Chassis power control strategy design method

Abstract

The invention discloses a robot chassis power control strategy design method, which comprises the following steps: S1, starting from a physical model, enabling actual working power to be equal to speed * motor phase current * current torque conversion coefficient tau, and adding power, namely, the formula is as shown in the specification, wherein i is the ith chassis motor: # imgabs0 # imgabs1 # S2, a specific value is obtained by utilizing an algorithm according to predicted power consumption and set power consumption, power of each wheel is compressed in proportion to realize power control, the method is a complete feedforward control method (open-loop control), and some excessive errors are compensated by a super capacitor. According to the designed scheme, control over the power of the robot chassis has a good strategy, and efficient movement of the robot chassis can be completed in the scene that the power of the battery is limited.

Description

Technical Field

[0001] The invention belongs to the technical field of robot driving chassis performance optimization, and in particular relates to a chassis power control strategy design method. Background Art

[0002] When logistics robots and reconnaissance robots move at high speed, there has always been a problem of chassis power limitation. Since high-capacity batteries do not have high power, providing robots with instant acceleration or deceleration, how to maximize the use of the limited power of the battery and maximize the speed advantage has become a problem currently faced by robot chassis moving at high speed.

[0003] To this end, we propose to prepare a chassis power control strategy design method to solve the above problems. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a chassis power control strategy design method.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] A chassis power control strategy design method comprises the following steps:

[0007] S1. Starting from the physical model, the actual work power is equal to speed * motor phase current * current-torque conversion coefficient τ, and the power is added, as shown in the following formula, where i is the i-th chassis motor:

[0008]

[0009] S2. The algorithm is used to calculate the ratio between the expected power consumption and the set power consumption, and the power of each wheel is proportionally compressed to achieve power control. This is a complete feedforward control method (open-loop control). The extra error is compensated by the supercapacitor.

[0010] Furthermore, in step S1, the linear part of the linear fitting formula is performed using a dynamometer, and the influence of the back electromotive force is not considered. The function formula is as follows:

[0011]

[0012] Furthermore, the nonlinear part of the dynamometer is fitted, and the coefficients a and b are modified to achieve power control. The final formula of the system is as follows:

[0013]

[0014] Efficiency is an abstract efficiency coefficient for easy transplantation. Vehicles of similar weight can be quickly adapted by modifying this coefficient.

[0015] Furthermore, there may be a slight overpower situation at the fastest speed. If there is overpower, the parameter c in the code can be fixedly subtracted after the final power scaling coefficient. The PID can be added to dynamically adjust the b value to form the logic of feedforward + feedback control.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The solution designed by the present invention enables the control of chassis power to have a good strategy, forming a feedforward + feedback control logic. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a code formula diagram. DETAILED DESCRIPTION

[0019] The following will describe the implementation methods of the present application in detail with the help of accompanying drawings and examples, so that the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0020] A chassis power control strategy design method, starting from the physical model, the actual work power is equal to speed * motor phase current * current torque conversion coefficient τ, and the nonlinear part is added, as shown in the following formula, where i is the i-th chassis motor:

[0021]

[0022] Effi c ient is an abstract efficiency coefficient for easy transplantation. Vehicles of similar weight can be quickly adapted by modifying this coefficient.

[0023] The algorithm then calculates the ratio between the expected power consumption and the set power consumption, and compresses the power of each wheel proportionally to achieve power control. This is a complete feedforward control method (open-loop control), and the extra error is compensated by the supercapacitor. The specific process is as follows: Figure 1 As shown;

[0024] In addition, there may be a slight overpower situation at the fastest speed. If there is overpower, just subtract the parameter c in the code after the final power scaling factor. Later, you can increase the PID dynamic adjustment c value to form the logic of feedforward + feedback control.

[0025] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the present invention in any form. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention fall within the protection scope of the present invention.

[0026] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims

1. A chassis power control strategy design method, characterized in that: The steps include: S1. Starting from the physical model, the actual work power is equal to speed * motor phase current * current-torque conversion coefficient τ, and then add the power, as shown in the following formula, where i is the i-th chassis motor: S2. The algorithm is used to calculate the ratio between the expected power consumption and the set power consumption, and the power of each wheel is proportionally compressed to achieve power control. This is a complete feedforward control method (open-loop control). The extra error is compensated by the supercapacitor.

2. The chassis power control strategy design method according to claim 1, characterized in that: In step S1, the linear part of the dynamometer is fitted without considering the influence of the back electromotive force. The function formula is as follows:

3. The chassis power control strategy design method according to claim 2, characterized in that: The nonlinear formula of the dynamometer is modified, and the coefficients a and b are fitted to realize the control of power. The final formula of the system is as follows: Efficient is an abstract efficiency coefficient for easy transplantation. Vehicles of similar weight can be quickly adapted by modifying this coefficient.

4. The chassis power control strategy design method according to claim 3, characterized in that: At the fastest speed, there may be inaccurate model fitting and slight overpower. If overpower is achieved, the parameter c in the code is fixedly subtracted after the final power scaling factor. The PID can be increased to dynamically adjust the c value to form the logic of feedforward + feedback control.

Images