CN209562207U - A kind of robot hybrid power source system - Google Patents
A kind of robot hybrid power source system Download PDFInfo
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- CN209562207U CN209562207U CN201920649497.8U CN201920649497U CN209562207U CN 209562207 U CN209562207 U CN 209562207U CN 201920649497 U CN201920649497 U CN 201920649497U CN 209562207 U CN209562207 U CN 209562207U
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Abstract
The utility model provides a kind of robot hybrid power source system, including single chip circuit and power control circuit, wherein, the power control circuit includes lithium battery, the first power MOS switch control module, the second power MOS switch control module, third power MOS switch control module, constant pressure and flow module, super-capacitor module, Voltage stabilizing module and load, the lithium battery is main power source, and the super-capacitor module is accessory power supply.The beneficial effects of the utility model are: using lithium battery and super capacitor as AC-battery power source; using lithium battery as main power supply; using super-capacitor module as the power supply of auxiliary; the output power of lithium battery can be limited; avoid the heating problem of lithium battery; protect lithium battery; while achieving the purpose that the output power for limiting lithium battery protects lithium battery; it can carry out high-power output in a short time again; meet loading demand as far as possible; part energy can be recycled again simultaneously, achievees the effect that energy-saving and emission-reduction.
Description
Technical field
The utility model relates to power supply more particularly to a kind of robot hybrid power source systems.
Background technique
In people's daily life with had already appeared in industrial production it is more and more it is various automation or it is distant
Man-controlled mobile robot, such as: sweeping robot, multi-rotor aerocraft, remote operated vehicle, automatic cruiser, storage robot etc..Currently,
These most of machines that can be moved use lithium battery as single power supply, but using lithium battery as power supply when exports
Can generate heat when high-power, instantaneous output power it is limited, it is possible that machine power is insufficient, lithium battery fever is serious and uses
The problems such as lost of life.
Therefore, it can generate heat when exporting high-power when how to solve lithium battery as power supply, limited instantaneous output power is this
Field technical staff technical problem urgently to be resolved.
Summary of the invention
In order to solve the problems in the prior art, the utility model provides a kind of robot hybrid power source system.
The utility model provides a kind of robot hybrid power source system, including single chip circuit and power control circuit,
Wherein, the power control circuit includes lithium battery, the first power MOS switch control module, the second power MOS switch control mould
Block, third power MOS switch control module, constant pressure and flow module, super-capacitor module, Voltage stabilizing module and load, the lithium electricity
Pond is main power source, and the super-capacitor module is accessory power supply, and the lithium battery controls mould by the first power MOS switch
Block is connect with the input terminal of the constant pressure and flow module, and the output end of the constant pressure and flow module and the super-capacitor module connect
It connecing, the super-capacitor module is connect by the third power MOS switch control module with the input terminal of the Voltage stabilizing module,
The output end of the Voltage stabilizing module and the load connect, and the lithium battery passes through the second power MOS switch control module and institute
Load connection is stated, the single chip circuit is connect with the lithium battery, super-capacitor module respectively.
The single chip circuit includes single-chip microcontroller, voltage-current sensor, drop as a further improvement of the utility model,
Volt circuit and metal-oxide-semiconductor control circuit, the voltage-current sensor respectively with the single-chip microcontroller, lithium battery, super-capacitor module
Connection, the lithium battery are connect by the reduction voltage circuit with the single-chip microcontroller, the single-chip microcontroller and the metal-oxide-semiconductor control circuit
Connection.
The single chip circuit further includes display circuit and serial communication electricity as a further improvement of the utility model,
Road, the single-chip microcontroller are connect with the display circuit, serial communication circuit respectively.
The reduction voltage circuit includes MP1584 decompression chip circuit and MP2105 as a further improvement of the utility model,
It is depressured chip circuit.
The model stm32f405 of the single-chip microcontroller as a further improvement of the utility model,.
The super-capacitor module is mainly connected by least two super capacitors as a further improvement of the utility model,
It forms.
