CN105564530A - Hybrid power system and optimal control method for mechanical outer skeleton - Google Patents

Hybrid power system and optimal control method for mechanical outer skeleton Download PDF

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CN105564530A
CN105564530A CN 201610026013 CN201610026013A CN105564530A CN 105564530 A CN105564530 A CN 105564530A CN 201610026013 CN201610026013 CN 201610026013 CN 201610026013 A CN201610026013 A CN 201610026013A CN 105564530 A CN105564530 A CN 105564530A
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power
system
electric
hybrid
transmission
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CN 201610026013
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Chinese (zh)
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陈宁
刘爽
彭伟
马云龙
谭亚敏
王琨
何磊
徐东旭
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中国矿业大学
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS, IN VEHICLES
    • B60K6/00Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Abstract

The invention provides a hybrid power system and optimal control method for a mechanical outer skeleton. The system is a parallel-connection type power system, and comprises a mechanical power transmitting system, an electric transmitting system and a hydraulic oil transmitting system. The mechanical power transmitting system comprises a gasoline engine and an electric motor which are connected with a hybrid power transmission. The gasoline engine and the electric motor can independently provide power for the hybrid power transmission and can also provide power for the hybrid power transmission together. The electric transmitting system comprises an electric generator and a conversion system. The electric generator is connected with the hybrid power transmission and provides a power supply for the electric motor through the conversion system. The hydraulic oil transmitting system comprises an oil pump and a transmission system. The oil pump is connected with the hybrid power transmission and provides power to the mechanical outer skeleton through the transmission system. The power compensation mode and the power energy storage mode can be switched according to working conditions in real time, energy can be reasonably distributed between the gasoline engine and the electric motor, and the overall efficiency is the highest.

Description

-种应用于机械外骨骼的混合动力系统及最优控制方法 - exoskeleton kind used in mechanical and hybrid systems optimal control

技术领域 FIELD

[0001] 本发明设及一种混合动力系统,尤其设及一种应用于机械外骨骼的混合动力系统及最优控制方法,属于动力系统领域。 [0001] The present invention is provided for a hybrid system and, in particular, the hybrid system and provided optimal control and a mechanical exoskeleton applied, belonging to the field of power systems.

背景技术 Background technique

[0002] 基于煤矿工作环境的恶劣条件,个体环境控制系统的核屯、难点是人体承重能力与环控系统重量之间的矛盾,而机械外骨骼是突破运一矛盾的有效途径。 [0002] Based on the harsh conditions of coal mine work environment, nuclear Tuen individual climate control system, the difficulty is the conflict between the human body and the load-bearing capacity of the environmental control system weight, while the outside is an effective way to break the bones machinery shipped a contradiction.

[0003] 利用机械外骨骼的功用,解决煤矿深部开采的热害防护,粉尘和瓦斯防护,同时外骨骼具有救生氧气呼吸系统,很大程度上可W减轻人员劳动负荷,对于建设安全、高效的煤矿开采环境具有十分重要意义,同时也为我国能源产业的稳步推进提供有力支持。 [0003] use of outer bone mechanical function, solve heat damage protection, dust and gas protection in deep mining, while exoskeleton lifesaving oxygen respiratory system, can largely reduce the staff work load W, for the construction of safe and efficient coal mining environment has a very important significance, but also provide strong support for the steady progress of China's energy industry.

[0004] 机械外骨骼的研究难点又在于其动力系统的研究。 Study its dynamical systems [0004] Difficulties mechanical exoskeleton again. 目前国内外机械外骨骼的动力系统主要W蓄电池供电,在同样的质量和尺寸下,与液体燃料汽油相比,蓄电池的能量密度较低,动力性明显不足,使得外骨骼移动范围和负重重量受到蓄电池的容量和效率的限制。 At present, domestic and W battery powered exoskeleton mechanical power system, in the same mass and size, compared with a liquid fuel such as gasoline, the lower the energy density of the battery, power is obviously insufficient, so that the moving range of the exoskeleton and weight by weight limited by the capacity and efficiency of the battery. 然而,如果单纯用液体燃料替换蓄电池供电,由于煤矿井下作业环境的较为复杂性,易使得发动机常在低速或是怠速情况下运转,难W满足煤矿井下作业多种工况下的能量需求,并且发动机的燃油经济性较差,尾气排放量大。 However, if simply replacing the battery-powered liquid fuel, due to the complicated work environment of the coal mine, so that the engine steady operation is easy at low speed or idle conditions, hard coal mine work W satisfy the energy requirements of a variety of conditions, and poor fuel economy of the engine, exhaust emissions from large. 因此,如何配备持久高效且能满足煤矿井下作业多种工况下的能量需求的机械外骨骼动力系统是急需解决的问题。 So, how is equipped with durable and efficient and can meet a variety of working conditions of miners working underground energy demand outside the skeleton mechanical power system is an urgent problem.

