自主機(jī)器人燃料電池多能源動(dòng)力系統(tǒng)研究.pdf

1、分類號(hào)UDC密級(jí)公開學(xué)校代碼10497武膊忙筍大享學(xué)位論文題主機(jī)器人燃米電池多能源動(dòng)力系統(tǒng)研究ResearchonHybridPowerSvstemofFuelCellAutonomouSRobot文目英題研究生姓名趙高星姓名陳啟宏職稱教授學(xué)位博士指導(dǎo)教師、，，、__，，__.，，、、，__:_，_單位名稱自動(dòng)化學(xué)院郵編430070申請(qǐng)學(xué)位級(jí)別碩士學(xué)科專業(yè)名稱控制理論與控制工程論文提交日期2009.5論文答辯日期2009.6學(xué)位授予單位

2、武漢理工大學(xué)學(xué)位授予日期答辯委員會(huì)主席胡榮強(qiáng)教授評(píng)閱人胡榮強(qiáng)教授2009年5月武漢理工大學(xué)碩士學(xué)位論文AbstraCtAstheteehnologyofrobotdeveloPingfast，theapPlieationfieldofrobot15graduallybroaden，50weneedmoreandmoreautonomousrobotwhiehcanworkintheenvironmentoffield，seabed，ou

3、tersPaeewithoutcable.However，theissueofenergysuPPly15abottleneekwhichlimitstheapPlieationoftherobot.Thefueleell15akindofnewenergywhichhastheadvantageofhighdensityPower，Pollution一freeetc，andithasbeenWidelyappliedinfixedst

4、ationandelectricvehicles.ThisthesisanalysesthecharaeteristiesofsomePowersystem.Takingitasatarget，thethesistakesresearehontheeontrollingofthePowersystem.Themainreseareheontentsasfollows:Firstly，thethesisanalysestheeharact

5、eristiesofsomePowersystemthenitdiseussesseveraltoPologiesofPowersystem.ItProPosesdesignsthedireetParallelhybridPlanofFuelCellandNi一MHbattery.onthisbasis，combiningwiththerequirementsofenergymanagement，itdesignstheeontroll

6、ingstruetureoftheenergymanagementsystembasedonfuzzyeontrol.Seeondly，inresPonsetothestructureoftheenergymanagementsystem，thethesisdesignsenergyeontrolsystemhardwarecircuitbasedonthechiPofDSRItincludesthedesignofsignaldete

7、ctionmodule，CANcommunieationmodule，SCIcommunieationmoduletakessomeanti一ammingmeasuretostrengthenthesystem’5stability.Finally，basedonthehybridenergymanagementsystem，thethesisgivesresearehontheeontrolstrategyofenergymanage

8、ment.ComParingoftheexistingenergymanagement，thethesisPutfo即ardthefuzzyeontrolstrategyofsomesubsetsoffuzzyrulesbasedonthedifferentoPerationalmodeoftherobot.Analyzingofenergyflowineaehoftherobotmodeandinthebasisofthestable