变论域自适应模糊控制在机器人无线充电中的研究  

Research on Adaptive Fuzzy Control Based on Variable Universe in Wireless Charging of Robots

作　　者：程志远 方聪 李峥 吴龙飞 赵雨顺 CHENG Zhiyuan;FANG Cong;LI Zheng;WU Longfei;ZHAO Yushun(College of Electrical Engineering,Shanghai University of Electric Power,Shanghai 200090,China)

机构地区：[1]上海电力大学电气工程学院,上海200090

出　　处：《电气传动》2022年第1期54-59,75,共7页Electric Drive

基　　金：国家自然科学基金(Z2018-050)。

摘　　要：电能供给是保证机器人正常工作的重要环节。现有机器人充电方式多为接触式充电,该方式存在着漏电、易产生火花等重大安全隐患。而无线充电技术是一种非物理接触式传能方式,克服了现有充电方式的弊端,同时且具有自动化程度高、环境适应性强等优点。以串并补偿结构为研究对象,首先建立系统传递函数模型;其次考虑到无线充电系统具有非线性、高阶次及强耦合的特点,采用误差、误差变化率及输出论域可随系统参数变化而实时调整的变论域自适应模糊控制策略,使得系统具有控制精度高、自适应强和鲁棒性好等优点。最后通过仿真和实验结果验证了所提出的控制策略的有效性及实用性。Power supply is an important link to ensure the normal operation of the robot.Most of the existing robot charging methods are contact charging,which have major safety hazards such as electric leakage and easy sparking.The wireless charging technology is a non-physical contact energy transmission method,which overcame the shortcomings of the existing charging method,and have the advantages of high degree of automation and strong environmental adaptability.Therefore,the series-parallel compensation structure was took as the research object.Firstly,the system transfer function model was built.Secondly,considering the characteristics of the wireless charging system with nonlinearity,high order and strong coupling,the adaptive fuzzy control based on variable universe was adopted,the error,error change rate and output domain could be adjusting in real time as the system parameters change in this control strategy,the strategy was making the system has the advantages of high control accuracy,strong adaptability and good robustness.Finally,simulations and experiments were carried out to prove the effectiveness and practicability of the proposed control strategy.

关 键 词：机器人 无线充电 变论域自适应模糊控制 

分 类 号：TM724[电气工程—电力系统及自动化]