发明内容 SUMMARY

[0005] 根据现有技术的不足,提供一种应用于机械外骨骼的混合动力系统及最优控制方法,该系统实现了能源的长期高效供给,同时也满足了机械外骨骼应对各种作业工况的供會K需求。 [0005] The deficiencies of the prior art, and provide optimal control of the hybrid system method is applied to the bone to the mechanical one kind, the system achieves efficient long-term energy supply, but also to meet the bone to the mechanical working operations to deal with various conditions for K will demand.

[0006] 本发明按W下技术方案实现: 一种应用于机械外骨骼的混合动力系统,该系统为并联式动力系统,所述并联式动力系统包括机械动力传输系统,电力传输系统和液压油传输系统;所述机械动力传输系统包括汽油机和电动机,所述汽油机和电动机分别与混合动力变速器相连,汽油机和电动机既能单独向混合动力变速器提供动力又能共同向混合动力变速器提供动力;所述电力传输系统包括发电机和转换系统,所述发电机与混合动力变速器相连,发电机通过转换系统向电动机提供电源;所述液压油传输系统包括油累和传动系统,所述油累与混合动力变速器相连,油累通过传动系统向机械外骨骼提供动力。 [0006] The present invention is achieved by the technical solution W: one kind of machinery used in hybrid systems exoskeleton, the system is a parallel power system, a parallel power system comprises a mechanical power transmission system, power transmission and hydraulic oil systems transmission system; and the mechanical power transmission system includes a gasoline engine and an electric motor, the electric motor and the gasoline engine and the hybrid transmission are connected, both gasoline and electric motor provides power to the individual hybrid transmission can collectively provide power to the hybrid transmission; the power transmission system and a conversion system includes a generator, the generator and hybrid transmission connected to the motor by the generator provides power conversion system; the hydraulic fluid transmission system includes a tired and transmission oil, the oil accumulated with the hybrid a transmission connected to the mechanical oil accumulated powered exoskeleton via a transmission system.

[0007] 所述转换系统包括逆变器和蓄电池,所述逆变器与发电机相连后又与蓄电池相连,所述蓄电池与电动机相连。 [0007] The conversion system comprises an inverter and a battery, a generator connected to said inverter and then connected with the battery, the battery is connected to the motor.

[000引所述蓄电池采用裡电池。 [000 employed in the lead of the battery cell.

[0009] 所述传动系统包括伺服阀和油缸,所述伺服阀与油累连接后又与油缸相连,所述油缸与机械外骨骼相连。 [0009] The drive system includes a servo valve and a tank, said servo valve connected to the oil accumulated and then connected to the cylinder, the outer cylinder is connected with a mechanical skeleton.

[0010] 还包括油箱和蓄能器,所述油箱与油累相连,所述蓄能器与油累相连后又与伺服阀相连。 [0010] and further comprising an accumulator tank, the oil tank is connected with the oil accumulated, the accumulator is connected with the oil accumulated and then connected to the servo valve.

[0011] 所述汽油机通过离合器Π 与混合动力变速器相连;所述电动机通过离合器I与混合动力变速器相连。 [0011] The gasoline engine and is connected via a clutch Π hybrid transmission; the electric motor connected through the clutch I hybrid transmission.

[0012] 所述混合动力变速器包括两块侧板,所述两块侧板之间通过套筒间隔安装有轴承I,轴承Π 和轴承m,所述轴承I上安装有齿轮I,所述轴承Π 上安装有同轴的齿轮Π 和齿轮虹,所述轴承虹上安装有齿轮IV,所述齿轮I通过皮带I与齿轮Π 相连接传输构成一级减速, 所述齿轮虹通过皮带Π 与齿轮IV相连接传输构成二级减速。 [0012] The hybrid transmission comprising two side plates, between the two spaced side plates attached to the sleeve bearings I, bearing and bearing Π m, the bearing is mounted on I I gear, said bearing coaxially mounted on a gear with a Π and Π gear rainbow, the rainbow bearing mounted gear IV, the gear and the gear I I Π through a belt transmission connected to a reduction configuration, the rainbow gear with the gear via a belt Π IV is connected to two transmission configuration deceleration.

