CN106443283A - Testing platform and testing method for power management system of inspection robot of transformer substation - Google Patents

Testing platform and testing method for power management system of inspection robot of transformer substation Download PDF

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Publication number
CN106443283A
CN106443283A CN201611039953.4A CN201611039953A CN106443283A CN 106443283 A CN106443283 A CN 106443283A CN 201611039953 A CN201611039953 A CN 201611039953A CN 106443283 A CN106443283 A CN 106443283A
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CN
China
Prior art keywords
power
management module
accumulator
power management
charging
Prior art date
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Pending
Application number
CN201611039953.4A
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Chinese (zh)
Inventor
李希智
王海鹏
杨尚伟
张方正
慕世友
李超英
李红梅
傅孟潮
任志刚
王兴照
李建祥
赵金龙
吕俊涛
慈文斌
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State Grid Intelligent Technology Co Ltd
Original Assignee
State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Shandong Electric Power Co Ltd
Shandong Luneng Intelligence Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by State Grid Corp of China SGCC, Electric Power Research Institute of State Grid Shandong Electric Power Co Ltd, Shandong Luneng Intelligence Technology Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201611039953.4A priority Critical patent/CN106443283A/en
Publication of CN106443283A publication Critical patent/CN106443283A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01RMEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01RMEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/36Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
    • G01R31/385Arrangements for measuring battery or accumulator variables
    • G01R31/386Arrangements for measuring battery or accumulator variables using test-loads

Abstract

The invention discloses a testing platform and a testing method for a power management system of an inspection robot of a transformer substation. The testing platform comprises a power management module, a charging mechanism, a storage battery, an electronic load, an electronic load control unit, a temperature sensor and an alarm display module, wherein the charging mechanism, the storage battery, the electronic load, the electronic load control unit, the temperature sensor and the alarm display module are connected with the power management module respectively, the electronic load is connected with the electronic load control unit, and the power management module is communicated with a principal computer through a communication module. The testing platform and the testing method have the advantages that the power management system of the inspection robot is realized experimentally, time, labor and cost are saved, and expensive equipment of the inspection robot is protected from damages caused by power supply problems during testing.

