太阳能割草机总体及动力能源系统设计与控制技术研究
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摘要
本文主要对太阳能割草机总体及动力能源系统进行研究,包括太阳能割草机总体结构设计、动力能源系统控制策略分析以及控制系统的软硬件设计等方面的内容。
首先分析了太阳能电池、蓄电池和电机的特点和类型,通过匹配计算选择适合太阳能割草机的动力元件。基于以上的计算和分析,对割草机的关键部件和总体进行了设计,其中关键部件的设计包括高度调节机构、太阳能电池板展开机构以及传动机构等的设计,总体设计主要对割草机各元件进行整体分布设计,并最终确定割草机整体的技术参数。
其次,本文对太阳能割草机动力能源系统的控制策略进行分析。通过对比分析目前对太阳能电池最大功率跟踪的各种方法,针对太阳能电池充电特性,提出模糊控制算法,实现太阳能电池的最大功率跟踪;在蓄电池充电控制方面,本文提出分段式恒流充电的方法,采用模糊控制算法实现蓄电池的智能充电;在电机驱动控制方面,采用调节占空比PWM算法的控制策略。
最后,对动力能源系统进行软硬件的设计,主要包括电池管理模块、电机驱动模块以及其他模块的设计,并通过系统总控制器来对这些模块的管理和控制。
The overall and dynamic & energy systems of solar mower are mainly studied in this paper, including overall structure design, dynamic & energy systems control strategies analysis and software and hardware design, etc.
Firstly, the characters and types of solar cell, battery and motor are analyzed. By matching calculation, the components of solar mower are selected and sure. Based on the above calculation and analysis, the key parts and overall are designed. The key parts include height adjustment mechanism, unfolding mechanism of solar cell panel, transmission mechanism and so on. The overall mainly distributes the components of the mower. Ultimately, the overall technical parameters of the mower are sure.
Secondly, control strategies of the dynamic & energy system are analyzed. By comparing and analysis the various methods of MPPT, and the charging character of solar cells, the fuzzy control algorithm is proposed to achieve MPPT of solar cells; In term of battery charging control, the sub-constant current is used, and the method of fuzzy control is achieved the intelligence charge of battery; On the motor drive control, regulate PWM control algorithm is used in the motor.
Finally, the software and hardware of dynamic & energy systems are designed, including battery management module, motor drive module and others, which are managed and controlled by the system controller.
首先分析了太阳能电池、蓄电池和电机的特点和类型,通过匹配计算选择适合太阳能割草机的动力元件。基于以上的计算和分析,对割草机的关键部件和总体进行了设计,其中关键部件的设计包括高度调节机构、太阳能电池板展开机构以及传动机构等的设计,总体设计主要对割草机各元件进行整体分布设计,并最终确定割草机整体的技术参数。
其次,本文对太阳能割草机动力能源系统的控制策略进行分析。通过对比分析目前对太阳能电池最大功率跟踪的各种方法,针对太阳能电池充电特性,提出模糊控制算法,实现太阳能电池的最大功率跟踪;在蓄电池充电控制方面,本文提出分段式恒流充电的方法,采用模糊控制算法实现蓄电池的智能充电;在电机驱动控制方面,采用调节占空比PWM算法的控制策略。
最后,对动力能源系统进行软硬件的设计,主要包括电池管理模块、电机驱动模块以及其他模块的设计,并通过系统总控制器来对这些模块的管理和控制。
The overall and dynamic & energy systems of solar mower are mainly studied in this paper, including overall structure design, dynamic & energy systems control strategies analysis and software and hardware design, etc.
Firstly, the characters and types of solar cell, battery and motor are analyzed. By matching calculation, the components of solar mower are selected and sure. Based on the above calculation and analysis, the key parts and overall are designed. The key parts include height adjustment mechanism, unfolding mechanism of solar cell panel, transmission mechanism and so on. The overall mainly distributes the components of the mower. Ultimately, the overall technical parameters of the mower are sure.
Secondly, control strategies of the dynamic & energy system are analyzed. By comparing and analysis the various methods of MPPT, and the charging character of solar cells, the fuzzy control algorithm is proposed to achieve MPPT of solar cells; In term of battery charging control, the sub-constant current is used, and the method of fuzzy control is achieved the intelligence charge of battery; On the motor drive control, regulate PWM control algorithm is used in the motor.
Finally, the software and hardware of dynamic & energy systems are designed, including battery management module, motor drive module and others, which are managed and controlled by the system controller.
