CN112104093B - Induction power taking control device of inspection robot and MPPT control method thereof - Google Patents

Induction power taking control device of inspection robot and MPPT control method thereof Download PDF

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Publication number
CN112104093B
CN112104093B CN202010556106.5A CN202010556106A CN112104093B CN 112104093 B CN112104093 B CN 112104093B CN 202010556106 A CN202010556106 A CN 202010556106A CN 112104093 B CN112104093 B CN 112104093B
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module
inspection robot
power
diode
taking
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CN112104093A (en
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宋凯
邓豪杰
刘宇鑫
曾智
彭恒溢
李卉葆
刘纪星
姜金海
赵立军
朱春波
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Harbin Institute of Technology
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Harbin Institute of Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
    • G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
    • G05F1/66—Regulating electric power
    • G05F1/67—Regulating electric power to the maximum power available from a generator, e.g. from solar cell
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/00304—Overcurrent protection
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/00308—Overvoltage protection
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • H02J7/04—Regulation of charging current or voltage
    • H02J7/06—Regulation of charging current or voltage using discharge tubes or semiconductor devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/32—Means for protecting converters other than automatic disconnection
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J2207/20—Charging or discharging characterised by the power electronics converter

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The patent refers to the field of 'control or regulating systems and its monitoring or testing arrangements'. MPPT controlling means gets the electric module, patrols line robot battery and charge management module and patrols line robot operation module including patrolling line robot CT, it gets the electric module from the high-voltage bus to patrol line robot CT and get the electricity, it gets the electric module with voltage transmission to patrolling line robot battery and charge management module to patrol line robot CT, it supplies power for patrolling line robot operation module to patrol line robot battery and charge management module. The invention is used for solving the problems of maximum power tracking and overvoltage and overcurrent protection in the electricity taking process of the inspection robot.

Description

Induction power taking control device of inspection robot and MPPT control method thereof
Technical Field
The invention belongs to the field of electric power; in particular to an induction electricity taking control device of a line patrol robot and an MPPT control method thereof.
Background
As the current extra-high voltage transmission line inspection and maintenance means which saves manpower and resources, the inspection and maintenance method of the inspection robot faces an important problem of electric energy supply of the inspection robot. However, the existing solar power supply mode is greatly influenced by weather conditions and lacks of long-term maintenance-free capability; laser energy is not suitable for field work. The problem of electric energy supply of the inspection robot is solved, and the method is particularly important.
In an electric power system, as shown in fig. 1, by using a Current Transformer (CT), according to faraday's law of electromagnetic induction, the ratio of input and output voltages is equal to the turn ratio, and the ratio of input and output currents is equal to the inverse ratio of the turns, a mutual inductor is used to take electricity from a high-voltage power transmission line, and secondary output Current is converted to achieve the purpose of charging.
The current fluctuation range in the high-voltage transmission line is between 600A and 1000A, and the instability of the current causes the instability of the output voltage of the CT. Although the current market has an electricity taking module meeting overvoltage and overcurrent protection functions, the module needs strict parameter requirements, a user needs to provide a relatively accurate current fluctuation range, the fluctuation range of the range is small, and the inspection robot takes a battery as an electric energy storage device and needs a stable voltage/current source for charging the electric energy storage device.
The CT power taking mode can be used for taking power from an overhead line in a magnetic isolation mode, but the traditional CT power taking device has high internal resistance, and in a time period with low power consumption, the current of a high-voltage wire is low, so that the output capacity is insufficient, the CT device cannot be charged, the device cannot work normally and continuously, and only can be in a standby state. When the internal resistance of the CT device is large, the safety of the CT device is affected, the conditions of inside and outside equipotential of the CT device cannot be met, and further potential safety hazards are generated.
Disclosure of Invention
The invention provides an induction power-taking control device of a line patrol robot and an MPPT control method thereof, which are used for solving the problems of maximum power tracking and overvoltage and overcurrent protection in the power-taking process of the line patrol robot.