Description

Intelligent Mobile Robot power-supply management system test platform and method of testing
Technical field
The invention belongs to the design of Intelligent Mobile Robot power-supply management system, technical field of measurement and test, more particularly to one Plant Intelligent Mobile Robot power-supply management system test platform and method of testing.
Background technology
Current robot is restricted by accumulator material itself so that accumulator is not mostly using accumulator as power supply Can be overcharged, cross put, excessively stream, short circuit and superhigh temperature discharge and recharge, the management of robot accumulator is controlled just becomes robot Unavoidable problem in research.As accumulator is often made up of numerous battery cells, the even storage of same producer Its charging and discharging curve of battery there is also difference, accurately map out the control of the charging and discharging curve for accumulator of each accumulator Most important.
Performance test to the power-supply management system of Intelligent Mobile Robot all need to be flat by means of crusing robot now Platform, whole test process not only takes time and effort, and increases cost.Crusing robot platform is different, accumulator cell charging and discharging curve Difference, the homogeny of experimental situation cannot ensure, i.e., the reliability of experimental result also cannot just ensure.And to other electric power storages Pond performance detection reference significance is little.So needing to design a kind of realization of power-supply management system test platform to accumulator and power supply The working condition of management system carries out Intelligent Measurement.
Content of the invention
The purpose of the present invention is exactly in order to solve the above problems, it is proposed that a kind of Intelligent Mobile Robot power management system System test platform and method of testing, the platform can be realized testing accumulator under experimental situation and generating charging and discharging curve, mould Charging and discharging state when intending robot operation, driving charging mechanism complete automatic charging, accumulator cell charging and discharging temperature, voltage, electricity The stream function such as signal detection and automatic alarm.
For achieving the above object, the concrete scheme of the present invention is as follows:
A kind of Intelligent Mobile Robot power-supply management system test platform, including:Power management module and and power supply Charging mechanism, accumulator, electronic load, electronic load control unit, temperature sensor and report that management module connects respectively Alert display module;The electronic load is connected with electronic load control unit;The power management module by communication module with Host computer is communicated;
The power management module carries out discharge and recharge by controlling accumulator, obtains the charging and discharging curve of accumulator;Described Power management module simulates power consumption process of the robot in transformer station by controlling electronic load, realizes laboratory ring Test under border to whole power-supply management system.
Further, also include LED group lamp, for showing the switch shape of robot chassis motor and support arm motor State.
Further, the charging mechanism is connected with charging case.
Further, the test under the laboratory environment to whole power-supply management system includes:To power management module, Charging mechanism, the reliability detection of temperature sensor;, overtension too high to battery temp or too low automatic alarm.
A kind of method of testing of Intelligent Mobile Robot power-supply management system test platform, including:
(1) control power management module enters accumulator cell charging and discharging curve test pattern;
(2) power management module sends electronic load control model, Electronic Negative under the pattern to electronic load control unit The high-power power consumption of row is loaded into, so as to battery consumption electric energy as early as possible, shortens measure the cycle;
(3) power management module measurement battery discharging electric current, battery discharging process wire-end voltage to storage battery Amount is counted, and obtains the battery discharging curve of this measurement;And to when the data of pre-test are stored and are shown;
(4), after the completion of battery discharging curve, power management module drives charging mechanism to be charged accumulator, while Measurement battery charging current, battery charging process wire-end voltage are simultaneously counted to accumulator electric-quantity, are obtained accumulator and are filled Electric curve;And to when the data of pre-test are stored and are shown;
(5) treat that accumulator charges to finish, battery discharging curved measurement is carried out using the method for step (2)-(3);
(6) step (1)-(5) process, the time voltage that each step (1)-(5) are measured, time current number are repeated several times After being filtered, a plurality of accumulator charge and discharge curve for obtaining is fitted, the final accumulator charging curve of acquisition, Discharge curve.