引文
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[2]冯垛生.太阳能发电原理与应用.北京:人民邮电出版社,2007,108-110
[3]Chapin D M,Fuller C S,Pearson G L.A new silicon p-n junction photocell for converting solar radiation into electrical power.J Appl Phys,1954,25
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[5]孙玉峰.我国园林草坪养护机械简介.林业机械与木工设备,2003,7:22
[6]Outdoor Power Equipment Institute.http://opei.mow.org/,2006.07.16
[7]China Academic Journal Electronic Publishing House.http://www.cnki.net,2006
[8]Jeremy James.http://www.appropedia.org/Solar_Charged_Lawnmower,2005
[9]Matt Kelley.http://www.radioiowa.com/gestalt/go.cfm?objectid=4E98E111-A729-7F A9-E7A9478021323ECC,2007.05
[10]求势.割草机器人.机器人技术与应用,1996,No.5
[11]冯逸,陈礼璠,杜爱民.太阳能汽车发展现状及其实用化对策研究.上海汽车,2006.12
[12]赵慧.基于太阳能电动车充电控制系统的研究.广东工业大学,硕士论文,2005
[13]太阳能在线http://www.solar168.cn/2007/controller/controller_comment/2007/226/0722614314017462HGJJCBG2J12GJ44.html
[14]张艳红,张崇巍,张兴,林闽,吕绍勤.户用型太阳能充放电控制器的设计.能源技术,2006,NOV.27,No.3
[15]骆骄.基于AVR单片机的电动自行车控制系统研究.大连理工大学,硕士学位论文,2005
[16]赵争鸣,刘建政,孙晓瑛,袁立强.太阳能光伏发电系统及其应用.北京:科学出版社,2005:101-105
[17]太阳能在线.http://www.solar168.cn/2007/inverter/inverter_comment/2007/225.html
[18]沈锦飞.电源变换应用技术.北京:机械工业出版社,2007.08,210-212
[19]陈国呈.PWM逆变技术及应用.北京;中国电力出版社,2007:305-308,314-316
[20]太阳能电池专利技术.http://www.hfs2000.com/nyyl/cdc/200701/61.html
[21]黄勇理.能源动力设备的控制与管理.武汉:华中科技大学出版社,2006.12:84-116
[22]胡骅,宋慧.电动汽车.北京:人民交通出版社,2006.8:81-93,119-124
[23]诸自强.现代电动车、电机驱动及电力电子技术.北京:机械工业出版社,2005.7: 55-56
[24]中国农业机械化科学研究院.农业机械设计手册(上册).北京:机械工业出版社,1988.4:925,1004
[25]汪东翔,董俊,蒋慕蓉.地面用光伏电源简单设计.新能源,1994,16(3):22-25
[26]Komp R J,乔动筠译.实用光伏技术.北京:航空工业出版社,1988:28
[27]王长贵,王斯成.太阳能光伏发电实用技术.北京:化学工业出版社,2005.6:228-230
[28]沈辉,曾祖勤.太阳能光伏发电技术.北京:化学工业出版社,2005.8:95-96
[29]焦洪杰,项辉宇,季来春等.并联式混合动力汽车用镍氢电池冷却装置的研制.汽车技术,2003,No.1:23-25
[30]朱藤.基于MPPT的光伏光伏电池电力应用系统的研究与设计.东华大学,硕士学位论文,2005.3
[31]Tsai-Fu Wu,Chien-Hsuan Chang,Yu-Hai Chen.A fuzzy-logic-controlled single-stage converter for PV-powered lighting system applications.IEEE Transactions on Industrial Eleetrics,2000,47(2):287-296
[32]Chung-Yuen Won,Duk-Heon Kim,Sei-Chan Kim,Won-Sam Kim,Hack-Sung Kim.A New Maximum Power Point Tracker of Photovoltaic Arrays Using Fuzzy Controller.Proceedings of the IEEE Power Elec.Specialists Conference,1994:396-403
[33]Lee C.C,Fuzzy logic in control systems:Fuzzy Logic Controller-PartⅠ.IEEE Transactions on Systems Man and Cybernetics Vol.20,NO.2,March/April 1990:pages 404-417
[34]Frederick M.Ishengoma,Lars E.Norum.Design and implementation of a digitally controlled standalone photovoltaic power supply.NORPIE/2002,Nordic Workshop on Power and Industrial Electronics,2002.8:12-14
[35]刘丹伟.基于模糊控制的智能化充电电源.华中科技大学,硕士学位论文,2004.4