The invention is realized by the following technical scheme:
the utility model provides an inspection robot's response is got electric controlling means, MPPT controlling means gets the electric module, is patrolled line robot battery and charge management module and is patrolled line robot operation module including patrolling line robot CT, it gets the electric module and gets from the high-voltage bus to patrol line robot CT, it gets the electric module with voltage transmission to patrolling line robot battery and charge management module to patrol line robot CT, it is patrolled line robot battery and charge management module and is patrolled line robot operation module power supply to patrol line robot operation module.
Further, inspection robot CT gets electric module and includes current transformer CT, overvoltage protection module, rectifier module and voltage stabilizing module, current transformer CT loops through overvoltage protection module, rectifier module with the electric energy of retrieving back and transmits for voltage stabilizing module, voltage stabilizing module transmits the electric energy for inspection robot battery and charge management module.
Further, patrol line robot battery and charge management module and include battery and charge manager module, the electric energy of voltage stabilizing module is received to the battery, the electric energy of battery is received to the charge manager module, feeds back the electric energy to voltage stabilizing module simultaneously, the battery is for patrolling the arm power supply of line robot operation module.
Furthermore, one end of the overvoltage protection module is connected with one end of a diode D2 and one end of a diode D3, the other end of the overvoltage protection module is connected with one end of a diode D4 and one end of a diode D7, the other end of the diode D4 is connected with the other end of a diode D2, one end of a capacitor C2 and the D end of a field effect transistor Q1, the S end of the field effect transistor Q1 is connected with one end of a diode D5 and one end of an inductor L1, the other end of the inductor L1 is connected with the D end of the field effect transistor Q2 and one end of a diode D6, the other end of the diode D6 is connected with one end of a hall current sensor and one end of a capacitor C1, and the other end of the hall current sensor is connected with the anode of the inspection robot battery;
the other end of the diode D7 is respectively connected with the other end of the diode D3, the other end of the diode D5, the other end of the capacitor C2, the S end of the field effect transistor Q2, the other end of the capacitor C1 and the negative electrode of the inspection robot storage battery.
Further, the Hall voltage sensor I is used for detecting the voltage of the robot storage battery, the Hall voltage sensor II is used for detecting input voltage, the Hall voltage sensor I and the Hall voltage sensor II respectively transmit voltage detection signals to the output controller, the output controller outputs PWM1 pulses to the G end of the field-effect tube Q1, and the output controller outputs the PWM2 pulses to the G end of the field-effect tube Q2.
Furthermore, the anode of the overvoltage protection module is respectively connected with one end of a voltage stabilizing diode D1 and one end of a resistor R1, the other end of the resistor R1 is connected with the D end of a field effect transistor Q3,
the other end of the voltage-stabilizing diode D1 is connected with one end of a resistor R2, the other end of the resistor R2 is connected with one end of a resistor R3 and one end of a resistor R4 respectively, the other end of the resistor R3 is connected with the G end of a field-effect tube Q3, and the other end of the resistor R4 is connected with the negative electrode of the overvoltage protection module and the S end of the field-effect tube Q3 respectively.
An MPPT control method of an induction power-taking control device of an inspection robot comprises the following steps:
step S1: judging whether the overhead line can provide enough power or not according to the output voltage of the rectifying circuit;
step S2: if the overhead line can provide enough power, the fact that the electric energy transmitted by the overhead line can provide enough power for the CT electricity taking module is proved, and otherwise, MPPT charging is carried out;
step S3: during charging, when the charging current is reduced, if the output power of the CT electricity taking module is increased, the current searching direction is proved to be correct, the searching frequency is increased by one, when searching is carried out again, searching is still carried out according to the same searching direction, whether the output power of the CT electricity taking module is increased is verified again, and the searching is finished until the output power of the CT electricity taking module is reduced;
step S4: searching by a successive approximation method until a maximum power point is searched.