Further, in described step (3), power management module measurement battery discharging electric current, battery discharging process Wire-end voltage is simultaneously counted to accumulator electric-quantity, the time voltage corresponding relation data under acquisition setting time interval, time Electric current corresponding relation data and battery discharging electricity, with discharge time as transverse axis, voltage x current is the longitudinal axis, to obtain this survey The battery discharging curve of amount.
A kind of method of testing of Intelligent Mobile Robot power-supply management system test platform, including:
(1) control power management module enters crusing robot simulation mode of operation;
(2) power management module issues electronic load control data electron load control unit, and electronic load control is single Unit simulates power consumption process of the robot in transformer station according to the Data Control electronic load;
(3) power management module to be detected or charging mechanism are linked into power-supply management system test platform, pass through Big batch operation accumulator charges, discharge process, tests in robot running power management module to battery switch Relay, storage battery under-voltage protective relay, the power control unit of robot supply relay and charge control relay Whether execute according to given logical, operation program is executed with the presence or absence of defect, by mistake, whether power management module control charging mechanism Charging process can be completed and be performed a plurality of times;
(4) hardware or software modification, and repeat step (3) are carried out to test produced problem in step (3), until to be checked The power management module of survey or charging mechanism pass through simulation test.
Further, the electronic load control data in described step (2) is specially:
Power management module is installed in the robot that will execute substation inspection task, at interval of setting time, Measurement battery discharging electric current of the crusing robot in a charging-discharging cycle, battery discharging wire-end voltage, accumulator are filled Electric current, accumulator charging section voltage, and time voltage data, time current data are uploaded to by crusing robot Position machine, using the data as control data during electronic load dummy robot's actual motion to power consumption.
Further, in described step (3), power management module real-time monitoring battery temp and voltage;Accumulator temperature Spend height, overtension or too low when automatic alarm and force disconnect accumulator connection.
A kind of method of testing of Intelligent Mobile Robot power-supply management system test platform, is characterized in that, including:
Control power management module enters accumulator cell charging and discharging curve test pattern or crusing robot mould as needed Intend operational mode.
Beneficial effects of the present invention:
(1) concrete accumulator cell charging and discharging test curve can be generated, intuitively and for robot power supply high accuracy management is provided Data refer;
(2) to the test of the power-supply management system of crusing robot be by experiment by way of realize, save time, laborsaving, Cost-effective and can avoid because power issue produces infringement to robot expensive device in test process;
(3) charging and discharging state during crusing robot operation can be simulated, and with auto-alarm function, safe and reliable.
Description of the drawings
Fig. 1 is Intelligent Mobile Robot power-supply management system test platform architecture schematic diagram of the present invention.
Specific embodiment:
The present invention is described in detail below in conjunction with the accompanying drawings:
Intelligent Mobile Robot power-supply management system test platform (hereinafter referred to as " test platform "), as shown in figure 1, bag Include:Power management module and the charging mechanism being connected with power management module respectively, accumulator, electronic load, electronic load Control unit, temperature sensor and alarm display module;The electronic load is connected with electronic load control unit;The electricity Source control module is communicated with host computer by communication module;
Power management module carries out discharge and recharge by controlling accumulator, obtains the charging and discharging curve of accumulator;Power management Module simulates power consumption process of the robot in transformer station by controlling electronic load, realizes to whole under laboratory environment The test of individual power-supply management system.
Charging mechanism is connected by keyset with power management module, and keyset has power interface, 4 motor control terminals Mouth and 4 sensor interfaces, power management module is at least connected by professional version with a kind of charging mechanism, and new design is charged Mechanism also can access power management module by keyset and be tested.
Electronic load is responsible for battery consumption electric energy according to different modes as the main energy dissipating portion of whole system, The operational mode of electronic load is divided into high-power power modes and dummy robot's power modes.