[36]Lee C.H,Teng C C.Identification and control of dynamic systems using recurrent fuzzy neural networks.IEEE Transactions on Fuzzy Systems,2000,8(4):349-366
[37]Wu J L,Pei Z,Qin K Y.Design of two-fuzzy neural-network controller for nonlinear systems.Xi' an:Proceedings of the Second International Conference on Machine Learning and Cybernetics,2003
[38]Koutroulis E,Kalaistazalds K.Novel Battery Charging Regulation System for Photovoltaic Applications.IEEE.Pro-Eleeter.Power Appl.,151(2),March 2004:191-197
[39]王晓明.电动机单片机控制.北京:北京航空航天大学出版社,2007.8,220-221
[40]陈全世.先进电动汽车技术.北京:化学工业出版社,2007:29-61
[41]王金振.太阳能割草机关键技术的研究.南京理工大学,硕士学位论文,2004
[42]王伟.基于模糊控制的VRLA蓄电池智能充电技术的研究.吉林大学,硕士学位论文,2007
[43]Tarun Gupta,RRBoudreaux,R.M.Nelms,etal.Implementation of a Fuzzy Controler for DC-DC Converters Using an Inexpensive 8-b Microcontroler.IEEE Transactions on Industry Electronics,Vol 44,NO.5,OCTOBER 1997:661-668
[44]赵金星.割草机器人总体及关键技术的研究.南京理工大学,硕士学位论文,2007
[45]张葵葵.镍氢电池智能充电控制系统的研究.国防科技大学,硕士学位论文,2004
[46]毛六平.混合电动汽车的智能控制方法研究.湖南大学,博士论文,2006
[47]祖莉.智能割草机器人全区域覆盖运行的控制和动力学特性研究.南京理工大学,博士论文,2005
[48]张迎新,雷文,姚静波.C8051F系列SoC单片机原理及应用.北京:国防工业出版社,2005
[49]陈小忠,黄宁,赵小侠.单片机接口技术实用子程序.北京:人民邮电出版社,2005
[50]王韧.LM621在无刷直流电机红外遥控调速系统中的应用.组合机床与自动化加工技术,2004,No.3
[51]吴建国.ADC0809A/D转换芯片的原理及应用.元器件应用,2007.2:44-46
[52]怯肇乾.人机界面中的LCD控制驱动与接口设计.单片机与嵌入式系统应用,2004.11:9-11,68
[53]改性树脂ASA简介http://info.china.alibaba.com/news/detail/v5003220-d5835016.html
[54]金立刚.自动割草机器人的研制.大连理工大学,硕士学位论文,2006.12
[2]冯垛生.太阳能发电原理与应用.北京:人民邮电出版社,2007,108-110
[3]Chapin D M,Fuller C S,Pearson G L.A new silicon p-n junction photocell for converting solar radiation into electrical power.J Appl Phys,1954,25
[4]张霞,蔡宗寿.我国草坪机械使用现状及发展对策.农机化研究,2006,No.6
[5]孙玉峰.我国园林草坪养护机械简介.林业机械与木工设备,2003,7:22
[6]Outdoor Power Equipment Institute.http://opei.mow.org/,2006.07.16
[7]China Academic Journal Electronic Publishing House.http://www.cnki.net,2006
[8]Jeremy James.http://www.appropedia.org/Solar_Charged_Lawnmower,2005
[9]Matt Kelley.http://www.radioiowa.com/gestalt/go.cfm?objectid=4E98E111-A729-7F A9-E7A9478021323ECC,2007.05
[10]求势.割草机器人.机器人技术与应用,1996,No.5
[11]冯逸,陈礼璠,杜爱民.太阳能汽车发展现状及其实用化对策研究.上海汽车,2006.12
[12]赵慧.基于太阳能电动车充电控制系统的研究.广东工业大学,硕士论文,2005
[13]太阳能在线http://www.solar168.cn/2007/controller/controller_comment/2007/226/0722614314017462HGJJCBG2J12GJ44.html
[14]张艳红,张崇巍,张兴,林闽,吕绍勤.户用型太阳能充放电控制器的设计.能源技术,2006,NOV.27,No.3
[15]骆骄.基于AVR单片机的电动自行车控制系统研究.大连理工大学,硕士学位论文,2005
[16]赵争鸣,刘建政,孙晓瑛,袁立强.太阳能光伏发电系统及其应用.北京:科学出版社,2005:101-105
[17]太阳能在线.http://www.solar168.cn/2007/inverter/inverter_comment/2007/225.html
[18]沈锦飞.电源变换应用技术.北京:机械工业出版社,2007.08,210-212
[19]陈国呈.PWM逆变技术及应用.北京;中国电力出版社,2007:305-308,314-316
[20]太阳能电池专利技术.http://www.hfs2000.com/nyyl/cdc/200701/61.html
[21]黄勇理.能源动力设备的控制与管理.武汉:华中科技大学出版社,2006.12:84-116
[22]胡骅,宋慧.电动汽车.北京:人民交通出版社,2006.8:81-93,119-124