An MPPT control method of an induction power-taking control device of an inspection robot is characterized by comprising the following steps:
step 1: initializing a CT power taking module of the inspection robot, and reading preset internal charging parameters;
step 2: starting power scanning, setting the iteration number n to be 1, calculating the step length h to be 3, and detecting output current through a Hall current sensor;
and step 3: judging whether the output current reaches a preset value, if so, performing a step4, and if not, performing a step 5;
and 4, step 4: starting a PI regulation program and outputting a regulated constant current;
and 5: judging a duty ratio control variable t of a switching device fed back to the DC-DC circuit, when t is 3ffH, representing that the duty ratio reaches 100%, performing step 6, and when t is less than 3ffH, representing that the duty ratio is less than 95%, returning to step 4;
step 6: starting an MPPT searching program;
and 7: resetting a duty ratio variable;
and 8: judging whether the output power variation delta P is less than or equal to sigma according to the reset duty ratio in the step 7, if so, performing the step 9, otherwise, performing the step 10;
and step 9: after the search is finished, the CT electricity taking module of the inspection robot operates at the maximum power point;
step 10: judging whether the output power variation delta P is larger than or equal to 0 again on the basis of the step 8, if not, performing a step 7, setting the duty ratio variable to t + n h, and if so, performing a step 11;
step 11: resetting the parameter n ═ n0+1，n0When the set duty ratio variable is t-n h, returning to the step 7;
step 12: and 7-11, dynamically detecting a maximum power point by using an iteration mode, reducing the size of a duty ratio, sequentially detecting, finding a peak value Pm of input power, performing energy transmission under the duty ratio, wherein the received power is the maximum power under the current, continuously operating an iteration program, ensuring that the maximum power output can be followed when the current of the overhead line changes, and ensuring the normal work of the inspection robot.
The invention has the beneficial effects that:
1. the invention adjusts the acquired electric energy to the chargeable voltage, thereby realizing the continuous work of the electricity taking device.
2. When the output voltage of the rectifier bridge is higher, the MOSFET is conducted, the circuit enters a working state, and redundant energy is discharged through the high-power resistor R1; when the output voltage of the rectifier bridge is low, the circuit does not work, so that the starting current of the power supply cannot be influenced.
3. The invention utilizes the mutual inductance coil to get electricity from the high-voltage transmission line, and the system can be used as a stable power supply to output direct current through the overvoltage circuit, the rectification filter circuit and the power supply conversion circuit.
Drawings
FIG. 1 is a schematic diagram of a conventional CT power-taking principle.
FIG. 2 is a schematic diagram of a high-voltage electricity-taking device of the inspection robot.
Fig. 3 is a circuit diagram of an overvoltage protection module of the invention.
FIG. 4 is a circuit diagram of a CT power-taking module of the inspection robot.
Figure 5 is a flow chart of a MPPT control method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The utility model provides an inspection robot's response is got electric controlling means, MPPT controlling means gets the electric module, is patrolled line robot battery and charge management module and is patrolled line robot operation module including patrolling line robot CT, it gets the electric module and gets from high-voltage bus to patrol line robot CT, it gets the electric module with electric energy transmission to patrolling line robot battery and charge management module to patrol line robot CT, it is patrolled line robot battery and charge management module and is patrolled line robot operation module power supply to patrol line robot operation module.
Further, inspection robot CT gets electric module and includes current transformer CT, overvoltage protection module, rectifier module and voltage stabilizing module, current transformer CT loops through overvoltage protection module, rectifier module with the electric energy flow transmission for voltage stabilizing module of the electric energy of retrieving, voltage stabilizing module transmits the electric energy for inspection robot battery and charge management module.
Further, patrol line robot battery and charge management module and include battery and charge manager module, the electric energy of voltage stabilizing module is received to the battery, the electric energy of battery is received to the charge manager module, feeds back the electric energy to voltage stabilizing module simultaneously, the battery is for patrolling the arm power supply of line robot operation module.
Furthermore, one end of the overvoltage protection module is connected with one end of a diode D2 and one end of a diode D3, the other end of the overvoltage protection module is connected with one end of a diode D4 and one end of a diode D7, the other end of the diode D4 is connected with the other end of a diode D2, one end of a capacitor C2 and the D end of a field effect transistor Q1, the S end of the field effect transistor Q1 is connected with one end of a diode D5 and one end of an inductor L1, the other end of the inductor L1 is connected with the D end of the field effect transistor Q2 and one end of a diode D6, the other end of the diode D6 is connected with one end of a hall current sensor and one end of a capacitor C1, and the other end of the hall current sensor is connected with the anode of the inspection robot battery;
the other end of the diode D7 is respectively connected with the other end of the diode D3, the other end of the diode D5, the other end of the capacitor C2, the S end of the field effect transistor Q2, the other end of the capacitor C1 and the negative electrode of the inspection robot storage battery.
