Research On Hybrid Power System Of Fuel Cell Autonomous Robot

As the technology of robot developing fast,the application field of robot is gradually broaden,so we need more and more autonomous robot which can work in the environment of field,seabed,outer space without cable.However,the issue of energy supply is a bottleneck which limits the application of the robot.The fuel cell is a kind of new energy which has the advantage of high density power,pollution-free etc,and it has been widely applied in fixed station and electric vehicles.This thesis analyses the characteristics of some power system.Taking it as a target,the thesis takes research on the controlling of the power system.The main research contents as follows:Firstly,the thesis analyses the characteristics of some power system then it discusses several topologies of power system.It proposes and designs the direct parallel hybrid plan of Fuel Cell and Ni-MH battery.On this basis,combining with the requirements of energy management,it designs the controlling structure of the energy management system based on fuzzy control.Secondly,in response to the structure of the energy management system,the thesis designs energy control system hardware circuit based on the chip of DSP.It includes the design of signal detection module,CAN communication module,SCI communication module and takes some anti-jamming measure to strengthen the system's stability.Finally,based on the hybrid energy management system,the thesis gives research on the control strategy of energy management.Comparing of the existing energy management,the thesis put forward the fuzzy control strategy of some subsets of fuzzy rules based on the different operational mode of the robot.Analyzing of energy flow in each of the robot mode and in the basis of the stable operation and speed up or deceleration operation,it designs the controller of energy distribution based on fuzzy control.