[23]诸自强.现代电动车、电机驱动及电力电子技术.北京:机械工业出版社,2005.7: 55-56
[24]中国农业机械化科学研究院.农业机械设计手册(上册).北京:机械工业出版社,1988.4:925,1004
[25]汪东翔,董俊,蒋慕蓉.地面用光伏电源简单设计.新能源,1994,16(3):22-25
[26]Komp R J,乔动筠译.实用光伏技术.北京:航空工业出版社,1988:28
[27]王长贵,王斯成.太阳能光伏发电实用技术.北京:化学工业出版社,2005.6:228-230
[28]沈辉,曾祖勤.太阳能光伏发电技术.北京:化学工业出版社,2005.8:95-96
[29]焦洪杰,项辉宇,季来春等.并联式混合动力汽车用镍氢电池冷却装置的研制.汽车技术,2003,No.1:23-25
[30]朱藤.基于MPPT的光伏光伏电池电力应用系统的研究与设计.东华大学,硕士学位论文,2005.3
[31]Tsai-Fu Wu,Chien-Hsuan Chang,Yu-Hai Chen.A fuzzy-logic-controlled single-stage converter for PV-powered lighting system applications.IEEE Transactions on Industrial Eleetrics,2000,47(2):287-296
[32]Chung-Yuen Won,Duk-Heon Kim,Sei-Chan Kim,Won-Sam Kim,Hack-Sung Kim.A New Maximum Power Point Tracker of Photovoltaic Arrays Using Fuzzy Controller.Proceedings of the IEEE Power Elec.Specialists Conference,1994:396-403
[33]Lee C.C,Fuzzy logic in control systems:Fuzzy Logic Controller-PartⅠ.IEEE Transactions on Systems Man and Cybernetics Vol.20,NO.2,March/April 1990:pages 404-417
[34]Frederick M.Ishengoma,Lars E.Norum.Design and implementation of a digitally controlled standalone photovoltaic power supply.NORPIE/2002,Nordic Workshop on Power and Industrial Electronics,2002.8:12-14
[35]刘丹伟.基于模糊控制的智能化充电电源.华中科技大学,硕士学位论文,2004.4
[36]Lee C.H,Teng C C.Identification and control of dynamic systems using recurrent fuzzy neural networks.IEEE Transactions on Fuzzy Systems,2000,8(4):349-366
[37]Wu J L,Pei Z,Qin K Y.Design of two-fuzzy neural-network controller for nonlinear systems.Xi' an:Proceedings of the Second International Conference on Machine Learning and Cybernetics,2003
[38]Koutroulis E,Kalaistazalds K.Novel Battery Charging Regulation System for Photovoltaic Applications.IEEE.Pro-Eleeter.Power Appl.,151(2),March 2004:191-197
[39]王晓明.电动机单片机控制.北京:北京航空航天大学出版社,2007.8,220-221
[40]陈全世.先进电动汽车技术.北京:化学工业出版社,2007:29-61
[41]王金振.太阳能割草机关键技术的研究.南京理工大学,硕士学位论文,2004
[42]王伟.基于模糊控制的VRLA蓄电池智能充电技术的研究.吉林大学,硕士学位论文,2007
[43]Tarun Gupta,RRBoudreaux,R.M.Nelms,etal.Implementation of a Fuzzy Controler for DC-DC Converters Using an Inexpensive 8-b Microcontroler.IEEE Transactions on Industry Electronics,Vol 44,NO.5,OCTOBER 1997:661-668
[44]赵金星.割草机器人总体及关键技术的研究.南京理工大学,硕士学位论文,2007
[45]张葵葵.镍氢电池智能充电控制系统的研究.国防科技大学,硕士学位论文,2004
[46]毛六平.混合电动汽车的智能控制方法研究.湖南大学,博士论文,2006
[47]祖莉.智能割草机器人全区域覆盖运行的控制和动力学特性研究.南京理工大学,博士论文,2005
[48]张迎新,雷文,姚静波.C8051F系列SoC单片机原理及应用.北京:国防工业出版社,2005
[49]陈小忠,黄宁,赵小侠.单片机接口技术实用子程序.北京:人民邮电出版社,2005
[50]王韧.LM621在无刷直流电机红外遥控调速系统中的应用.组合机床与自动化加工技术,2004,No.3
[51]吴建国.ADC0809A/D转换芯片的原理及应用.元器件应用,2007.2:44-46
[52]怯肇乾.人机界面中的LCD控制驱动与接口设计.单片机与嵌入式系统应用,2004.11:9-11,68
[53]改性树脂ASA简介http://info.china.alibaba.com/news/detail/v5003220-d5835016.html
[54]金立刚.自动割草机器人的研制.大连理工大学,硕士学位论文,2006.12