and more accurate pressure control can be realized under pressure fluctuation.
Description
Technical Field
The invention relates to the technical field of automatic cleaning of solar panels, in particular to a control method and a control system for automatic cleaning of a solar panel.
Background
In recent years, a solar cell panel is a core device in the whole solar power generation system, and is installed outdoors to receive solar light and generate electric energy through a photoelectric effect. Because the solar cell panel is placed in the open air, dust cannot be prevented from being contaminated; in autumn and winter, frost and snow can also cover the surface of the solar cell panel, thereby affecting the photoelectric conversion efficiency of the whole photovoltaic system. Therefore, the solar cell panel needs to be periodically subjected to dust removal, defrosting and snow removal, so that the power generation efficiency of the solar photovoltaic system is improved.
The existing solar cell panel cleaning device is mainly researched in two ways: firstly, clear up through brush (windscreen wiper), the pollutant on the panel surface and easily scrape colored panel surface can't be thoroughly clear away to this mode. Secondly, the water flow is sprayed to the surface of the battery panel in a fixed spray head mode so as to achieve the purpose of cleaning, the cleaning area of a single spray head is small for the installed fixed spray head, and more fixed spray heads need to be installed so that the cleaning area covers the whole battery panel.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above-mentioned conventional problems.
Therefore, the technical problem solved by the invention is as follows: a control method for automatically cleaning a solar cell panel is provided.
In order to solve the technical problems, the invention provides the following technical scheme: a control method for automatically cleaning a solar cell panel comprises the steps that a water storage device provides a water source; pumping water in the water storage device by using a high-pressure water pump to generate pressurized water flow; conveying the pressurized water flow to a pressure setting device for pressure setting control; after the pressure is set, the water flow passes through a throttle valve and is conveyed to the rocker arm type spray head through a multi-way pipeline; the rocker arm type spray head outputs high-pressure water flow to automatically clean the solar cell panel.
As a preferable scheme of the control method for automatically cleaning the solar cell panel, the method comprises the following steps: the high-pressure water pump comprises the following control steps that the pressure adjusting device sets the water supply pressure value; the pressure value is transmitted to a PLC, and the PLC transmits a signal to a frequency converter; the frequency converter adopts a controller to control the frequency; the frequency converter is utilized to adjust the frequency to change the rotating speed of the water pump motor, so that the output pressure of the water pump can be always relatively and stably operated on the premise of meeting the water supply requirement.
As a preferable scheme of the control method for automatically cleaning the solar cell panel, the method comprises the following steps: the controller comprises constant voltage control and variable voltage control, and also comprises the following steps of defining parameters and constructing a controller model; and optimizing and setting the parameters, taking time integral performance indexes of absolute error values as minimum objective functions, and introducing a control input square term.
As a preferable scheme of the control method for automatically cleaning the solar cell panel, the method comprises the following steps: the controller model is defined as follows:
in the formula KpIs a proportionality coefficient, LiIs an integration time constant, LdFor the differential time constant, the control parameters of the PID controller include a proportionality coefficient KpDifferential coefficient KiAnd integral coefficient Kd。
As a preferable scheme of the control method for automatically cleaning the solar cell panel, the method comprises the following steps: the optimization of the parameters includes the following steps, assuming that there are S searching individuals in the space with the dimension D, the position of the individual i is:
Xi＝[xi1，xi2，…，xiD]T
setting the individual dimension to be 3, and realizing the optimization and setting of PID controller parameters; obtaining satisfactory dynamic characteristics of the control process; the time integral performance index of the absolute value of the error is adopted as a minimum objective function, a control input square term is introduced, and the following objective functions are established and obtained:
zeta in the formula1、ζ2、ζ3E (t) is the self-control error, and ζ is the weight coefficient3＞＞ζ1。
As a preferable scheme of the control method for automatically cleaning the solar cell panel, the method comprises the following steps: the controller model comprises a step of determining an optimization searching direction, and a step of establishing a relation between an objective function value and a step length; the search step size is expressed as:
formula (III) αijSearch step size, delta, for a j-dimensional search spaceijIs a parameter of Gaussian membership function uijSearching spatial objects for j dimensionsThe membership value of the function value i; determining the searching direction as follows:
di，propreacting direction, d, for searching individualsi，egoTo search for directions of interest, di，altTo search for individual interest direction, omega inertia weight,
And
is a constant term.