[0013] 所述一级减速的减速比为3,所述二级减速的减速比为4,所述轴承I上还安装有飞轮,起到储存部分能量,稳定转速的作用。 [0013] a reduction of the speed reduction ratio of 3, the second speed reduction ratio of 4, the bearing is also mounted on the flywheel I, part of the energy storage functions, the role of steady speed.

[0014] 一种机械外骨骼的混合动力系统的最优控制方法,将汽油机作为混合动力系统的主驱动源,电力驱动系统作为混合动力系统的辅助驱动源,根据电动机电流的变化,通过电动机电流的反馈作用,即将反馈电流值作为开启与关闭汽油机的开关信号,运样电动机对汽油机的输出转矩能够起到削峰填谷的作用;然后利用最小二乘法拟合实验数据,通过多组实验数据得到拟合公式,最后利用拟合的函数多项式求极值得到混合度,通过多组实验数据得到的拟合公式为: [0014] Optimal control method of a hybrid system of a mechanical exoskeleton of the gasoline as the main drive source of a hybrid system, the hybrid system as an auxiliary drive source of the electric drive system, according to the variation of the motor current by the motor current the feedback, the feedback coming on and off current value as gasoline switching signal, the sample transport motor output torque of the gasoline engine can function as load shifting; then using a least squares fit of experimental data, through a plurality of experiments data obtained fitting formula, polynomial function fitted Finally extremum to obtain the degree of mixing, by fitting formula plurality set of experimental data is obtained:

Figure CN105564530AD00041

[0015] 当混合度为0.33时,电动机的峰值功率与汽油机的峰值功率比为1:3,混合动力系统效率最高,节油率最大。 [0015] When the mixing degree is 0.33, the peak power of the motor gasoline peak power ratio of 1: 3, the highest efficiency of the hybrid system, the maximum fuel rate.

[0016] 本发明原理: 该混合动力系统需背负在人的背部,并随人体一起移动,动力系统整体采用并联式,运使得汽油机与电动机运两个动力源的的功率可W叠加,从而可W采用小功率的汽油机和电动机,使得整个动力系统质量,尺寸都较小,W满足人体背部空间的要求。 [0016] The principle of the invention: the hybrid system required piggyback person's back, and with the movement along the body, the power of the entire system using parallel, operation such that the power gasoline engine and the motor operation of the two power sources may be W superposed so as to be W using low-power and a motor gasoline, so that the entire power quality system, are small size, W meet the human back space. 由于煤矿井下等作业环境的复杂性,易使得汽油机常在低速或是怠速情况下运转,汽油机的燃油经济性较差,且排放大,而在并联系统中,一方面,汽油机此时可W关闭掉并且只用电动机来驱动系统,另一方面,也可W增加汽油机的负荷,带动发电机发电,给蓄电池充电W备后用。 Because of the complexity of coal mine working environment and the like, such that the gasoline is often easy to run at low speed or idle conditions, gasoline fuel economy is poor, and the discharge is large, whereas the parallel system, on the one hand, at this time may be gasoline W Off off and only the electric motor drive system, on the other hand, can increase the load W gasoline engine driven generator to charge the battery W after use. 为了达到每个工况下的能量需求,起到节能减排的效果,整个动力系统根据设计的混合动力变速器可满足Ξ种工作模式,根据能量需求选用。 To achieve the condition of each of the energy demand, energy saving effect is played, the whole power transmission system according to a hybrid design may satisfy Ξ operating modes, the choice of the energy demand.

[0017] 若外骨骼作业需求的驱动功率小于汽油机工作的最小功率,则由蓄电池供电,在电动机单独工作模式下启动,该模式下,控制系统发出信号至电动机的离合器I使其关闭, 通过电动机的齿轮将功率传递给输出轴,从而带动油累工作。 [0017] When the drive power demand is less than the exoskeleton job gasoline work minimum power, by battery power, start the motor in the separate operating mode, in this mode, the clutch control system sends a signal to the motor I to be closed, by a motor the power transfer gear to the output shaft, thereby driving the working oil tired. 此时其他的齿轮组均为空转, 随着节流阀阀口开度的逐渐关小,输出的压力随之不断升高,W满足机械外骨骼启动和行走的能量需求,运动过程中阀口开度变大,则输出压力随之降低。 At this time, the other groups are idle gears, the throttle valve is gradually closed as the small, the output pressure of the valve opening size consequent rising, W skeleton meet to mechanical energy requirements and start walking, movement of the valve port the degree of opening becomes larger, the output pressure decreases. 系统的流量也随着阀口开度的减小而减小,多余的流量经溢流阀后流回油箱。 The flow system also decreases the opening degree of the valve opening is reduced, the excess flow back into the tank through the relief valve.

