基于ADRC和GA的雪地巡逻机器人多端口供电统电源切换优化策略研究
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北华大学 机械工程学院

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TK01

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吉林省科技发展计划重点研发项目(20220203179SF);北华大学研究生创新计划项目(研创合字[2023]040)


Research on power switching optimization control strategy for multi-port power supply system in snow patrol robot based on ADRC and GA
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Beihua University,School of Mechanical Engineering,Jilin,Jilin

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    摘要:

    为了应对雪地巡逻机器人在滑雪场上坡、下坡、过沟壑等路况下引起电源频繁切换造成系统不稳定的问题,提出了一种基于由遗传算法(GA)优化的自抗扰(ADRC)控制策略。系统以光伏电池为主电源,超级电容和蓄电池为辅助电源,构建了多端口双向Buck-Boost变换器模型。通过ADRC实时估计系统扰动,并结合遗传算法对控制器参数进行优化,以减少由于负载和电源波动引起的电源频繁切换。并在matlab/simulink中验证了该策略的有效性,优化后系统的响应时间为0.08ms,超调量小于1%。在不同路况下,该控制策略显著减少了电源切换,确保了系统稳定性,同时保持了母线电压在48V的稳定水平。结果表明,采用遗传算法优化的ADRC控制策略能够有效应对复杂工况下的电源波动问题,提升了多端口供电系统的动态性能。

    Abstract:

    To address the issue of system instability caused by frequent power switching in a snow patrol robot under various conditions such as uphill, downhill, and crossing gullies in a ski resort, a control strategy based on Active Disturbance Rejection Control (ADRC) optimized by Genetic Algorithm (GA) is proposed. The system uses photovoltaic cells as the main power source, with supercapacitors and batteries as auxiliary power sources, and a multi-port bidirectional Buck-Boost converter model is established. ADRC is employed to estimate system disturbances in real time, while the genetic algorithm optimizes the controller parameters to reduce frequent power switching caused by fluctuations in load and power sources. The effectiveness of this strategy was verified in MATLAB/Simulink, showing a system response time of 0.08 ms and an overshoot of less than 1%. Under different road conditions, the control strategy significantly reduced power switching, ensuring system stability while maintaining a stable bus voltage of 48V. The results indicate that the ADRC control strategy optimized by the genetic algorithm can effectively cope with power fluctuations under complex operating conditions, improving the dynamic performance of the multi-port power supply system.

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  • 收稿日期:2024-09-18
  • 最后修改日期:2024-09-19
  • 录用日期:2024-09-25
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