Further, the Hall voltage sensor I is used for detecting the voltage of the robot storage battery, the Hall voltage sensor II is used for detecting input voltage, the Hall voltage sensor I and the Hall voltage sensor II respectively transmit voltage detection signals to the output controller, the output controller outputs PWM1 pulses to the G end of the field-effect tube Q1, and the output controller outputs the PWM2 pulses to the G end of the field-effect tube Q2.
Furthermore, the anode of the overvoltage protection module is respectively connected with one end of a voltage stabilizing diode D1 and one end of a resistor R1, the other end of the resistor R1 is connected with the D end of a field effect transistor Q3,
the other end of the voltage-stabilizing diode D1 is connected with one end of a resistor R2, the other end of the resistor R2 is connected with one end of a resistor R3 and one end of a resistor R4 respectively, the other end of the resistor R3 is connected with the G end of a field-effect tube Q3, and the other end of the resistor R4 is connected with the negative electrode of the overvoltage protection module and the S end of the field-effect tube Q3 respectively.
The power of the resistor R1 is 100W, and the voltage of the voltage stabilizing diode D1 is 10V.
The current output from the bridge rectifier circuit is converted by a DC-DC converter, and converted into a power supply capable of stably outputting a desired parameter.
An MPPT control method of an induction power-taking control device of an inspection robot comprises the following steps:
step S1: judging whether the overhead line can provide enough power or not according to the output voltage of the rectifying circuit; namely, when the PWM output duty ratio of the system is 100%, whether the system can reach the set threshold current or not;
step S2: if the overhead line can provide enough power, the fact that the electric energy transmitted by the overhead line can provide enough power for the CT electricity taking module is proved, and otherwise, the MPPT control mode is carried out for charging;
step S3: during charging, when the charging current is reduced, if the output power of the CT electricity taking module is increased, the current searching direction is proved to be correct, the searching frequency is increased by one, when searching is carried out again, searching is still carried out according to the same searching direction, whether the output power of the CT electricity taking module is increased is verified again, and the searching is finished until the output power of the CT electricity taking module is reduced;
step S4: and (4) searching by a successive approximation method, increasing a duty ratio variable t, and verifying whether the power is maximum until a maximum power point is searched.
The MPPT control is completed through a DC/DC conversion circuit, the CT and the rectification are connected with a load through a DC/DC circuit, the maximum power tracking device continuously changes the current and the voltage of the CT and the rectification, and the duty ratio of a PWM driving signal of the DC/DC converter is adjusted according to the change of the current and the voltage;
the mutual inductor is used for getting electricity from a high-voltage power transmission line, and the system is used as a stable power supply to output direct current through the overvoltage circuit, the rectification filter circuit and the power supply conversion circuit.
An MPPT control method of an induction power-taking control device of an inspection robot is characterized by comprising the following steps:
step 1: initializing a CT power taking module of the inspection robot, and reading preset internal charging parameters;
step 2: starting power scanning, setting the iteration number n to be 1, calculating the step length h to be 3, and detecting output current through a Hall current sensor;
and step 3: judging whether the output current reaches a preset value, if so, performing a step4, and if not, performing a step 5;
and 4, step 4: starting a PI regulation program and outputting a regulated constant current;
and 5: judging a duty ratio control variable t of a switching device fed back to the DC-DC circuit, when t is 3ffH, representing that the duty ratio reaches 100%, performing step 6, and when t is less than 3ffH, representing that the duty ratio is less than 95%, returning to step 4;
step 6: starting an MPPT searching program;
and 7: resetting a duty ratio variable;
and 8: judging whether the output power variation delta P is less than or equal to sigma according to the reset duty ratio in the step 7, if so, performing the step 9, otherwise, performing the step 10;
and step 9: after the search is finished, the CT electricity taking module of the inspection robot operates at the maximum power point;
step 10: judging whether the output power variation delta P is larger than or equal to 0 again on the basis of the step 8, if not, performing a step 7, setting the duty ratio variable to t + n h, and if so, performing a step 11;
step 11: resetting the parameter n ═ n0+1，n0When the set duty ratio variable is t-n h, returning to the step 7;
step 12: and 7-11, dynamically detecting a maximum power point by using an iteration mode, reducing the size of a duty ratio, sequentially detecting, finding a peak value Pm of input power, performing energy transmission under the duty ratio, wherein the received power is the maximum power under the current, continuously operating an iteration program, ensuring that the maximum power output can be followed when the current of the overhead line changes, and ensuring the normal work of the inspection robot.