[0018] 若外骨骼需求的驱动功率超过该限值,此时汽油机的离合器闭合,由汽油机取代电动机驱动系统运行。 [0018] When the drive power demand exceeds the exoskeleton limit value, then the clutch is closed gasoline engine, an electric motor driven by a gasoline engine system substituted run. 电动机轴空转,随着汽油机转速的升高,两级减速齿轮均投入工作, 将汽油机的扭矩传递到输出轴,汽油机的扭矩、累出口压力、系统流量都随之升高,可满足机械外骨骼负重及快速行走运动的能量需求。 Idle the motor shaft, with the increase of the rotational speed of the gasoline engine, two reduction gears are put to work, gasoline transmitting torque to the output shaft torque, gasoline engine, tired outlet pressure, the system will be increased traffic, to meet the bone to the mechanical fast walking and weight-bearing exercise energy requirements. 系统输出压力增大到最高值后保持一段时间后再降低,溢流阀的流量先变大后变小。 After the system pressure is increased to the maximum output value decreases after a period of time, after the first relief valve increases the flow rate becomes smaller. 运是因为经阀口节流后,累出口多余的流量经溢流阀流回油箱。 Transported through the valve port is throttled because the excess flow back into the tank through the relief valve outlet tired.

[0019] 当系统遇到需要奔跑急行、跳跃等大工况运行时,此时,汽油机与电动机的离合器均闭合,共同作为动力源驱动液压油累。 [0019] When the system encounters emergency line needs to run, jump and other large running conditions, this time, the clutch motor gasoline are closed together as a power source driving the hydraulic oil tired. 电动机启动较快,首先带动负载工作,汽油机需要启动一段时间后再投入工作。 Motor starts quickly, first to drive the load to work, it needs to start the gasoline engine to work after a period of time. 故混合动力系统可W缩短单独汽油机系统的启动时间,同时提高系统的加速性能。 Therefore, the hybrid system startup time may be W gasoline alone system, while improving the acceleration performance of the system. 此时W混合度来数量化汽油机和电动机的功率比例,随着混合度的提高,汽油机逐渐减小和电机逐渐增大,原则上能更充分发挥整体的节能效果。 At this time, the degree of mixing W power ratio to the number of the gasoline engine and the electric motor, with the improvement of the degree of mixing of gasoline is gradually decreased and the motor gradually increases, in principle, can give full play to the overall energy-saving effect. 但由于电机重量的增加会导致整个系统重量的大幅度增加,因此系统的混合度取值在0到0.5之间,测量驱动负载时所耗得液压油油量来设计总功率的动力性,W此为约束条件确立了电机功率与发动机功率的最佳混合度为1:3。 However, due to the increase in the weight of the motor cause a substantial increase in the overall weight of the system, and therefore the value of the mixing system between 0 to 0.5, to obtain the consumption amount of hydraulic fluid to the design of the power measurement of the total power for driving a load, W this establishes the motor power and engine power constraints optimum mixing is 1: 3. 此时系统的节油率最大,效率最高。 At this point the largest, most efficient fuel-saving rate of the system.

[0020] 本发明有益效果: 本发明在满足系统的动力性和其他基本技术性能W及成本等要求的前提下,能够根据工况实时进行动力补偿模式和动力储能模式切换,同时通过采用离合控制方式能够顺利实现各种模式间的无缝切换并能消除切换过程中带来的动力冲击;控制策略能实现能量在汽油机、电动机之间能有效而合理地分配,使整体效率达到最高,获得整体最大的燃油经济性、最低的排放W及平稳的运行特性。 [0020] Advantageous Effects of Invention: The present invention is in meeting the power system and other essential W technical performance and cost requirements, it is possible to compensate dynamic conditions in real time mode and the storage mode according to the power switch, and by using the clutch control mode can be smoothly seamlessly switching between the various modes and can eliminate the impact force caused by a handover procedure; energy control strategies to be implemented effectively and reasonably distributed between the gasoline engine, the motor, and the overall efficiency is the highest, to obtain overall maximum fuel economy, low emissions and smooth running characteristics W.