As a preferable scheme of the control method for automatically cleaning the solar cell panel, the method comprises the following steps: the optimization process comprises the following steps of initializing the individual position of each searcher and randomly generating an initial position matrix; calculating the fitness value of the searched individual according to the fitness function; comparing the current individual position of each searcher with the historical optimal position of each searcher, and selecting and reserving the optimal individual position parameter for updating; taking the current searching individual as the best position as the end condition; and performing updating replacement until the end.
As a preferable scheme of the control method for automatically cleaning the solar cell panel, the method comprises the following steps: the high pressure water pump comprises the following relationships defining flow, head and power,
in the formula n0Rated speed of the motor, n running speed, Q0Flow rate at rated speed, flow rate at Q speed n, H0Is the pump lift at rated speed, H is the pump lift at speed n, p0The power of the water pump at the rated rotating speed is p, and the power when the rotating speed is n is p.
As a preferable scheme of the control method for automatically cleaning the solar cell panel, the method comprises the following steps: constructing a water supply system of the high-pressure water pump for adjusting the pressure,
the high pressure water pump transfer function is defined as follows:
in the formula T1Is the time constant, k, of the inertial element1Is the gain, τ is the hysteresis coefficient; the transfer function of motor frequency to rotor speed is as follows:
where ω is rotor speed; the transfer function of the water supply system is then:
The technical problem solved by the invention is as follows: in order to meet the requirements of cleaning pressure in different degrees, a control system for automatically cleaning a solar cell panel is provided.
In order to solve the technical problems, the invention provides the following technical scheme: a control system for automatically cleaning a solar cell panel comprises a water storage device, a high-pressure water pump, a controller, a pressure adjusting device, a pressure sensor and a rocker arm type spray head; the water storage device is used for providing a water source; the high-pressure water pump is used for pumping water in the water storage device to generate pressurized water flow; the pressure regulating device is used for controlling the pressure of the pipeline; the pressure sensor is used for collecting a pipeline pressure value signal and feeding the pipeline pressure value signal back to the controller for signal compensation output; the throttle valve is used for manually controlling the flow of the pipeline; the rocker arm type spray head is used for outputting high-pressure water flow to automatically clean the solar cell panel.
The invention has the beneficial effects that: firstly, the high-pressure water pump is controlled by the optimization controller, so that the requirements on pressure difference under different degrees can be met, and the energy consumption is reduced; and secondly, compensation control is carried out on the control signal of the controller by adding signal compensation, and more accurate pressure control can be realized under pressure fluctuation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic overall flow chart of a control method according to a first embodiment of the present invention;
FIG. 2 is a block diagram of a controller system according to a first embodiment of the present invention;
FIG. 3 is a flow chart illustrating a feedback control according to a first embodiment of the present invention;
FIG. 4 is a system block diagram of the feedback control according to the first embodiment of the present invention;
FIG. 5 is a block diagram of a conversion control of the feedback control according to the first embodiment of the present invention;
FIG. 6 is a pressure trend graph of a simulation test according to a second embodiment of the present invention;
FIG. 7 is a flow trend graph of a simulation test according to a second embodiment of the present invention;
FIG. 8 is a schematic block diagram of a control system according to a third embodiment of the present invention;
FIG. 9 is a schematic view showing an installation of a swing type showerhead in accordance with a third embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
The present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially in general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Meanwhile, in the description of the present invention, it should be noted that the terms "upper, lower, inner and outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operate, and thus, cannot be construed as limiting the present invention. Furthermore, the terms first, second, or third are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected and connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
To having the deposition of different degree on the solar panel, adopt higher water pressure to wash the less panel of deposition, the water pump is in long-term high frequency running state, causes the energy extravagant, and adopts lower water pressure to wash the more serious panel of deposition, though the water pump is in low frequency running state, but water pressure is not enough, and cleaning strength is lower, not only can lead to cleaning cycle extension, causes the waste at water source, can influence abluent effect simultaneously. Therefore, different requirements on the outlet water pressure can be met to meet the cleaning requirement, and the integral operation of the water pump is controlled through the PID.
