低频无线充电技术在移动机器人中的应用  

Application of Low Frequency Wireless Charging Technology for Mobile Robot

作　　者：李乾 钱恒健 方永毅 邢昆 刘保安 LI Qian;QIAN Hengjian;FANG Yongyi;XING Kun;LIU Baoan(State Grid Shijiazhuang Power Supply Company,Shijiazhuang 050000,China)

机构地区：[1]国网石家庄供电公司,河北石家庄050000

出　　处：《微型电脑应用》2021年第8期176-180,共5页Microcomputer Applications

摘　　要：设计了一种基于10 kHz低频无线充电技术的工业轨道行走机器人的充电技术。通过66.67 kW额定功率的双充电线圈对4kW行走机器人行走部电池进行无线充电,使用全嵌入式控制系统对充电回路进行管理,基本可以确保在18 s排队等候时间内为行走机器人提供最高151 s的全功率电量。在控制算法方面,使用傅里叶分析对充电频率进行识别,使用模糊控制矩阵对充电安全提供综合保障,结合系统中使用的断路器、接触器、变频器内置安全保护模块,该系统可以提供有效的安全管理。最终,该系统的有效运行时间占比达到90%以上,充电效率达到34%以上,结果基本符合充电需求。This paper designs a kind of charging technology of industrial track walking robot based on 10 kHz low-frequency wireless charging technology.The battery of the walking part of the 4 kW walking robot is charged wirelessly by a 66.67 kW rated dual charging coil,and the charging circuit is managed by a full embedded control system,which can basically ensure that the maximum power of 151 seconds is provided for the walking robot within the 18 second waiting time.In the aspect of control algorithm,Fourier analysis is used to identify charging frequency,fuzzy control matrix is used to provide comprehensive guarantee for charging safety,combined with the built-in safety protection module of circuit breaker,contactor and frequency converter used in the system,the system can provide effective safety management.Finally,the effective operation time of the system accounts for more than 90%,and the charging efficiency reaches more than 34%,which basically meets the charging demand.

关 键 词：行走机器人 轨道机器人 无线充电 低频充电 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]