Research On A Kind Of Robot Power Supply System

In nowadays,the robot has made rapid development while the robot's power supply problem has always been the bottleneck of its further development.With the long charging time,large size,inconvenience of carrying and short life defects,the traditional power battery not only limit the performance of the robot,but also increase the cost of the robot.The aluminum air battery provides a new solution for the robotic power supply with high specific energy,safety and light quality.However,due to the low specific power of the aluminum air battery,it is difficult to meet the dynamic performance requirements of the robot if it is used alone.With high specific power supercapacitor can help aluminum air battery to ensure the dynamic performance of the robot.This paper studies the combination of the two robot power supply system,the research content is as follows:Firstly,the main circuit of the robot power supply system is designed.Through the analysis of the characteristics of aluminum air battery and super capacitor,the system design scheme is obtained which can meet the performance requirements of robot.On this basis,the parallel and parallel matching structure of the two is analyzed and determined,and the main circuit of the robot power supply system is designed according to the analysis of the working mode of the robot load.Aiming at the main circuit analysis of the robot load in different working modes,the result shows that the main circuit design is reasonable.The parameters of the aluminum air battery,the supercapacitor and the Direct Current to Direct Current Converter are determined accordingly.Then,the control and simulation analysis of the robot power supply system is carried out.According to build the equivalent power model of the robot power supply system,the strategy of combining the sliding mode and the PI control is selected by comparing the common control strategy of the power supply system based on the analysis of the energy flow of the robotic power supply system.In addition,based on the sufficient and necessary conditions for the system model to satisfy the sliding mode control,the simulation circuit is designed.The results show that the control effect of the robot power supply system is well,and the feasibility of the robot power supply system is verified.Finally,in order to observe the parameters of the power system intuitively,this paper designs a visualization platform that can detect real-time detection of voltage,temperature and State of Charge.The data acquisition,serial debugging,data storage,data display,warning tips and other functions are completed through the visualization platform.On the basis of the visualization platform,the robot power supply system is tested,which shows the effectiveness of the visual platform design.