The first power MOS switch control module, the second power MOS are opened as a further improvement of the utility model,
Pass control module, third power MOS switch control module are the switching circuit of two-way blocking-up, and the switching circuit is mainly by two
The S of a P-channel power MOS pipe, which is extremely connected, to be formed.
The constant pressure and flow module includes XL4015 decompression chip circuit as a further improvement of the utility model,.
The Voltage stabilizing module is the non-isolated boost module of DC-DC as a further improvement of the utility model,.
The beneficial effects of the utility model are: through the above scheme, use lithium battery and super capacitor as AC-battery power source,
Using lithium battery as main power supply, using super-capacitor module as the power supply of auxiliary, lithium battery can be limited
Output power avoids the heating problem of lithium battery, protects lithium battery, protects lithium battery in the output power for reaching limitation lithium battery
Purpose while, and high-power output can be carried out in a short time, meet loading demand as far as possible, while can recycle again
Part energy achievees the effect that energy-saving and emission-reduction.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of robot hybrid power source system of the utility model.
Fig. 2 is a kind of topological diagram of robot hybrid power source system of the utility model.
Fig. 3 is a kind of circuit diagram of the switching circuit of robot hybrid power source system of the utility model.
Fig. 4 is a kind of MP1584 decompression chip circuit of reduction voltage circuit of robot hybrid power source system of the utility model
Circuit diagram.
Fig. 5 is a kind of MP2105 decompression chip circuit of reduction voltage circuit of robot hybrid power source system of the utility model
Circuit diagram.
Fig. 6 is a kind of circuit diagram of the current sensor of robot hybrid power source system of the utility model.
Fig. 7 is a kind of circuit diagram of the voltage sensor of robot hybrid power source system of the utility model.
Fig. 8 is a kind of circuit diagram of the metal-oxide-semiconductor control circuit of robot hybrid power source system of the utility model.
Specific embodiment
The utility model is described in further detail for explanation and specific embodiment with reference to the accompanying drawing.
As shown in Figures 1 to 8, a kind of robot hybrid power source system, including single chip circuit 2 and power control circuit 1,
Wherein, the power control circuit 1 includes lithium battery, the first power MOS switch control module, the control of the second power MOS switch
Module, third power MOS switch control module, constant pressure and flow module, super-capacitor module, Voltage stabilizing module and load, the lithium
Battery is main power source, and the super-capacitor module is accessory power supply, and the lithium battery is controlled by the first power MOS switch
Module is connect with the input terminal of the constant pressure and flow module, the output end of the constant pressure and flow module and the super-capacitor module
Connection, the super-capacitor module are connected by the input terminal of the third power MOS switch control module and the Voltage stabilizing module
Connect, the output end of the Voltage stabilizing module and the load connect, the lithium battery by the second power MOS switch control module and
The load connection, the single chip circuit 2 are connect with the lithium battery, super-capacitor module respectively.
As shown in Figures 1 to 8, the single chip circuit 2 includes single-chip microcontroller, voltage-current sensor, reduction voltage circuit and MOS
Pipe control circuit, the voltage-current sensor are connect with the single-chip microcontroller, lithium battery, super-capacitor module respectively, the lithium
Battery is connect by the reduction voltage circuit with the single-chip microcontroller, and the single-chip microcontroller is connect with the metal-oxide-semiconductor control circuit.
As shown in Figures 1 to 8, the single chip circuit 2 further includes display circuit and serial communication circuit, the monolithic
Machine is connect with the display circuit, serial communication circuit respectively.
As shown in Figures 1 to 8, lithium battery is preferably 24V lithium battery, using 6S lithium battery as main power supply.
As shown in Figures 1 to 8, super-capacitor module is preferably connected in series by the super capacitor of 10 2.7V100f, as
Second accessory power supply.Super capacitor during being used in series because due to the quality of each capacitor is variant etc., exist
The unequal situation of each capacitance voltage is thus likely to result in integral module voltage and is less than limitation but single capacitor
Voltage has been over its maximum limitation, and therefore, the utility model has used the protection electricity of the capacitor based on BW6101 chip
Road will shunt it by resistance when the voltage value of single capacitor reaches 2.65V, so that the voltage of single capacitor is not
It can be more than 2.65V, protect super capacitor.
