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移动式机器人复合电源能量管理策略

吕应明 袁海文 崔勇

吕应明, 袁海文, 崔勇等 . 移动式机器人复合电源能量管理策略[J]. 北京航空航天大学学报, 2012, (11): 1552-1556.
引用本文: 吕应明, 袁海文, 崔勇等 . 移动式机器人复合电源能量管理策略[J]. 北京航空航天大学学报, 2012, (11): 1552-1556.
Lü Yingming, Yuan Haiwen, Cui Yonget al. Energy management strategy for composite energy storage for mobile robots[J]. Journal of Beijing University of Aeronautics and Astronautics, 2012, (11): 1552-1556. (in Chinese)
Citation: Lü Yingming, Yuan Haiwen, Cui Yonget al. Energy management strategy for composite energy storage for mobile robots[J]. Journal of Beijing University of Aeronautics and Astronautics, 2012, (11): 1552-1556. (in Chinese)

移动式机器人复合电源能量管理策略

基金项目: 国家863计划资助项目(2007AA04Z215); 中央高校基本科研业务费专项资金资助项目(YWF-10-01-B25)
详细信息
  • 中图分类号: TP242

Energy management strategy for composite energy storage for mobile robots

  • 摘要: 为了在不增加移动式机器人重量的前提下提高动力性能并延长电源使用寿命,采用了蓄电池-超级电容器复合电源代替单一蓄电池电源,而能量管理策略在很大程度上决定着复合电源的性能.针对移动式机器人驱动电流兼有低频和高频波动的特点,研究了一种模糊控制与滤波算法相结合的能量管理策略,模糊控制算法在较大时间尺度上对驱动电流的低频变化进行分配,同时滤波算法能够分解出驱动电流在较小时间尺度上的高频脉动成分给超级电容器承担.能量管理系统中通过一个双向DC/DC变换器控制超级电容器电流,间接实现对蓄电池电流的控制.模型仿真和样机实验结果均验证了能量管理策略的有效性.

     

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出版历程
  • 收稿日期:  2011-06-20
  • 刊出日期:  2012-11-30

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