The electric power thus supplied of robot each power consumption module expressed by LED group lamp by light on and off, and lamp is bright to represent power consumption, and lamp goes out representative Whether not power consumption, can intuitively express power module according to predetermined design to each module for power supply of robot.
Temperature sensor measurement battery temp, provides basis for estimation to warning and defence program.
Alarm display module will show whole test system running status, show the storage battery piezoelectricity that power module is measured Flow data, and show wrong content and warning when mistake occurs.
Host computer COM1 is responsible for being communicated with host computer, executes host computer transmitting order to lower levels and measurement data is uploaded.
Accumulator cell charging and discharging curve test function implementation method is:
(1) control power management module enters accumulator cell charging and discharging curve test pattern;
(2) power management module sends electronic load control model, Electronic Negative under the pattern to electronic load control unit The high-power power consumption of row is loaded into, so as to battery consumption electric energy as early as possible, shortens measure the cycle;
(3) power management module measures battery discharging electric current, battery discharging by power management chip DS2438 Journey wire-end voltage is simultaneously counted to accumulator electric-quantity, obtains the lower time voltage corresponding relation data in the interval per 50ms, time electricity Stream corresponding relation data and battery discharging electricity, with discharge time as transverse axis, voltage x current is the longitudinal axis, to obtain this survey The battery discharging curve of amount is simultaneously shown by display module and uploads Computer Storage by serial ports.
(4), after the completion of battery discharging curve, power management module stops electronic load by electronic load control unit Work, power management module drives charging mechanism to be charged accumulator by charging case, while as the similar mode of step (3) Measure voltage when this process accumulator charges, current curve and accumulator charge capacity is carried out counting, shows, uploads;
(5) treat that accumulator charges to finish, discharge curve measurement is carried out using the method for step (2)-(3);
(6) repeat step (1)-(5) process is no less than five times, the time voltage that each step (1)-(5) are measured, time Current data removes interference using Glitch Filter method, is fitted, by matlab, a plurality of charging and discharging curve for obtaining, so as to Error, the final accumulator charging curve that obtain, discharge curve are eliminated to greatest extent.Charge/discharge electricity amount is obtained by arithmetic average Obtain charge capacity and the discharge electricity amount of charging process and discharge process accumulator.
The implementation method of power management module test function is:
(1) power management module is installed in the robot that will execute substation inspection task, at interval of 50ms, surveys Amount battery discharging electric current of the crusing robot in a charging-discharging cycle, battery discharging wire-end voltage, accumulator charge Electric current, accumulator charging section voltage, and time voltage data, time current data are uploaded to by crusing robot upper Machine, the data are using as control foundation during electronic load dummy robot's actual motion to power consumption.
(2) control power management module enters crusing robot simulation mode of operation;
(3) power management module issues discharge time voltage data that step (1) gathers and discharge time current data extremely Electronic load control unit, electronic load control unit simulates robot in transformer station according to the Data Control electronic load Power consumption process;
(3) power management module of recent development or newly-designed charging mechanism are linked into power-supply management system test Platform, according to the charging and discharging curve that method 1 is determined, runs accumulator charging, discharge process by big batch, tests power management Module is to battery switch relay, storage battery under-voltage protective relay, robot supply relay, charge control relay etc. Whether each power control unit in robot running is executed according to given logical, operation program with the presence or absence of defect, The problems such as executing by mistake, whether whether power management module control charging mechanism can complete charging process and be performed a plurality of times reliable Etc. a series of functions.Power management module real-time monitoring battery temp and voltage;Battery temp is too high, overtension or mistake When low automatic alarm and force disconnect accumulator connection.
(4) hardware or software modification are carried out to step (3) test problem, and repeat step (3), until new coding or Any changes related to power management such as new design charging mechanism pass through simulation test.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not model is protected to the present invention The restriction that encloses, one of ordinary skill in the art are should be understood that on the basis of technical scheme, and those skilled in the art are not The various modifications that makes by needing to pay creative work or deformation are still within protection scope of the present invention.

