Electric vehicle charging pile manipulator control method

Abstract

The invention discloses a smooth manipulator control method. A manipulator is sequentially divided into an acceleration-acceleration interval, a constant acceleration interval, a deceleration-acceleration interval, a constant speed interval, an acceleration-deceleration interval, a constant deceleration interval and a deceleration-deceleration interval according to running displacement, the displacement proportion of each interval is fixed, speeds and accelerated speeds of the adjacent intervals are smooth and continuous, the manipulator can be smooth and stable in the running process, shake of the manipulator is greatly decreased, and more accurate control is facilitated.

Description

technical field [0001] The invention relates to an electric vehicle charging method, in particular to an operation control method for a mechanical arm of an electric vehicle charging pile. [0002] technical background [0003] New energy vehicles can greatly reduce fuel consumption during vehicle operation and reduce exhaust emissions, especially pure electric vehicles and plug-in hybrid vehicles. However, due to the high construction and maintenance costs of charging stations, it is currently impossible to achieve large-scale Some cities do not even have charging stations, which leads to problems in the charging of new energy vehicles and hinders the development and promotion of new energy vehicles, especially for urban electric buses (including pure electric buses, plug-in buses) that have a large charging demand. Electric hybrid buses, etc.), because the bus lines are scattered, it is difficult to concentrate charging, the traditional charging piles are generally short, a...

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Problems solved by technology

[0003] New energy vehicles can greatly reduce fuel consumption during vehicle operation and reduce exhaust emissions, especially pure electric vehicles and plug-in hybrid vehicles. However, due to the high construction and maintenance costs of charging stations, it is currently impossible to achieve large-scale Some cities do not even have charging stations, which leads to problems in the charging of new energy vehicles and hinders the development and promotion of new energy vehicles, especially for urban electric buses (including pure electric buses, plug-in buses) that have a large charging demand. Electric hybrid buses, etc.), because the bus lines are scattered, it is difficult to concentrate charging, the traditional charging piles are generally short, and the power-taking terminal of the vehicle is set on the side of the vehicle, mainly to facilitate manual operation, but such Human operation is dangerous to the high-voltage charging of buses, and long-term operation will increase the workload of people. Therefore, it is urgent to propose a charging device for automatic charging.

[0004] At present, there are also some wireless charging methods, which use coil induction to realize wireless charging, but this charging method has high requirements for drivers to stop, and all or part of the charging device is on the ground, which poses a safety hazard. There is a technical problem in the method, that is, the weight of the manipulator is relatively large, and the moment of inertia is also large. Therefore, during the operation, especially when the operation starts and ends, it is prone to strong vibration due to sudden acceleration, which seriously affects the performance of the manipulator. Operation and control, and even damage the robotic arm and make it unusable

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