As shown in Figures 1 to 8, the first power MOS switch control module, the second power MOS switch control module,
Three power MOS switch control modules are the switching circuit of two-way blocking-up, it is preferred to use two P-channel power MOS pipe S are extremely connected
(as shown in Figure 3) constitutes the switch for being able to carry out two-way blocking-up.Because each power MOS pipe itself has a parasitism two
Pole pipe can only realize the unidirectional on-off of control, therefore can be realized two-way blocking using two MOS reversal connections, prevent from making in system
With there is a phenomenon where electric current reversely chargings in the process.Resistance when this metal-oxide-semiconductor is connected only has 6 milliohms, the energy loss that itself is generated
It is minimum, almost it can be ignored.
As shown in Figures 1 to 8, constant pressure and flow module it is preferable to use be by XL4015 be depressured chip circuit based on can
Constant pressure and flow module is adjusted, output voltage and electric current can be set by the rheostat resistance value in adjustment module.When the first power MOS is opened
When closing control module connection, lithium battery can charge by capacitance module of fixed power, it is known that the voltage of super-capacitor module
Value reaches setting value.
As shown in Figures 1 to 8, Voltage stabilizing module it is preferable to use be the non-isolated boost module of DC-DC, due to super capacitor
Voltage is related to its energy storage, the energy Q of super capacitor storage and the relational expression of capacitance voltage U and capacitor's capacity C are as follows:After super capacitor discharges a period of time, voltage can decline more so that it cannot directly drive load, institute
Output voltage stabilization is being suitble to the voltage loaded using the Voltage stabilizing module with the utility model, can make full use of super capacitor
The electric energy of middle storage.
As shown in Figures 1 to 8, load is mainly DC circuit load, by DC brushless motor, direct current generator, steering engine etc.
It constitutes.
As shown in Figures 1 to 8,24V voltage is down to by reduction voltage circuit using MP1584 decompression chip circuit (as shown in Figure 4)
5V is the power supply such as sensor chip, display circuit, reuses MP2105 decompression chip circuit (as shown in Figure 5) for 5V voltage
3.3V is down to as single-chip microcontroller power supply.
As shown in Figures 1 to 8, a high property that single-chip microcontroller preferred design uses ST (STMicw Electronics) company to develop
Energy microcontroller stm32f405, has powerful computing capability, the calculating and control of some complexity is able to carry out, for obtaining
Each sensing data, and control electric source modes and motor are judged after carrying out processing analysis to data.
As shown in Figures 1 to 8, voltage-current sensor includes current sensor and voltage sensor, and current sensor is excellent
It is selected as a linear current sensing IC chip ACS712 (as shown in Figure 6) based on Hall effect, there is high-precision, Gao Wen
It is fixed, highly sensitive, the good characteristics such as linear convergent rate.Voltage sensor is then to use Chip Microcomputer A/D C to read using after electric resistance partial pressure
(as shown in Figure 7).
As shown in Figures 1 to 8, metal-oxide-semiconductor control circuit uses triode switch control bleeder circuit as control metal-oxide-semiconductor
It drives (as shown in Figure 8).
As shown in Figures 1 to 8, display circuit uses 0.96 cun of OLED display screen module, and single-chip microcontroller is logical by IIC
Letter shows real-time voltage current data and power state information on a display screen.
As shown in Figures 1 to 8, serial communication circuit: the power state information of implementation is sent out by way of serial communication
It send to the driving plate of load motor, will be driven when the driving plate of load receives after power supply is unable to satisfy the signal of loading demand
Motor reduces revolving speed, to avoid lithium battery output power beyond limitation.