Claims (10)

1. a kind of Intelligent Mobile Robot power-supply management system test platform, is characterized in that, including:Power management module and The charging mechanism that is connected with power management module respectively, accumulator, electronic load, electronic load control unit, temperature sensor And alarm display module;The electronic load is connected with electronic load control unit;The power management module is by communication Module is communicated with host computer;
The power management module carries out discharge and recharge by controlling accumulator, obtains the charging and discharging curve of accumulator;The power supply Management module simulates power consumption process of the robot in transformer station by controlling electronic load, realizes under laboratory environment Test to whole power-supply management system.
2. a kind of Intelligent Mobile Robot power-supply management system test platform as claimed in claim 1, is characterized in that, also wrap LED group lamp is included, for showing the on off state of robot chassis motor and support arm motor.
3. a kind of Intelligent Mobile Robot power-supply management system test platform as claimed in claim 1, is characterized in that, described Charging mechanism is connected with charging case.
4. a kind of Intelligent Mobile Robot power-supply management system test platform as claimed in claim 1, is characterized in that, described Test under laboratory environment to whole power-supply management system includes:To power management module, charging mechanism, temperature sensor Reliability is detected;, overtension too high to battery temp or too low automatic alarm.
5. a kind of method of testing of Intelligent Mobile Robot power-supply management system test platform as claimed in claim 1, its It is characterized in that, including:
(1) control power management module enters accumulator cell charging and discharging curve test pattern;
(2) power management module sends electronic load control model to electronic load control unit, and under the pattern, Electronic Negative is loaded into The high-power power consumption of row, so as to battery consumption electric energy as early as possible, shortens measure the cycle;
(3) power management module measures battery discharging electric current, battery discharging process wire-end voltage and accumulator electric-quantity is entered Row statistics, obtains the battery discharging curve of this measurement;And to when the data of pre-test are stored and are shown;
(4) after the completion of battery discharging curve, power management module drives charging mechanism to be charged accumulator, while measurement Battery charging current, battery charging process wire-end voltage are simultaneously counted to accumulator electric-quantity, obtain accumulator charging bent Line;And to when the data of pre-test are stored and are shown;
(5) treat that accumulator charges to finish, battery discharging curved measurement is carried out using the method for step (2)-(3);
(6) step (1)-(5) process is repeated several times, and the time voltage that each step (1)-(5) are measured, time current data are entered After row filtering, a plurality of accumulator charge and discharge curve for obtaining is fitted, obtains final accumulator charging curve, electric discharge Curve.
6. a kind of method of testing of Intelligent Mobile Robot power-supply management system test platform as claimed in claim 5, its It is characterized in that, in step (3), power management module measurement battery discharging electric current, battery discharging process wire-end voltage are simultaneously Accumulator electric-quantity is counted, is obtained the time voltage corresponding relation data under setting time interval, time current and correspond to pass According to this and battery discharging electricity, with discharge time as transverse axis, voltage x current is the accumulator for the longitudinal axis, obtaining this measurement to coefficient Discharge curve.
7. a kind of method of testing of Intelligent Mobile Robot power-supply management system test platform as claimed in claim 1, its It is characterized in that, including:
(1) control power management module enters crusing robot simulation mode of operation;
(2) power management module issues electronic load control data electron load control unit, electronic load control unit according to Power consumption process of the robot in transformer station is simulated according to the Data Control electronic load;
(3) power management module to be detected or charging mechanism are linked into power-supply management system test platform, by large quantities of Secondary operation accumulator charge, discharge process, test in robot running power management module to battery switch relay Device, storage battery under-voltage protective relay, robot supply relay and charge control relay power control unit whether Execute according to given logical, operation program is executed with the presence or absence of defect, by mistake, whether power management module control charging mechanism can Complete charging process and be performed a plurality of times;
(4) hardware or software modification, and repeat step (3) are carried out to test produced problem in step (3), until to be detected Power management module or charging mechanism pass through simulation test.
8. a kind of method of testing of Intelligent Mobile Robot power-supply management system test platform as claimed in claim 7, its It is characterized in that, the electronic load control data in step (2) is specially:
Power management module is installed in the robot that will execute substation inspection task, at interval of setting time, measures Battery discharging electric current of the crusing robot in a charging-discharging cycle, battery discharging wire-end voltage, accumulator charge electric Stream, accumulator charging section voltage, and time voltage data, time current data are uploaded to by crusing robot upper Machine, using the data as control data during electronic load dummy robot's actual motion to power consumption.
9. a kind of method of testing of Intelligent Mobile Robot power-supply management system test platform as claimed in claim 7, its It is characterized in that, in step (3), power management module real-time monitoring battery temp and voltage;Battery temp is too high, voltage When too high or too low automatic alarm and force disconnect accumulator connection.
10. a kind of method of testing of Intelligent Mobile Robot power-supply management system test platform as claimed in claim 1, its It is characterized in that, including:
Control power management module enters accumulator cell charging and discharging curve test pattern or power described in claim 5 as needed Profit requires the crusing robot simulation mode of operation described in 7.
CN201611039953.4A 2016-11-21 2016-11-21 Testing platform and testing method for power management system of inspection robot of transformer substation Pending CN106443283A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110231524A (en) * 2019-05-30 2019-09-13 江苏斯菲尔电气股份有限公司 BCS test macro

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CN105759147A (en) * 2016-04-05 2016-07-13 深圳市清友能源技术有限公司 Integrated test device for battery management system of electric vehicle
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CN110231524A (en) * 2019-05-30 2019-09-13 江苏斯菲尔电气股份有限公司 BCS test macro

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Application publication date: 20170222