However, the existing water pump control systems have the problems of nonlinearity, time-varying property, hysteresis and the like, which influence the overall operation efficiency of the water pump system. At present, PID control is mainly adopted at home and abroad, so that a better control effect is achieved. The PID control effect mainly depends on parameter setting, the PID control and the fuzzy control strategy are not used for realizing the control, and the control object with the same precision of the related equipment controller and the influence of the control parameters on the control system are different by adjusting the corresponding parameters. In the constant pressure process, the water supply of the water pump maintains the given pressure unchanged, the control process is a pure lagging control process, however, when different pressure values are required, the traditional method adopts a valve control method to enable the water pump to always operate in a high-power state, the operation efficiency of the water pump can be reduced, and energy consumption is wasted on a baffle plate of the valve.
Therefore, the frequency converter is controlled by the controller, the rotating speed of the motor is adjusted by changing the frequency under the condition that the opening degree of the valve is not changed, the pressure value is adjusted, the pressure increasing or decreasing stage is included, pressure fluctuation is generated in the process, when the system is in the pressure increasing stage, the PID controller outputs control signals to adjust the rotating speed of the water pump motor to be increased to a target value, but the pressure fluctuation can cause the running resistance of the water pump motor, so that the pressure loss is caused, the finally output pressure value has an error with an actual control value, and the running efficiency of the water supply system of the water pump is influenced.
Referring to the schematic diagram of fig. 1, the present embodiment provides a control method for automatically cleaning a solar panel, which specifically includes the following steps:
s1: the water storage device provides water source;
s2: and pumping water in the water storage device by using a high-pressure water pump to generate pressurized water flow.
The high-pressure water pump in the step comprises the following control steps:
the pressure adjusting device sets a water supply pressure value;
the pressure value is transmitted to the PLC, and the PLC transmits a signal to the frequency converter;
the frequency converter adopts a controller to control the frequency;
the frequency converter is used for adjusting the frequency to change the rotating speed of the water pump motor, so that the output pressure of the water pump can be always relatively and stably operated on the premise of meeting the water supply requirement.
S3: conveying the pressurized water flow to a pressure regulating device for pressure control;
s4: after pressure control, water flow passes through a throttle valve and is conveyed to the rocker arm type spray head through a multi-way pipeline;
s5: the rocker arm type spray head outputs high-pressure water flow to automatically clean the solar cell panel.
Referring to the schematic diagram of fig. 2, it should be noted that the controller in this embodiment is a linear controller, and is composed of a proportional link, an integral link, and a differential link, a water supply system of the water pump (including the water pump and a frequency converter) is a controlled object, and the water supply pressure value is adjusted by adjusting the frequency converter to change the water supply amount of the water pump.
According to the invention, the water supply system is modeled, the frequency of the motor is adjusted based on PID control to change the rotating speed of the motor, so that the output pressure of the water pump always operates in a relatively stable interval on the premise of meeting the pressure requirement, and the energy consumption of system operation is reduced.
Preferably, first, the model of the controller of the present embodiment is defined as follows:
in the formula KpIs a proportionality coefficient, TiIs an integration time constant, TdIs the differential time constant, e (t) is the systematic error, u (t) is the control output. The PID controller is composed of 3 main control parameter proportionality coefficients KpDifferential coefficient KiAnd integral coefficient KdAnd (6) determining.