Most important three modules are 24V lithium battery module, super-capacitor module, load in power control circuit 1, this three
Kind of module composition triangular relationship, there is the power MOS switch for capableing of control circuit on-off between any two, wherein lithium battery is to surpassing
Also include constant pressure and flow module in the circuit of grade capacitance module, includes pressure stabilizing mould in the circuit of super-capacitor module to load
Block.There are four types of modes for entire power control part setting, by controlling the first power MOS switch control module, the second power MOS
Switch control module, third power MOS switch control module switch over different mode:
1) mode one, lithium battery by constant pressure and flow module be super-capacitor module charge, while be load supplying, first
Power MOS switch control module, the second power MOS switch control module are connected, and third power MOS switch control module disconnects.
2) mode two, the independent powering load of lithium battery, the second power MOS switch control module are connected, the first power MOS
Switch control module, third power MOS switch control module disconnect.
3) mode three, lithium battery and super capacitor are load supplying, the second power MOS switch control module, third simultaneously
Power MOS switch control module is connected, the first power MOS switch control module.
4) mode four, the independent powering load of super capacitor, third power MOS switch control module are connected, and first
Power MOS switch control module, the second power MOS switch control module disconnect.
Whole system is likely to occur following six kinds of states:
1) power demand loaded is smaller, and super capacitor underfill electricity, the demand of load adds the charging function of super capacitor
Rate is not above the output power limit of lithium battery.It is switched to mode one at this time, lithium battery is while for load supplying to super
Grade capacitor charging.
2) power demand loaded is smaller, and super capacitor has been full power state, and the demand of load is less than the defeated of lithium battery
Power limit out.It is switched to mode two at this time, lithium battery is individually for load supplying.
3) power demand loaded is larger, and super capacitor underfill electricity, the demand of load is less than the output power of lithium battery
Limitation, but the demand loaded has exceeded the output power limit of lithium battery plus the charge power of super capacitor.Switch at this time
For mode two, lithium battery is individually for load supplying.
4) demand loaded is very big, and the demand of load has had exceeded the output power limit of lithium battery, super capacitor
The voltage of module is higher than minimum limitation.It is switched to mode three at this time, lithium battery and super-capacitor module are simultaneously load supplying.
5) demand loaded is very big, and the demand of load has had exceeded the output power limit of lithium battery, super capacitor
The voltage of module is lower than minimum limitation.It is switched to mode two at this time, and power supply will be sent by way of serial communication can not to expire
The signal of sufficient loading demand to motor driving plate, motor driving plate will driving motor reduce revolving speed, reduce load power demand
It is worth power limit hereinafter, to avoid lithium battery output power beyond limitation.
6) load motor brake or motor being rotated by external force, motor is the equal of a generator at this time,
Reversely charging electric current is generated to entire circuit system, this reversely charging electric current can damage the health status of lithium battery for lithium battery.
Mode four is switched at this time, and reversely charging to super capacitor, is protected lithium battery by electric current.
A kind of robot hybrid power source system provided by the utility model, 24V lithium battery are the main power source of system, are passed through
Reduction voltage circuit is powered to single-chip microcontroller.Single-chip microcontroller is believed by the state that voltage-current sensor obtains lithium battery and super-capacitor module
Breath, single-chip microcontroller makes corresponding decision after carrying out processing analysis to power state information, by the output state for controlling chip pin
Metal-oxide-semiconductor control circuit, Switching power operating mode are driven, and power information and work state information are shown by display circuit
Show, the driving plate of load motor is sent to by serial communication circuit.
A kind of robot hybrid power source system provided by the utility model obtains each power supply status by sensor and believes
Breath, and corresponding management control is carried out, the characteristic of two kinds of different electrical powers is made full use of to reach limitation lithium battery output power, protection
Lithium battery increases lithium battery service life, enhancing robot power, energy saving purpose, is reaching the defeated of limitation lithium battery
Out while the purpose of power protection lithium battery, and high-power output can be carried out in a short time, meet load need as far as possible
It asks, while part energy can be recycled again, achieve the effect that energy-saving and emission-reduction.