Example 2
After the CT, the current output from the bridge rectifier circuit is converted by a DC-DC converter, and the converted current is converted into a current capable of stably outputting a desired parameter.
Increase charging current after the system normal operating, still can not reach predetermined charging current and make the electric installation work in MPPT mode if the duty cycle is 100%, the step is as follows:
step 1: the CT power taking module of the inspection robot is used for taking power and detecting input power Pi, and the Pi and the power of the inspection robot which can finish basic movement and collect information are compared and adjusted until the input power can meet the normal working requirement of the inspection robot;
step 2: feeding back the duty ratio of a switching device of the DC-DC circuit, and if the duty ratio is less than 100%, determining that the input power is enough to ensure the normal work of the inspection robot, and outputting constant current at the moment; if the duty ratio is 100%, the current of the overhead line is small at the moment, and the provided power is small;
step 3: dynamically detecting a maximum power point by using an iteration mode, reducing the size of a duty ratio, and sequentially detecting to find a peak value Pm of input power;
step 4: energy transmission is carried out under the duty ratio, the received power is the maximum power under the current, the iterative program continuously runs, the maximum power output can be ensured to be followed when the current of the overhead line changes, and the normal work of the inspection robot is ensured.

Claims (7)

1. The MPPT control method of the induction electricity-taking control device of the line inspection robot is characterized in that the induction electricity-taking control device comprises a line inspection robot CT electricity-taking module, a line inspection robot storage battery, a charging management module and a line inspection robot operation module, wherein the line inspection robot CT electricity-taking module takes electricity from a high-voltage bus, the line inspection robot CT electricity-taking module transmits electric energy to the line inspection robot storage battery and the charging management module, and the line inspection robot storage battery and the charging management module supply power to the line inspection robot operation module;
the MPPT control method comprises the following steps:
step 1: initializing a CT power taking module of the inspection robot, and reading preset internal charging parameters;
step 2: starting power scanning, setting the iteration number n to be 1, calculating the step length h to be 3, and detecting output current through a Hall current sensor;
and step 3: judging whether the output current reaches a preset value, if so, performing a step4, and if not, performing a step 5;
and 4, step 4: starting a PI regulation program and outputting a regulated constant current;
and 5: judging a duty ratio control variable t of a switching device fed back to the DC-DC circuit, when t is 3ffH, representing that the duty ratio reaches 100%, performing step 6, and when t is less than 3ffH, representing that the duty ratio is less than 95%, returning to step 4;
step 6: starting an MPPT searching program;
and 7: resetting a duty ratio variable;
and 8: judging whether the output power variation delta P is less than or equal to sigma according to the reset duty ratio in the step 7, if so, performing the step 9, otherwise, performing the step 10;
and step 9: after the search is finished, the CT electricity taking module of the inspection robot operates at the maximum power point;
step 10: judging whether the output power variation delta P is larger than or equal to 0 again on the basis of the step 8, if not, performing a step 7, setting the duty ratio variable to t + n h, and if so, performing a step 11;
step 11: resetting the parameter n ═ n0+1，n0When the set duty ratio variable is t-n h, returning to the step 7;
step 12: and 7-11, dynamically detecting a maximum power point by using an iteration mode, reducing the size of a duty ratio, sequentially detecting, finding a peak value Pm of input power, performing energy transmission under the duty ratio, wherein the received power is the maximum power under the current, continuously operating an iteration program, ensuring that the maximum power output can be followed when the current of the overhead line changes, and ensuring the normal work of the inspection robot.