Although the PID control has stable working structure and simple control structure, 3 main control parameters of the water pump water supply system with nonlinearity, time-varying property and hysteresis are proportional coefficients KpDifferential coefficient KiAnd integral coefficient KdThe parameter adjustment is complex, and in order to meet the problems of global optimal regulation and control and shortening excessive time, the control effect needs to be improved.
Preferably, the parameter optimization of the PID controller model comprises the steps of:
assuming that there are S individuals searched in the space with dimension D, the location of the individual i is:
Xi＝[xi1，xi2，…，xiD]T
setting the individual dimension to be 3, and realizing the optimization and setting of PID controller parameters;
obtaining satisfactory dynamic characteristics of the control process;
the time integral performance index of the absolute value of the error is adopted as a minimum objective function, a control input square term is introduced, and the following objective functions are established and obtained:
zeta in the formula1、ζ2、ζ3Is a weight coefficient, and ζ3＞＞ζ1。
Further, the controller model of the present embodiment includes a step of optimizing the search direction determination,
establishing a relation between an objective function value and a step length;
the search step size is expressed as:
formula (III) αijSearch step size, delta, for a j-dimensional search spaceijIs a parameter of Gaussian membership function uijSearching a membership value of the objective function value i in the j dimension;
determining the searching direction as follows:
di，propreacting direction, d, for searching individualsi，egoTo search for directions of interest, di，altTo search for individual interest direction, omega inertia weight,
And
is a constant term.
Based on the above controller model building and determination of the optimization function, the specific optimization procedure therefore comprises the following steps:
initializing the individual position of each searcher, and randomly generating an initial position matrix;
calculating the fitness value of the searched individual according to the fitness function;
comparing the current individual position of each searcher with the historical optimal position of each searcher, and selecting and reserving the optimal individual position parameter for updating;
taking the current searching individual as the best position as the end condition;
and performing updating replacement until the end.
Based on the parameter optimization method, the controller of the embodiment has short response time, small overshoot and no oscillation in a steady-state process.
Referring to the schematic diagram of fig. 3, in this embodiment, after parameter deployment and optimization of the controller are completed, a control connection needs to be established with the frequency converter and the high-pressure water pump, and the controller generates a closed-loop output value to control the frequency converter to adjust the rotation speed of the motor by comparing a received pressure sensor signal at the tail end with a set pressure value, so that the water pressure requirement of a water supply point is met more accurately under the condition that the pressure of a user is ensured.
And more specifically described.
First the high pressure water pump includes the following relationships defining flow, head and power,
in the formula n0Rated speed of the motor, n running speed, Q0Flow rate at rated speed, flow rate at Q speed n, H0Is the pump lift at rated speed, H is the pump lift at speed n, p0The power of the water pump at the rated rotating speed is p, and the power when the rotating speed is n is p.
Based on the constraint model of the high-pressure water pump, a water supply system comprising the high-pressure water pump and a frequency converter is constructed, and firstly, a transfer function of the high-pressure water pump is defined as follows:
in the formula T1Is the time constant, k, of the inertial element1Is the gain, τ is the hysteresis coefficient;
defining ω as the rotor speed, the transfer function of the motor frequency and the rotor speed is obtained as follows:
wherein Kd、TdAs follows:
wherein i is the pole pair number, J is the moment of inertia, and U and omega are respectively the stator power supply voltage and the angular frequency at the static working pointR is a rotor resistance value converted to the stator side, D is a friction coefficient, KmIs a constant.
In order to solve the problem that the pressure fluctuation of the system during the pressure change causes the inaccuracy of the efficiency and the output requirement of the system, in this embodiment, the pressure signal value acquired by the pressure sensor is compared with the pressure setting device (i.e., the pressure setter) to obtain the control error signal, so as to perform the error signal compensation control.
Referring to the schematic of FIG. 4, substituting the above function into the transfer function and adding the compensation term G0(s) obtaining a compensation transfer function of the water supply system as follows:
where K is the total gain of the system, including the gain of the frequency converter and the gain of the motor, etc.