附图说明 BRIEF DESCRIPTION

[0021] 图1为混合动力系统并联布置示意图; 图2为动力系统示意图; 图3为混合动力变速器结构示意图; 图4为为机械外骨骼主视图(加入了人体设计); 图5为机械外骨骼左视图; 1-侧板,2-轴承1,3-轴承Π ,4-轴承虹,5-齿轮1,6-齿轮Π ,7-齿轮虹,8-齿轮IV ,9-皮带I,10-皮带Π ,11-飞轮,12-套筒,100-踩关节部件,101-小腿支杆,102-踩关节压力传感器,103-裸关节液压驱动器,104-牵引绳I,200-膝关节部件,201-大腿支杆,202-位移传感器,203-膝关节液压驱动器,204-牵引绳Π ,300-髓关节部件,301-多功能支架,302-髓关节压力传感器,303-髓关节后液压驱动器,304-髓关节前液压驱动器,305-刚性腰带,306-牵引绳虹,400-控制部件,401-AD模数转换器组,402-模拟比较器组,403-DA数模转换器组, 404-信号放大器组,500-混合动力系统。 [0021] FIG. 1 parallel a hybrid system layout schematic; Fig. 2 a schematic view of a power system; a schematic diagram of the hybrid transmission structure of FIG. 3; FIG. 4 is a skeletal front view to the mechanical (added to the body design); FIG. 5 is a mechanical outer bone left side view; 1- plate, 2-1,3-bearing bearing Π, 4- bearing rainbow, 5-1,6-gear gear Π, 7- gear rainbow, 8 gear IV, 9- belt I, 10 - belt Π, 11- flywheel, 12 of the sleeve, the ankle member 100, the leg strut 101, 102- ankle pressure sensors, hydraulic actuators 103- bare joint, the traction rope 104- I, 200- knee member , thigh struts 201-, 202- displacement sensors, knee hydraulic actuator 203-, 204- traction rope Π, 300- hip member, multi-functional support 301, 302 hip pressure sensors, hydraulic hip after 303 drive, 304- hip front hydraulic actuator, the rigidity of the belt 305, 306- rainbow traction rope, a control member 400-, 401-AD group digital converter, the analog comparators 402-, 403-DA digital-group , signal amplifier group 404, 500 hybrid system.

具体实施方式 detailed description

[0022] W下结合附图,通过具体实施例对本发明作进一步的说明。 The [0022] W in conjunction with the accompanying drawings, specific embodiments further illustrate the present invention.

[0023] 如图1至图5所示,一种机械外骨骼,该机械外骨骼包括踩关节部件100、膝关节部件200、髓关节部件300和控制部件400,踩关节部件100通过小腿支杆101连接膝关节部件200,膝关节部件200通过大腿支杆201连接髓关节部件300,踩关节部件100、膝关节部件200、髓关节部件300通过控制部件400实现机械外骨骼完成与人体相似的动作;还包括一个为机械外骨骼提供动力的混合动力系统500。 [0023] As shown, a mechanical exoskeleton 1 to 5, comprising the outer ankle bone of the mechanical member 100, member 200 knee, hip member 300 and a control section 400, the ankle member 100 through the lower thigh 101 connecting member 200 knee, knee thigh strut 201 via member 200 connected to the hip joint member 300, the ankle member 100, member 200 knee, hip bone to the mechanical member 300 to achieve the completion of the human body similar to the operation by the control means 400 ; further comprising a powered exoskeleton mechanical hybrid powertrain 500.