A kind of robot hybrid power source system provided by the utility model, has the advantage that
In terms of urgent reply: the utility model uses the monolithic processor controlled machine comprising lithium battery and super capacitor
People's AC-battery power source intelligent management, can enable super capacitor as auxiliary capacitor in battery overload or not enough power supply and be powered,
The output pressure for reducing battery meets equipment the Emergency time the needs of.
In terms of flexibility: the equipment equipped with the utility model compared with the equipment equipped with single super capacitor power supply system more
Has flexibility, without setting the charging station of specified running track and fixation.Use lithium battery as main power source, guarantees continuous
Boat ability uses super capacitor as supplementary energy, guarantees mobility.Therefore more flexible, and there is the rescue being widely used in
The potential in the fields such as robot, sports robot, multi-rotor aerocraft, sweeping robot.
Intelligent aspect: the utility model obtains power state information using sensor in real time, by single-chip microcontroller to information
After processing judgement, by control power MOS pipe switch, so that power supply is cut automatically under four kinds of different modes of six kinds of states
It changes, realizes automation control, achieved the effect that more efficient quick management double power-supply system, can also give full play to power supply
Performance.
System simplifies aspect: the utility model devises lithium battery, super-capacitor module and load between any two by (single
What piece machine can control) metal-oxide-semiconductor switch is connected and is formed by triangle administrative relationships, constant pressure and flow module and pressure stabilizing mould is added
Block, so that whole system is simpler, serious forgiveness is higher, more stable.
In terms of energy regenerating: when there is emergency stop or rotates under outer power drive in the motor in load the case where, motor
Reversely charging electric current can be generated to power supply, reversely charging electric current has adverse effect for the service life of lithium battery, and the utility model devises
The mode that energy regenerating is carried out using super capacitor, is both protected lithium battery, extends the service life of lithium battery, and can recycle
Energy reaches energy-saving and environment-friendly purpose.
A kind of robot hybrid power source system provided by the utility model, has the following characteristics that
1) use super capacitor as accessory power supply.
Lithium battery is a kind of battery, converts electric energy, the process of energy conversion for chemical energy by redox reaction
In can generate loss, especially when its export it is high-power when, self-energy loss can also increase, lead to battery-heating, big function
The electric discharge of rate will serious curtailment battery.
Super capacitor is a kind of energy-storage travelling wave tube of physical reactions progress charge and discharge by polarized electrolytic matter, charge and discharge
Journey is physical reactions and is reversible that the process of charge and discharge can be completed within short tens of seconds, the electric current of charge and discharge
Can be very big, 100,000 cycle charge-discharges can be performed for more than and have little influence on its own service life.
The charge/discharge speed and electric current of super capacitor are greater than lithium battery, but its energy density is lower, to guarantee machine
Cruising ability, super capacitor is generally not as main power source.So the utility model using using lithium battery as main power source,
Dual power supply of the super capacitor as accessory power supply.It not only can guarantee continuation of the journey in this way, but also be able to use the super capacitor output short time
It is high-power.
In order to extend the service life of lithium battery, reduce its own loss, in lithium battery to the charging circuit of super capacitor
Middle design has a constant pressure and flow module, and the charge power of super capacitor is limited with this.The delivery outlet of lithium battery is provided with electricity
Piezoelectricity flow sensor obtains the output state information of lithium battery, switches different modes, intelligence by the judgement to battery status
Change management double power-supply system, limits the peak power output of lithium battery.
2) power state information is obtained using sensor.
When carrying out power management, need to obtain the status information of power supply, real-time display is seen for user on a display screen
It examines, passes through the output mode for judging power module at this time to power supply status.
Current sensor used in the utility model is ACS712 chip, is a linear current based on Hall effect
Sensor IC has many advantages, such as that small in size, high sensitivity, high accurancy and precision, delay are short.The supply voltage of the chip is VCC=5V,
When electric current is 0A, output end voltage VOUT=VCC/2=2.5V, when the electric current for flowing through the chip is I, output end voltage
For VOUT=VCC/2+0.1I.That is output end voltage and electric current is in a linear relationship.
