雪场巡逻机器人电源切换自抗扰控制性能研究  

Research on the Performance of Automatic Disturbance Rejection Control of Power Switching for Snow Patrol Robots

作　　者：张亿鑫 高兴华[1] 何浩然 平彦兴 牛经鹏 ZHANG Yixin;GAO Xinghua;HE Haoran;PING Yanxing;NIU Jingpeng(School of Mechanical Engineering,Beihua University,Jilin Jilin 132021,China;CRRC Changchun Railway Vehicles Co.,Ltd.,Changchun Jilin 130022,China)

机构地区：[1]北华大学机械工程学院,吉林吉林132021 [2]中车长春轨道客车股份有限公司,吉林长春130022

出　　处：《电子器件》2025年第1期80-85,共6页Chinese Journal of Electron Devices

基　　金：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)。

摘　　要：为了解决雪场巡逻机器人在全地形、极寒环境下,电源突变、负载突变时电压和电流波动大的问题,提出了一种利用自抗扰控制器对内、外未知扰动进行观测估计与扰动补偿的电压电流双闭环控制策略,实现系统快速稳定。在MATLAB/Simulink仿真平台对多端口供电系统建模仿真,当处于复杂工况时系统响应时间为0.08 ms,超调量小于1%。有助于提高供电系统对于复杂工作环境和任务需求的应对能力。In order to solve the problem that the voltage and current of the snow patrol robot fluctuate greatly when the power supply and load change in all-terrain and extremely cold environment,a voltage and current double closed-loop control strategy is proposed,which uses the active disturbance rejection controller to estimate and compensate the internal and external unknown disturbances,so as to achieve rapid stability of the system.The multi-port power supply system is modeled and simulated on the MATLAB/Simulink simula-tion platform.The response time of the system is 0.08 ms and the overshoot is less than 1%under complex conditions.It helps to improve the power supply system's ability to cope with complex working environment and task requirements.

关 键 词：巡逻机器人 双向DC-DC变换器 自抗扰控制 多端口供电系统 

分 类 号：TK018[动力工程及工程热物理]