[0024] 该混合动力系统500为并联式动力系统,并联式动力系统包括混合动力变速器,混合动力变速器包括两块侧板1,两块侧板1之间通过套筒12间隔安装有轴承12,轴承Π 3和轴承虹4,轴承12上安装有齿轮15,轴承π 3上安装有同轴的齿轮π 6和齿轮虹7,轴承虹4上安装有齿轮IV8,齿轮15通过皮带19与齿轮Π 6相连接传输构成一级减速,齿轮虹7通过皮带Π 10与齿轮IV8相连接传输构成二级减速,一级减速的减速比为3,二级减速的减速比为4,轴承12上还安装有飞轮11。 [0024] The hybrid system 500 is a parallel power system, power system comprises a parallel hybrid transmission, the hybrid transmission comprising two side plates 1, 1 between the side plates 12 by a sleeve bearing 12 mounted interval, Hong bearing π 3 and the bearing 4, the bearing 12 is mounted on the gear 15, a gear coaxially mounted on bearings 3 π 6 [pi] Hong 7 and the gear, a gear attached to the bearing rainbow IV8 4, gear 15 and gear 19 via a belt [pi 6 is connected to a speed reduction transmission constituted, rainbow gear 7 is connected to constitute two gear reduction IV8 Π 10 through a belt transmission, a reduction of the speed reduction ratio of 3, the second speed reduction ratio of 4, the bearing 12 is also mounted on the there flywheel 11. 轴承12的一端连接离合器Π ,离合器Π 又连接汽油机,汽油机选取的是功率为2.83KW的化Α32型,另一端连接发电机,发电机与逆变器相连后又与蓄电池相连,蓄电池又与电动机相连,电动机通过离合器I与轴承Π 3相连接,轴承虹4通过联轴器与油累相连,油累与伺服阀连接后又与油缸相连,油缸与机械外骨骼中的各个关节的驱动器相连。 End of the bearing 12 is connected to [pi clutch, and the clutch connection [pi gasoline engine, gasoline is selected for the power of the Α32 ​​2.83KW type, and the other end connected to the generator, the generator is connected to the inverter and then is connected to the battery, the battery and the electric motor connected to the motor 3 is connected via a clutch I and [pi bearing, the bearing 4 is connected via a coupling rainbow tired with the oil, the oil accumulated after the servo valve is connected to the connection cylinder, the cylinder is connected to the mechanical exoskeleton of each joint drive. 还包括油箱和蓄能器,油箱与油累相连,蓄能器与油累相连后又与伺服阀相连。 And further comprising an accumulator tank, the tank is connected with the oil accumulated, the accumulator is connected with the oil accumulated and then connected to the servo valve.

[0025]控制部件400包括位于各个关节处的接收传感器,接收传感器与AD数模转换组401 相连,AD数模转换组401与模拟比较器组402相连,模拟比较器组402与DA数模转换组403相连,DA数模转换403与信号放大器组404相连,信号放大器组404与伺服阀组相连,伺服阀组通过油缸与各个关节处的驱动器相连。 [0025] The control section 400 includes a receiving sensor the respective joints, the receiving sensor and AD-analog conversion set 401 is connected, is connected to AD DAC group 401 and the analog comparator group 402, an analog comparator group 402 and the DA digital-analog conversion group 403 is connected, the DA converter 403 digital to analog signal amplifier is connected to the group 404, group 404 is connected to the signal amplifier with the servo valve, the servo valve is connected via respective drive cylinder joints. 接收传感器包括位于踩关节处的踩关节压力传感器102,位于膝关节处的位移传感器202和位于髓关节处的髓关节压力传感器302。 Receiving sensor comprises a pressure sensor located at the ankle joints at step 102, the displacement sensor 202 is located at the knee joint and the hip joint positioned at the hip joint pressure sensor 302. 驱动器包括位于背部多功能支架301的裸关节液压驱动器103和膝关节液压驱动器203、位于刚性腰带305的髓关节后液压驱动器303和髓关节前液压驱动器304。 Driver includes a multi-functional support 301 located on the back of the hydraulic actuator 103 of the bare joint and knee hydraulic actuator 203, located behind the rigid hip belt 305 and a hydraulic hip actuator 303 before the hydraulic actuator 304.

[00%] 整个工作过程: 当裸关节压力传感器102检测到人体脚踩动作时,裸关节压力传感器102信号经过AD模数转换器组401、模拟比较器组402、DA数模转换器组403、信号放大器组404处理,输送到伺服阀,通过油缸控制踩关节液压驱动器103动作,踩关节液压驱动器103拉动牵引绳1104,牵引绳1104拉动踩关节部件100, W完成提踩动作,直到机械外骨骼脚踩部位转动幅度与人脚踩转幅相同。 [00%], the entire work process: when the bare joint pressure sensor 102 detects the operation of the human foot, the bare joint pressure sensor 102 signal through analog to digital converter AD group 401, the analog comparators 402, DA DAC group 403 , a signal amplifier group 404 processes, supplied to the servo valve, the ankle hydraulic actuator 103 operated by cylinder control, ankle hydraulic actuator 103 pulls the pulling rope 1104, leash 1104 to pull the ankle member 100, W is completed lifting step operation until the mechanical outer skeletal foot portion rotation rate and the same web transfected human foot.

