Simulation of servo control system for photovoltaic cleaning robot based on multi-motor synchronization and precise PWM control

Abstract The walking and cleaning modules of the photovoltaic cleaning robot rely on the cooperation of multiple motors; however, traditional control strategies are prone to issues such as asynchronous motor speeds and phase deviations under complex working conditions, leading to robot motion jamming and uneven cleaning performance. To address these challenges, this paper proposes a simulation of a servo control system for photovoltaic cleaning robots based on multi-motor synchronization and precise pulse-width modulation (PWM) control. A path tracking control strategy utilizing error components is introduced, in which the linear velocity and yaw rate of the robot are regulated by a proportional-integral (PI) controller and a proportional (P) controller, respectively, thereby achieving accurate tracking of the desired path. Precise PWM control is employed to adjust motor speed by varying the duty cycle of the DC pulse sequence. Experimental results show that under disturbance conditions, the deflection angle of the photovoltaic cleaning robot can return to the expected value of 0 rad. The time delay data for multi-motor synchronous control remain relatively low, fluctuating between 0.46 s and 1.43 s, demonstrating the system’s capability to effectively correct synchronization errors among motors.