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 enhance power performance of mobile robots and to extend service life of the energy storage without increasing in weight, the battery/supercapacitor composite energy storage was used instead of single battery. The performance of the composite energy storage is determined by the energy management strat- egy in large extent. The driving current of mobile robots often fluctuates in both low and high frequency range. So an energy management strategy based on both fuzzy control and filtering algorithm was studied. The fuzzy control algorithm determined how the low frequency profile of the driving current was shared between battery and supercapacitor in big time scale. And the filter algorithm decoupled the high frequency component, which was supplied by supercapacitor, from the driving current in small time scale. In the energy management sys tem, the supercapacitor current was controlled via a Bi-DC/DC converter, so that the battery current was regu lated indirectly. The effectiveness of the energy management strategy is proved by both the model simulation and the prototype experiment.
展开▼
