| In order to achieve fast and efficient automatic charging for mobile robot, apreliminary study of photovoltaic conversion in self-charging system for mobile robotwas presented in this paper. The main work is as follows:First, the charge and discharge characteristics of the super capacitor were studied.It verified that the super capacitor can provide instantaneous high power characteristics.In order to solve the super-capacitor voltage balance, an active balancing circuit isdesigned. It can quickly achieve voltage balance with lower energy consumption.For sealed lead-acid battery, four charging modes and some experiments arestudied. It verified that the constant current-constant voltage charging mode wasfeasible for mobile robot.Through theoretical analysis and comparison, the advantages and disadvantages ofseveral combination types of super-capacitor and battery were studied. It verified thatthe structure with super capacitor through the DC/DC converters and battery in parallelwas feasible for mobile robot. In start process, the super-capacitor can provide highinstantaneous power and reduce the negative impact of battery life. Also it can absorbthe regenerative braking process of feedback energy and reduce energy waste.According to the requirements of fast charging and the control method used in PVcharging system, an overall program was designed, which can meet the needs of mobilerobot automatically charge. Some sun trackers based on different principles wasintroduced. And a location algorithm based on the sun two degrees of freedom trackingsystem was proposed. Based on the above, a tracking device model was established.PID algorithm was used to correct the original system and dynamic simulation. Theresults show that in the design of transmission parameters, the natural frequency anddamping ratio of the fast response must be considered.Finally, the mission should be completed in next step was carried out. |
PDF Full Text Request