[0027] 人体膝关节动作时,膝关节上的两个位移传感器202得到的信号经过AD模数转换器组401、模拟比较器组402、DA数模转换器组403、信号放大器组404处理,输送到伺服阀,通过油缸控制膝关节液压驱动器203动作,膝关节液压驱动器203拉动牵引绳Π 204,牵引绳Π 204拉动膝关节部件200,W完成膝关节动作,直到机械外骨骼膝关节部位转动幅度与人膝关节转幅相同。 [0027] When the human knee joint operation, signals from the two displacement sensors on the knee joint 202 is subjected to analog to digital converter AD group 401, the analog comparators 402, DA DAC group 403, a signal amplifier 404 treatment group, delivered to the servo valve, through the hydraulic drive cylinder control 203 the operation of the knee joint, the knee hydraulic actuator 203 Π 204 pulls the traction rope, traction rope Π 204 pulls the knee member 200, W is completed knee operation, the knee joint until the external skeletal mechanical rotation the magnitude of the human knee joint turn the same amplitude.

[0028] 当髓关节动作时,该部位的髓关节压力传感器302将信号经由AD模数转换器组401、模拟比较器组402、DA数模转换器组403、信号放大器404组处理,输送到伺服阀,通过油缸控制髓关节前液压驱动器303供油,髓关节后液压驱动器304回油,拉动牵引绳虹306,牵引绳虹306拉动髓关节部件300,W完成髓关节动作,直到转动角度和人体一致为止。 [0028] When the hip operation, the hip portion of the pressure sensor 302 via signal group 401 analog to digital converter AD, the analog comparators 402, DA DAC group 403, the amplifier 404 sets the signal processing, fed to the servo valve, the cylinder control hip front hydraulic actuator 303 oil, the hip hydraulic actuator oil 304 back, pulling the pull rope rainbow 306, traction rope rainbow 306 pulls hip member 300, W is completed hip operation until the rotational angle and human consistent so far.

Claims (10)