In the embodiment, the PID controller takes u (t) as control output, takes the water supply pressure error value Z (t) as the pressure fluctuation error of the system, and multiplies the obtained error by the proportionality constant KpTo obtain a compensated output G0(s)，
Closed loop G0(s) the transfer function is as follows:
wherein Z (t) is fluctuation error, and the control parameter of PID controller comprises proportionality coefficient KpDifferential coefficient KiAnd integral coefficient KdAnd Ld is a differential time constant.
Thus the transfer function of u (t) after adding the compensation is: u (t) ═ GPID(s) + G(s). Will be closed loop G0(s) substituting the transfer function into the above equation, the final compensated output u (t) is as follows:
in the embodiment, the upper transfer function is adopted for pressure control, and as the transfer function of the water supply system, the pressure value signal set by the pressure setting device is input, so that the control response time is short, the overshoot is small, the steady-state process is free from oscillation, the error between the finally obtained real pressure value and the target pressure value is small, and the control under the pressure fluctuation environment is more accurate.
Example 2
In order to verify that the control method for automatically cleaning the solar cell panel has the effects of controlling the water supply pressure stably and accurately and saving energy consumption under the condition of pressure fluctuation, the embodiment uses a SIMULINK visualization tool of MATLB software to perform a simulation test experiment. The control object is the transfer function of output u (t), the traditional PID controller and the method are respectively adopted to increase the compensation controller, and when the set pressure value fluctuates, the pipeline flow (m) of the traditional PID controller and the method in response time is used3H) and pipeline pressure (MPa) are used as evaluation indexes, and the actual control effect is analyzed.
Combining with the conventional parameters of the actual water pump configuration, taking the lag coefficient tau as 2.6 and T1Get 9.2, TdTaking 0.6 and k as 1.5, the traditional control and the method set the pressure value to be 60MPa and the fluctuation target pressure value to be 100MPa under the constant-pressure water supply state. Therefore, the response fluctuation of the pressure change stage is 60-100 MPa, the data of the pressure and the flow meter in the pipeline are respectively obtained at time nodes of 1min, 2min, 3min, 4min, 5min and 6min, and the measured real simulation data are shown in figures 6-7.
As can be seen from fig. 6, compared with the conventional controller, the method has the advantages that the pipeline pressure can basically and stably reach the set target pressure value within 3 minutes, the conventional controller reaches the pressure peak value after 5 minutes due to pressure fluctuation, and the actually measured pressure in the pipeline is obviously closer to the target value than the conventional sensor after the method is stabilized, so that the method not only can enable the high-pressure water pump to enter the stable state more quickly, improve the operation efficiency of the system, but also has more accurate control precision.
As can be seen from fig. 7, in the actual flow rate index of the water supply system, the flow rate change speed is obviously relatively fast due to the increase of the pressure, the actual response time is short, and the flow rate output tends to be stable in 3 minutes. The traditional controller has no compensation control, the output flow tends to be stable in 5 minutes, and the product (area) of the abscissa and the ordinate of the traditional controller is equal to the flow output in the pressure change stage, so the flow output before the traditional method is stable (5 minutes) is obviously greater than that of the traditional method, and the traditional method has the advantage of saving energy consumption and outputting in the pressure fluctuation stage.
Example 3
Referring to the schematic diagrams of fig. 8 to 9, the present embodiment provides a control system for automatically cleaning a solar cell panel, where the control method for automatically cleaning a solar cell panel is implemented by the system, and specifically, the system includes a water storage device, a high-pressure water pump, a controller, a pressure adjusting device, a pressure sensor, and a rocker arm type spray head; the water storage device is used for providing a water source; the high-pressure water pump is used for pumping water in the water storage device to generate pressurized water flow; the pressure setting device is used for controlling the pressure setting of the pipeline; the pressure sensor is used for collecting a pipeline pressure value signal and feeding the pipeline pressure value signal back to the controller for signal compensation output; the throttle valve is used for manually controlling the flow of the pipeline; the rocker arm type spray head is used for outputting high-pressure water flow to automatically clean the solar cell panel.
