| Exoskeleton robot is a novel wearable power-assisted electromechanical equipment,which has a wide applications in medical rehabilition,military operations,logistics,transportation and other fields.Until now,one of the main reasons why exoskeleton robots have not been put into the market is that the energy power system has low energy and power density,which can not meet the endurance time and power output required for in the long-term and high-intensity work.Therefore,a new hybrid energy storage system,which is suitable for electro-hydraulic exoskeleton robots,is developed,and a reasonable energy management strategy is put forward to achieve energy management.In view of the electro-hydraulic exoskeleton robot developed by our research group,the key technologies of energy management for the hybrid energy storage system have been studied in following parts.Analysis of energy comsumption of the electro-hydraulic exoskeleton robot.From the perspective of energy consumption and optimization,the optimal design of the mechanical system,energy power system and sensing and control system for the electro-hydraulic exoskeleton robot is analyzed.The energy comsumption analysis of the execution end of the human-machine system and the power and drive parts is carried out with the law of energy flow and comsumption.The parameters of the power supply part is designed and the basic idea of power supply optimization design is put forward.Development of the hybrid energy storage system based on lithium battery and ultracapacitors.The working characteristics of lithium battery,super capacitor and bidirectional DC/DC converter are analyzed,and the simulation model is built to lay the foundation for the simulation platform of energy management strategy.A reasonable topology of the hybrid energy storage system is selected,the parameters of lithium battery and ultracapacitors are matched,and the detailed parameters design and simulation of bidirectional DC/DC converter are completed.Research on energy management strategy based on dual fuzzy controllers for the hybrid energy storage system.According to the power and current characteristics of the hybrid energy storage system based on lithium battery&ultracapacitors,it is necessary to ensure the dynamic performance of the exoskeleton robot and consider the energy efficiency of the hybrid energy storage system.The dual fuzzy controllers based on the working condition of the electro-hydraulic exoskeleton driven robot and the mult-state variables of hybrid energy storage system are developed.The simulation model of energy management strategy is established,and the reasonable performance of the energy optimization management strategy based on dual fuzzy controllers is proved by analyzing the dynamic allocation of lithium battery and ultracapacitors.Development of SOC fusion estimation algorithm based on OCV-AH-EKF.Analyzing the advantages and disadvantages of several conventional SOC estimation algorithms such as OCV,AH and EKF in detail,SOC fusion estimation algorithm based on OCV-AH-EKF is proposed and the simulation model of the algorithm and the experimental verification platform for SOC estimation algorithm in multiple working conditions of electro-exoskeleton robot are built.The availability of the fusion algorithm are shown in the simulation results. |
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