煤矿救灾机器人动力电源研究

摘要

According to special requirement of power system of rescue robot,three types of power supply were compared,which were lithium iron phosphate batteries,super capacitor and lithium iron phosphate batteries parallel connected super capacitor.It was found that the lithium iron phosphate battery had good properties as the robot's power.The models were established based on studies of the robot's discharge characteristics in low current.The energy efficiency and energy consumption of the lithium iron phosphate battery with 24 V and 40 A·h was analyzed and calculated.It was found that reducing the output current could reduce the self energy consumption of the battery and increase the output energy,and the self energy consumption of the battery could be controlled at the level under 12 ％ when the discharging current was below 30 A.%针对机器人电源系统的需求,分析并比较了磷酸铁锂电池、超级电容以及磷酸铁锂电池并联超级电容的混合电源的性能,认为磷酸铁锂电池较适合作为煤矿救灾机器人的动力电源；研究了磷酸铁锂电池的小电流放电特性,建立了相应的放电模型,并据此对24 V,40 A·h的电池进行理论计算,得出结论:放电电流在30 A以下时,电池自身消耗的能量可以控制在12％以下,降低输出电流可以降低电池自身的能量消耗,增加输出的能量.