When the rocker arm pressure water with a flow deflector (water baffle) and a flow guide plate arranged at the front end is sprayed out from a nozzle of the spray pipe, the flow guide plate is impacted by the flow deflector, so that the rocker arm generates tangential motion force to rotate for an angle around a cantilever, then the rocker arm returns and impacts the spray pipe under the action of a torsion spring, so that the spray pipe rotates for an angle, and the operation is repeated, and the spray head can rotate for the whole circle. If a limiting device and a reversing mechanism are additionally arranged on the spray nozzle, the spray pipe is reversed and rotated after rotating a certain angle, and then the fan-shaped spray irrigation can be carried out. It is suitable for fixed medium-pressure sprinkler irrigation system. The vertical swing arm type spray head makes intermittent rotation movement by using the counterforce generated when water flow impacts a fluid director at the front end of the vertical swing arm, and the swing arm rotates by a balance weight at the rear end of the swing arm. After the sprayer rotates for a certain angle, the anti-rotation arm in front of the nozzle is pushed and pulled through the transmission rod by means of the cooperation of the yoke roller and the limiter, so that the anti-rotation arm is cut into or separated from the jet flow of the nozzle, and the sprayer is forced to rotate reversely rapidly. The nozzle has the advantages of balanced stress, reliable work balance, long range, large flow regulation range and the like, but has higher required pressure and more complex structure.
It should be understood that, the system proposed in this embodiment is directed to an input control method for controlling water pressure, which relates to how to specifically clean a solar cell panel by spraying with a spray head (for example, a reversing mechanism, a full circle or any fan-shaped spraying manner, etc.), and it should be noted that the system adopts the existing spray head or a swing arm type spray head, and the control method proposed in this invention is adopted to input water pressure, so as to achieve adaptive adjustment of pressure under different cleaning requirements, save energy, and control more accurately.
It should be recognized that embodiments of the present invention can be realized and implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer-readable storage medium configured with the computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, according to the methods and figures described in the detailed description. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Further, the operations of processes described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or combinations thereof. The computer program includes a plurality of instructions executable by one or more processors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable interface, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be embodied in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optically read and/or write storage medium, RAM, ROM, or the like, such that it may be read by a programmable computer, which when read by the storage medium or device, is operative to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein. A computer program can be applied to input data to perform the functions described herein to transform the input data to generate output data that is stored to non-volatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.
As used in this application, the terms "component," "module," "system," and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, or software in execution. For example, a component may be, but is not limited to being: a process running on a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of example, both an application running on a computing device and the computing device can be a component. One or more components can reside within a process and/or thread of execution and a component can be localized on one computer and/or distributed between two or more computers. In addition, these components can execute from various computer readable media having various data structures thereon. The components may communicate by way of local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., data from one component interacting with another component in a local system, distributed system, and/or across a network such as the internet with other systems by way of the signal).
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (10)
1. A control method for automatically cleaning a solar cell panel is characterized by comprising the following steps: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the water storage device provides water source;
pumping water in the water storage device by using a high-pressure water pump to generate pressurized water flow;
conveying the pressurized water flow to a pressure setting device for pressure setting;
after the pressure is set, water flow passes through the manual throttle valve and is conveyed to the rocker arm type spray head through the multi-way pipeline;
the rocker arm type spray head outputs high-pressure water flow to automatically clean the solar cell panel.
2. The control method for automatically cleaning the solar panel according to claim 1, wherein: the high-pressure water pump comprises the following control steps,
the pressure adjusting device sets a water supply pressure value;
the pressure value is transmitted to a PLC, and the PLC transmits a signal to a controller;
the frequency converter controls the frequency according to the controller;
the frequency converter is utilized to adjust the frequency to change the rotating speed of the water pump motor, so that the output pressure of the water pump can be always relatively and stably operated on the premise of meeting the water supply requirement.
