Mobile robot energy control method based on current control

Abstract

The present invention relates to an energy control method of mobile robot which is based on current control, which belongs to the field of automatic control system. The invention is characterized in that a CAN bus line collects a bus-bar voltage signal VDC / DC, a motor rotation speed signal rmotor and a robot movement speed vrobot, and equally transmits to a robot complete-set controller. A target torque Tmotor of motor is checked in the complete-set controller. The total power Pmotor of motor requirement, power requirement PAUX of other auxiliary device, charging / discharging power Pbat of battery and charging / discharging power Pcap of super capacitor are calculated. The bidirectional DC / DC output current IDC / DC is calculated. After first-order filtering and the corresponding procedure for satisfying the dynamic adjustment of DC / DC convertor, the IDC / DC is transmitted to a bidirectional DC / DC controller through the CAN bus line communication for realizing bidirectional DC / DC current control. The method of the invention can realize the accurate control of load power, control the complete-set energy of mobile robot in an optimal state, increase the whole efficiency of power system and prolong the working time of robot.

Description

technical field [0001] The invention provides an energy control method for a mobile robot based on current control, which is applicable to a control method for real-time energy management using a DC conversion device, and belongs to the technical field of automatic control. Background technique [0002] In many aspects such as national defense, medical treatment, industry, marine exploration, aerospace, transportation, etc., mobile robots have shown more and more broad application prospects, and it has attracted great attention from all countries in the world. With the growth of the world population, the demand for energy for social development is also increasing. Due to the shortage of energy in the world, the energy consumption and energy management of robots have become one of the urgent problems to be solved in the field of robot applications. [0003] Generally, the energy control algorithm of the robot often uses DC / DC voltage control, the principle is as follows: whe...

AI Technical Summary

Problems solved by technology

This method also contains a lot of defects: in the dynamic response, only controlling the bus voltage can not accurately control the energy distribution of each component; due to the lack of real-time and accurate estimation of the battery internal pressure, internal resistance and SOC (state of charge: charge capacity) , it is impossible to accurately control the power of the battery only by relying on the bus voltage, and the battery will often be over-discharged in actual operation, which will affect the service life of the battery

In addition, there are still the following problems in the use of robots at present: First, in the frequent starting and braking of the robot, it needs a lot of power to complete the starting and braking in just a few seconds, and the battery cannot provide such a large instantaneous power, and frequent starting is also a great threat to the life of the battery; second, during the frequent braking process of the robot, the regenerative energy of the braking feedback can only be consumed through the energy consumption resistor, which does not achieve energy regeneration. Resistance heating consumes regenerative energy, which not only wastes energy, but also increases thermal pollution of the entire robot.

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