The mode that supply voltage information is obtained in the utility model is divided using two resistance that resistance value is 10:1
Afterwards, lesser voltage value is read using the ADC of single-chip microcontroller (analog-to-digital conversion), numerical value is then multiplied by 11 times and is obtained.
3) use single-chip microcontroller as control centre.
Microprocessor control centre used in the utility model is one piece of height developed by ST (STMicw Electronics) company
32 bit processor STM32F405RGT6 of performance, the chip have powerful computing capability, possess sufficient amount of pin, can
Carry out the calculating and control of some complexity.
4) use power MOS pipe as electronic switch.
In the utility model use three electronic switches, be individually positioned between battery and super capacitor, super capacitor with
Between load, between load and battery.Each electronic switch by two P-channel power MOS pipe S extremely be connected, can to circuit into
Row two-way blocking-up.Because each power MOS pipe itself has a parasitic diode, the unidirectional on-off of control can only be realized, therefore make
It can be realized two-way blocking with two MOS reversal connection, prevent in system use process that there is a phenomenon where electric current reversely chargings.This MOS
Resistance when pipe is connected only has 6 milliohms, and the energy loss itself generated is minimum, almost can be ignored.
5) stablize super capacitor output voltage using Voltage stabilizing module.
Output end in the utility model in super capacitor is connected to voltage regulator circuit because the output voltage of super capacitor and
Its energy storage is related, it is intended that the energy in super capacitor can discharge as much as possible, while provide again can drive it is negative
The voltage of load, Voltage stabilizing module are brought the voltage up when enabling to the voltage of super capacitor lower than load normal working voltage to load
Power supply, takes full advantage of the energy in super capacitor.
A kind of robot hybrid power source system provided by the utility model has and applies below:
1. race robot.It is the fairness for guaranteeing match in many robot athletic competitions, is provided with to robot electricity
The rule that the output power in pond is limited, cell output will cause shadow to games results beyond laws of the game limitation
It rings.The utility model as accessory power supply, uses High Performance SCM as at power management by using super-capacitor module
Device is managed, the real time status information of power supply is obtained by sensor, the cell output of robot can be allowed to limit without departing from rule
It while processed, and can export in a short time high-power, complete the high power movement of short time, help to enhance robot
Mobility avoids violating laws of the game, obtains better games results.Moreover, when sports robot motor emergency stop or by
When outer power drive rotates, reversely charging electric current can be guided to super-capacitor module, protect lithium battery.Both energy has been recycled, has also been increased
The acceleration for having added brake, improves the flexibility of sports robot, while can protect lithium battery again, extends lithium battery and uses the longevity
Life.
2. rescue robot.Rescue robot has in terms of the mobility and battery durable ability of reply emergency case
Higher requirement, pair using lithium battery as main power source, using super-capacitor module as supplementary energy of the utility model design
Power-supply system can cope with emergency case while guaranteeing continuation of the journey, and output is more high-power in the short time, can also allow machine
People recovers energy in the case where the motors such as descending, brake are by outer power drive, increases the cruise duration of rescue robot.
3. multi-rotor aerocraft.Multi-rotor aerocraft is in flight course, it is often necessary to complete avoidance, lifting, rotation etc.
Gear shifting operation needs power supply that can export high power in a short time, and resulting excessively high instantaneous power can be to lithium
Battery life has an immense impact on, and that multi-rotor aerocraft can be allowed to start when needing to complete high-power movement is super for the utility model
Grade capacitor is as accessory power supply, to extend the service life of multi-rotor aerocraft lithium battery.
4. AC-battery power source automobile.Principle is identical as rescue robot.
It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined
Assert that the specific implementation of the utility model is only limited to these instructions.For the ordinary skill of the utility model technical field
For personnel, without departing from the concept of the premise utility, a number of simple deductions or replacements can also be made, should all regard
To belong to the protection scope of the utility model.