3. A control method for automatic cleaning of solar panels as claimed in claim 1 or 2, characterized in that: the controller comprises constant voltage control and variable voltage control, and also comprises the following steps,
defining parameters and constructing a controller model;
and optimizing and setting the parameters, taking time integral performance indexes of absolute error values as minimum objective functions, and introducing a control input square term.
4. A control method for automatic cleaning of solar panels as claimed in claim 3, characterized in that: the controller model is defined as follows:
in the formula KpIs a proportionality coefficient, LiIs an integration time constant, LdFor the differential time constant, the control parameters of the PID controller include a proportionality coefficient KpDifferential coefficient KiAnd integral coefficient Kd。
5. The control method for automatically cleaning the solar panel according to claim 4, wherein: the optimization of the parameters comprises the following steps,
assuming that there are S individuals searched in the space with dimension D, the location of the individual i is:
Xi＝[xi1，xi2，…，xiD]T
setting the individual dimension to be 3, and realizing the optimization and setting of PID controller parameters;
obtaining satisfactory dynamic characteristics of the control process;
the time integral performance index of the absolute value of the error is adopted as a minimum objective function, a control input square term is introduced, and the following objective functions are established and obtained:
zeta in the formula1、ζ2、ζ3E (t) is the self-control error, and ζ is the weight coefficient3＞＞ζ1。
6. The control method for automatically cleaning the solar panel according to claim 5, wherein: the controller model comprises the step of optimizing the search direction determination,
establishing a relation between an objective function value and a step length;
the search step size is expressed as:
formula (III) αijSearch step size, delta, for a j-dimensional search spaceijIs a parameter of Gaussian membership function uijSearching a membership value of the objective function value i in the j dimension;
determining the searching direction as follows:
di，propreacting direction, d, for searching individualsi，egoTo search for directions of interest, di，altTo search for individual interest direction, omega inertia weight,
And
is a constant term.
7. The control method for automatically cleaning the solar panel according to any one of claims 4 to 6, characterized by comprising the following steps: the optimization procedure comprises the following steps of,
initializing the individual position of each searcher, and randomly generating an initial position matrix;
calculating the fitness value of the searched individual according to the fitness function;
comparing the current individual position of each searcher with the historical optimal position of each searcher, and selecting and reserving the optimal individual position parameter for updating;
taking the current searching individual as the best position as the end condition;
and performing updating replacement until the end.
8. The control method for automatically cleaning the solar panel according to claim 7, wherein: the high pressure water pump comprises the following relationships defining flow, head and power,
in the formula n0Rated speed of the motor, n running speed, Q0Flow rate at rated speed, flow rate at Q speed n, H0Is the pump lift at rated speed, H is the pump lift at speed n, p0The power of the water pump at the rated rotating speed is p, and the power when the rotating speed is n is p.
9. The control method for automatically cleaning the solar panel according to claim 8, wherein: constructing a water supply system including the high pressure water pump and the frequency converter, including the steps of,
the high pressure water pump transfer function is defined as follows:
in the formula T1Is the time constant, k, of the inertial element1Is the gain, τ is the hysteresis coefficient;
the transfer function of motor frequency to rotor speed is as follows:
where ω is rotor speed;
the transfer function of the water supply system is then:
k is the total gain of the system.
10. The utility model provides a control system of automatic clearance of solar cell panel which characterized in that: comprises a water storage device, a high-pressure water pump, a controller, a pressure regulating device, a pressure sensor and a rocker arm type spray head;
the water storage device is used for providing a water source;
the high-pressure water pump is used for pumping water in the water storage device to generate pressurized water flow;
the pressure setting device is used for controlling the pressure setting of the pipeline;
the pressure sensor is used for collecting a pipeline pressure value signal and feeding the pipeline pressure value signal back to the controller for signal compensation output;
the throttle valve is used for manually controlling the flow of the pipeline;
the rocker arm type spray head is used for outputting high-pressure water flow to automatically clean the solar cell panel.
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