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1、论文题爵：基于CUK变换器的反恐防暴机器人用光伏发电系统的研究与设计作者姓名： 奎丞夔 入学时间： 圣Q!墨生皇县专业名称： 皇氢王程 研究方向：皇左丕筮自麴丝指导教师： 墓题蕉 职 称： 塾 握论文提交日期：2Q兰生垒屋论文答辩日期：2Q至量圭互旦授予学位日期：队y哆1Illl I Ill l Illl Illl I II UlY2924037RESEARCH AND DESIGN OF PHOTOVOUrAICPOWER GENERATION SYSTEM BASED ON CUKCONVEI汀ER US雹D FOR ANTI TERROR RIOT ROBOTA Dissertation
2、 submitted in fulfillment of the requirements of the degree ofM埝STER OF ENG眦ERINGShandong University of Science and TechnologyLi ChengzhenSupervisor：Professor Fan BinghuiCollege of Electrical Engineering&AutomationApril 2015声 明本人呈交给山东科技大学的这篇硕士学位论文，除了所歹l|参考文献和世所公认的文献外，全部是本人在导师指导下的研究成果。该论文资料尚没有里交于其它任何
3、学术机关作鉴定。硕士生签名：苍善；r表 q V”n日 期：0分。I declare that this dissertation,submitted in fulfillment of the requirementsfor the award of Master of Philosophy iShandong University of Science andTechnology,is wholly my OWll work unless referenced of acknowledgeThedocument has not been submitted for qualification
4、 at any other academicinstitute圾。1寸缮”l，嗽击a：础吣掣嘶嗜嚏简D山东科技大学硕士学位论文摘要虽然战争离我们较远，但在暴恐多发的当今社会，反恐已经是国际共识。正是在这样的大背景下，反恐防暴机器入的研发和设计才越来越受到重视。它的基本功能是代替人工进行搜爆、排爆。然而机器人能源自治问题一直困扰着机器人产业的发展，本论文就是为反恐防暴机器人设计一套光伏发电系统，为解决其野外作业能源自治阎题做出新的探索和试验。本文主要通过主功率回路优化设计和对最大功率点跟踪算法、算术平均滤波算法、智能充放电控制算法、增量式数字PID等控制算法的研究，做到尽最大程度的利用光伏电能，
5、提高整个装置和系统的效率以及控制的稳定性、可靠性、精度，为反恐防暴机器人设计出一套适合其自身特性的光伏发电系统并为下一步研究打下基础。本论文主要研究了以下内容：(1)论述了反恐防暴机器人及其能源自治的国内外研究现状，提出利用光伏发电来解决其野外作业能源自治问题。(2)根据反恐防暴机器人的供电需求分析，设计光伏发电系统总体方案并确定系统构型和各个组成模块。(3)为反恐防暴机器人用光伏发电系统设计主电路，选择适合的主电路类型、进行相关参数计算并进行仿真验证和整定优化设计。(4)利用带平均滤波算法的AD采样电路，将其合理的与脉冲宽度调制驱动电路相结合，并伴以各种保护来组成控制系统主要硬件电路。(5)
6、根据总方案进行控制系统软件和程序设计，提出MPPT和铅酸蓄电池三阶段充电相组合的方法来实现尽最大程度利用光伏电能和优化充电过程。(6)系统实验调试及结果分析，检验本方案的可行性，在对实验结果进行分析的基础上，发现不足并提出改进意见。关键诃：反恐防暴机器人，太阳能电池阵列，铅酸蓄电池，CUK主电路，STM32，最大功率点跟踪，三阶段充电，增量式数字PID山东科技大学硕士学位论文 ABSlRACTABSTRACTAlthough the war is far away from US，terrorist violence still occurs frequently in todaysociet
7、y and cotmtrterrorism is already an international CO删U$In this background,thedesign and development of Anti Terror riot robot is more and more attentionIts basic functionis to replace the manual searching for explosives，excluding explosivesHowever,thedevelopment of the robotics industry has been pla
8、gued by energy autonomy,this thesis is todesign a set of PV system for Anti Terror riot robot to make new exploration andexperimentation to solve也eir fieldwork energy autonomyThe Anti Terror riot robot PV systems is designed and developed by the way of mainckcmt optimization design and research of M
9、PPT,the arithmetic average filteringalgofithm,inteUigent charging and discharging conlxol algorithm and incremental di西tal PIDcontrol algorithm to make maximum uSe of solar energy，improve the efficiency of the entiredevice and system,conlrol system stability,reliabihty and accuracyThe photovoltaic s
10、ystemdesigned for Anti Terror dot robot must suit its own characteristics and also can lay thefoundation for further researchThe main con也丑tS of this paper include：(1)The paper discusses the research status On Anti Terror riot robot and its energyautonomy at home and abroad and propose the uSe of ph
11、otovoltaic power generation to solvethe problem of fieldwork energy autonomy(2)The overall design scheme of photovoltaic power generation system which determinesystem configuration and the various component modules based on the analysis of Anti Terrorriot robot power demand(3)The paper designs the m
12、ain circmt for Anti Terror riot robot photovoltaicsystem,selecting the appropriate type for the main circuit,doing the correlation parametercalculation and simulation and tuning optimization design(4)AD s鼬pliIlg ckcmt using a band average filtering algorithm，which was reasonablecombined with the pul
13、se width modulation driving circuit and variety ofprotection to form thecontrol system main hardware ckcuit山东科技大学硕士学位论文 ABSTRACT(5)The design of the control system software and algorithms based on the overall planwhich proposes the charge and discharge strategy that is maximum power point trackingeo
14、ntrol algorithms with the combination of three-stage charging policy to achieve the greatestextent possible and optimize the峨of photovoltaic charging process(6)System debugging and result analysis examine the feasibility of this program andfounding deficiencies and putting forward Improvement sugges
15、tionsKeywords：anti Terror riot robot,solar arrays，lead-acid batteries,cuk main circuit,STM32，mppt,threestage&arging，incremental digital PID山东科技大学j囊士学位论文 目录1绪论目录11 课题来源112课题研究背景及意义113 国内外研究现状214论文的研究内容和拟解决的关键问题315章节安排42反恐防暴机器人用光伏发电系统总体设计方案21 反恐防暴机器人基本结构介绍522供电要求分析523系统设计要求和主要性能指标624系统结构及相关参数725本章小结83系统主电路拓扑及工作原理。 931系统主电路拓扑选取932 Cuk主电路工作原理及基本数量关系933 Cuk主电路参数计算1434 Cuk主电路仿真及分析173