Claims (9)
1. a kind of robot hybrid power source system, it is characterised in that: including single chip circuit and power control circuit, wherein institute
Stating power control circuit includes lithium battery, the first power MOS switch control module, the second power MOS switch control module, third
Power MOS switch control module, constant pressure and flow module, super-capacitor module, Voltage stabilizing module and load, electricity based on the lithium battery
Source, the super-capacitor module be accessory power supply, the lithium battery by the first power MOS switch control module with it is described
The input terminal of constant pressure and flow module connects, and the output end of the constant pressure and flow module is connect with the super-capacitor module, described
Super-capacitor module is connect by the third power MOS switch control module with the input terminal of the Voltage stabilizing module, described steady
The output end of die block and the load connect, and the lithium battery passes through the second power MOS switch control module and the load
Connection, the single chip circuit are connect with the lithium battery, super-capacitor module respectively.
2. robot hybrid power source system according to claim 1, it is characterised in that: the single chip circuit includes monolithic
Mechanical, electrical piezoelectricity flow sensor, reduction voltage circuit and metal-oxide-semiconductor control circuit, the voltage-current sensor respectively with the single-chip microcontroller,
Lithium battery, super-capacitor module connection, the lithium battery are connect by the reduction voltage circuit with the single-chip microcontroller, the single-chip microcontroller
It is connect with the metal-oxide-semiconductor control circuit.
3. robot hybrid power source system according to claim 2, it is characterised in that: the single chip circuit further includes showing
Show that device circuit and serial communication circuit, the single-chip microcontroller are connect with the display circuit, serial communication circuit respectively.
4. robot hybrid power source system according to claim 2, it is characterised in that: the reduction voltage circuit includes MP1584
It is depressured chip circuit and MP2105 is depressured chip circuit.
5. robot hybrid power source system according to claim 2, it is characterised in that: the model of the single-chip microcontroller
stm32f405。
6. robot hybrid power source system according to claim 1, it is characterised in that: the super-capacitor module mainly by
At least two super capacitors are connected in series.
7. robot hybrid power source system according to claim 1, it is characterised in that: the first power MOS switch control
Molding block, the second power MOS switch control module, third power MOS switch control module are the switching circuit of two-way blocking-up,
The switching circuit, which is mainly extremely connected by the S of two P-channel power MOS pipes, to be formed.
8. robot hybrid power source system according to claim 1, it is characterised in that: the constant pressure and flow module includes
XL4015 is depressured chip circuit.
9. robot hybrid power source system according to claim 1, it is characterised in that: the Voltage stabilizing module is that DC-DC is non-
Isolation boosting module.
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| CN113184186A (en) * | 2021-05-28 | 2021-07-30 | 中国计量大学 | Four rotor unmanned aerial vehicle snatch and put in control circuit |
| CN113922480A (en) * | 2020-07-10 | 2022-01-11 | 航天科工惯性技术有限公司 | Geological disaster monitoring equipment and power supply method thereof |
| CN115123008A (en) * | 2022-05-17 | 2022-09-30 | 吉林大学青岛汽车研究院 | Vehicle-mounted composite power supply system and control method thereof |
| CN116073500A (en) * | 2023-04-04 | 2023-05-05 | 齐鲁工业大学(山东省科学院) | Super capacitor charge and discharge control system and control method for robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113922480A (en) * | 2020-07-10 | 2022-01-11 | 航天科工惯性技术有限公司 | Geological disaster monitoring equipment and power supply method thereof |
| CN113184186A (en) * | 2021-05-28 | 2021-07-30 | 中国计量大学 | Four rotor unmanned aerial vehicle snatch and put in control circuit |
| CN115123008A (en) * | 2022-05-17 | 2022-09-30 | 吉林大学青岛汽车研究院 | Vehicle-mounted composite power supply system and control method thereof |
| CN116073500A (en) * | 2023-04-04 | 2023-05-05 | 齐鲁工业大学(山东省科学院) | Super capacitor charge and discharge control system and control method for robot |
| CN117706551A (en) * | 2024-02-02 | 2024-03-15 | 千巡科技(深圳)有限公司 | Laser radar three-dimensional image construction equipment and control method thereof |
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