  1. 1. 一种应用于机械外骨骼的混合动力系统,其特征在于:该系统为并联式动力系统,所述并联式动力系统包括机械动力传输系统,电力传输系统和液压油传输系统; 所述机械动力传输系统包括汽油机和电动机,所述汽油机和电动机分别与混合动力变速器相连,汽油机和电动机既能单独向混合动力变速器提供动力又能共同向混合动力变速器提供动力; 所述电力传输系统包括发电机和转换系统,所述发电机与混合动力变速器相连,发电机通过转换系统向电动机提供电源; 所述液压油传输系统包括油栗和传动系统,所述油栗与混合动力变速器相连,油栗通过传动系统向机械外骨骼提供动力。 A mechanical hybrid system applied to the outer bone, characterized in that: the system is a parallel power system, a parallel power system comprises a mechanical power transmission system, power transmission system and a hydraulic oil transfer system; said mechanical the power transmission system includes a gasoline engine and an electric motor, the electric motor and the gasoline engine and the hybrid transmission are connected, both gasoline and electric motor provides power to the individual hybrid transmission can collectively provide power to the hybrid transmission; the power transmission system includes a generator and conversion system, the generator is connected to a hybrid transmission, the generator supplying power to the motor through the switching system; the hydraulic fluid transmission system includes a transmission system and chestnut oil, chestnut oil and connected to the hybrid transmission, chestnut oil by Transmission power the mechanical exoskeleton.
  2. 2. 根据权利要求1所述一种应用于机械外骨骼的混合动力系统,其特征在于:所述转换系统包括逆变器和蓄电池,所述逆变器与发电机相连后又与蓄电池相连,所述蓄电池与电动机相连。 According to claim 1. A hybrid system is applied to the outer bone machine, wherein: said conversion system comprises an inverter and a battery, a generator connected to said inverter and then connected to the battery, the secondary battery connected to the motor.
  3. 3. 根据权利要求1所述一种应用于机械外骨骼的混合动力系统,其特征在于:所述蓄电池采用锂电池。 The hybrid system 1 is applied to a mechanical exoskeleton as claimed in claim, wherein: said secondary battery uses a lithium battery.
  4. 4. 根据权利要求1所述一种应用于机械外骨骼的混合动力系统,其特征在于:所述传动系统包括伺服阀和油缸,所述伺服阀与油栗连接后又与油缸相连,所述油缸与机械外骨骼相连。 According to claim 1. A hybrid system is applied to the outer bone machine, characterized in that: the drive train comprises a cylinder and a servo valve, the servo valve is then connected to an oil cylinder connected to Li, the an outer cylinder and mechanically coupled to the bone.
  5. 5. 根据权利要求4所述一种应用于机械外骨骼的混合动力系统,其特征在于:还包括油箱和蓄能器,所述油箱与油栗相连,所述蓄能器与油栗相连后又与伺服阀相连。 4 according to the hybrid system used in mechanical exoskeleton as claimed in claim, characterized in that: further comprising a tank and an accumulator connected to the oil tank and chestnut oil, and the oil accumulator is connected to the rear Li in turn connected to the servo valve.
  6. 6. 根据权利要求1所述一种应用于机械外骨骼的混合动力系统,其特征在于:所述汽油机通过离合器Π 与混合动力变速器相连;所述电动机通过离合器I与混合动力变速器相连。 6. The hybrid powertrain system A is applied to the outer bone machine, according to claim wherein: a gasoline engine and is connected via a clutch Π hybrid transmission; the electric motor connected through the clutch I hybrid transmission.
  7. 7. 根据权利要求1至6任一项所述一种应用于机械外骨骼的混合动力系统,其特征在于:所述混合动力变速器包括两块侧板(1),所述两块侧板(1)之间通过套筒(12)间隔安装有轴承1(2),轴承Π (3)和轴承ΠΚ4),所述轴承1(2)上安装有齿轮1(5),所述轴承Π (3)上安装有同轴的齿轮Π (6)和齿轮ΠΚ7),所述轴承ΠΚ4)上安装有齿轮IV(8),所述齿轮1(5) 通过皮带1(9)与齿轮Π (6)相连接传输构成一级减速,所述齿轮ΠΚ7)通过皮带Π (10)与齿轮IV (8 )相连接传输构成二级减速。 1-6 according to any one of the one applied to a hybrid system to mechanical bone claim, wherein: said hybrid transmission comprises two side plates (1), said side plates ( between 1) the sleeve (12) is mounted with a bearing a spacer (2), bearing Π (3) and the bearing ΠΚ4), one of the bearing (2) on which is mounted a gear (5), said bearing [pi ( 3) coaxially mounted on a gear with a Π (6) and the gear ΠΚ7), said bearing ΠΚ4) mounted gear IV (8) on the gear 1 (5) 1 through a belt (9) with the gear Π (6 ) is connected to a speed reduction transmission constituted the gear ΠΚ7) is connected via a belt transmission reducer constituting two Π (10) with the gear IV (8).
  8. 8. 根据权利要求7所述一种应用于机械外骨骼的混合动力系统,其特征在于:所述一级减速的减速比为3,所述二级减速的减速比为4,所述轴承I (2)上还安装有飞轮(11)。 7 according to the hybrid system used in mechanical exoskeleton as claimed in claim, wherein: a reduction of the speed reduction ratio of the reduction ratio of 3, 4 of the two deceleration, the bearing I (2) is also attached to a flywheel (11).
  9. 9. 一种利用权利要求1至6任一项所述机械外骨骼的混合动力系统的最优控制方法,其特征在于: 将汽油机作为混合动力系统的主驱动源,电力驱动系统作为混合动力系统的辅助驱动源,根据电动机电流的变化,通过电动机电流的反馈作用,即将反馈电流值作为开启与关闭汽油机的开关信号,这样电动机对汽油机的输出转矩能够起到削峰填谷的作用;然后利用最小二乘法拟合实验数据,通过多组实验数据得到拟合公式,最后利用拟合的函数多项式求极值得到混合度。 A use as claimed in one of the optimal control method of a hybrid system of mechanical exoskeleton of claims 1 to 6, wherein: the gasoline as the main drive source of a hybrid system, the hybrid electric drive system as a system the auxiliary drive source, according to a change in motor current, motor current by feedback, i.e. feedback current value as the opening and closing of the switching signal gasoline engine, so that the motor output torque of the gasoline engine can function as load shifting; and using a least squares fit of experimental data, obtained by fitting equation plurality set of experimental data, using the last extremum function fitting polynomial to obtain the degree of mixing.
  10. 10. 根据权利要求9所述一种机械外骨骼的混合动力系统的最优控制方法,其特征在于:混合度为〇. 33时,电动机的峰值功率与汽油机的峰值功率比为1:3,混合动力系统效率最高,节油率最大。 10. A control method of a hybrid system of optimal outer bone 9 a mechanical claim, wherein: the degree of mixing is 33 square, the ratio of the peak power and the peak power of the motor gasoline to 1: 3, the highest efficiency of the hybrid system, the maximum saving rate.
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