2. The MPPT control method of the induction power-taking control device of the inspection robot according to claim 1, wherein the CT power-taking module of the inspection robot comprises a current transformer CT, an overvoltage protection module, a rectification module and a voltage stabilization module, the current transformer CT transmits the taken electric energy to the voltage stabilization module through the overvoltage protection module and the rectification module in sequence, and the voltage stabilization module transmits the electric energy to a storage battery and a charging management module of the inspection robot.
3. The MPPT control method of the induction power-taking control device of the inspection robot according to claim 1, wherein the storage battery and the charging management module of the inspection robot comprise a storage battery and a charging manager module, the storage battery receives electric energy of the voltage stabilizing module, the charging manager module receives electric energy of the storage battery and feeds the electric energy back to the voltage stabilizing module, and the storage battery supplies power for a mechanical arm of the operation module of the inspection robot.
4. The MPPT control method of the induction power-taking control device of the inspection robot according to claim 2, characterized in that one end of the overvoltage protection module is respectively connected with one end of a diode D2 and one end of a diode D3, the other end of the overvoltage protection module is respectively connected with one end of a diode D4 and one end of a diode D7, the other end of the diode D4 is respectively connected with the other end of the diode D2, one end of the capacitor C2 and the D end of the field effect transistor Q1, the S terminal of the fet Q1 is connected to one terminal of the diode D5 and one terminal of the inductor L1, the other end of the inductor L1 is respectively connected with the D terminal of the field effect transistor Q2 and one end of the diode D6, the other end of the diode D6 is respectively connected with one end of a Hall current sensor and one end of a capacitor C1, and the other end of the Hall current sensor is connected with the anode of the storage battery of the inspection robot;
the other end of the diode D7 is respectively connected with the other end of the diode D3, the other end of the diode D5, the other end of the capacitor C2, the S end of the field effect transistor Q2, the other end of the capacitor C1 and the negative electrode of the inspection robot storage battery.
5. The MPPT control method of the induction power-taking control device of the inspection robot according to claim 4, wherein a Hall voltage sensor I is used for voltage detection of a robot storage battery, a Hall voltage sensor II is used for input voltage detection, the Hall voltage sensor I and the Hall voltage sensor II respectively transmit voltage detection signals to an output controller, the output controller outputs PWM1 pulses to a G end of a field-effect tube Q1, and the output controller outputs the PWM2 pulses to the G end of the field-effect tube Q2.
6. The MPPT control method of the induction power-taking control device of the inspection robot according to claim 2, wherein the positive electrode of the overvoltage protection module is respectively connected with one end of a voltage regulator diode D1 and one end of a resistor R1, the other end of the resistor R1 is connected with the D end of a field effect transistor Q3,
the other end of the voltage-stabilizing diode D1 is connected with one end of a resistor R2, the other end of the resistor R2 is connected with one end of a resistor R3 and one end of a resistor R4 respectively, the other end of the resistor R3 is connected with the G end of a field-effect tube Q3, and the other end of the resistor R4 is connected with the negative electrode of the overvoltage protection module and the S end of the field-effect tube Q3 respectively.
7. The MPPT control method of the inspection robot induction power-taking control device according to claim 1, characterized by comprising the following steps:
step S1: judging whether the overhead line can provide enough power or not according to the output voltage of the rectifying circuit;
step S2: if the overhead line can provide enough power, the fact that the electric energy transmitted by the overhead line can provide enough power for the CT electricity taking module is proved, and otherwise, MPPT charging is carried out;
step S3: during charging, when the charging current is reduced, if the output power of the CT electricity taking module is increased, the current searching direction is proved to be correct, the searching frequency is increased by one, when searching is carried out again, searching is still carried out according to the same searching direction, whether the output power of the CT electricity taking module is increased is verified again, and the searching is finished until the output power of the CT electricity taking module is reduced;
step S4: searching by a successive approximation method until a maximum power point is searched.
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