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

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.