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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.
In order to improve the power performance and extend the service life of the power supply without increasing the weight of the mobile robot, a battery-super capacitor composite power supply is adopted instead of a single battery power supply, and the energy management strategy largely determines the performance of the composite power supply. The driving current of mobile robot has the characteristics of both low frequency and high frequency fluctuation. A kind of energy management strategy based on fuzzy control and filtering algorithm is studied. The fuzzy control algorithm distributes the low frequency of driving current on a large time scale, The filtering algorithm can decompose the dither component of the driving current on a smaller time scale to the supercapacitor. The energy management system controls the supercapacitor current through a bi-directional DC / DC converter to indirectly control the battery current. And the prototype experimental results verify the effectiveness of energy management strategies.