仿生六足机器人传感器系统电源管理技术的研究

Research on Power Management Techniques for Sensor System of the Hexapod Bio-Robot

研究了仿生六足机器人传感器子系统的电源管理技术,采用超时算法对所设计的电源管理单元进行了控制,通过MATLAB/Simulink/Stateflow对整个传感器子系统的电源管理过程进行了动态建模与数字仿真,并通过分析传感器子系统在有无电源管理单元进行控制以及在电源管理单元有无超时算法进行控制时的能量消耗情况,得出仿生六足机器人的电源管理单元只有通过相应的算法进行控制才能真正起到节能作用,否则在外界环境频繁变化的工况下还有可能带来能量的浪费;通过对传感器子系统电源管理单元及其相关技术的研究,可以将有关的设计思路和技术途径扩展到机器人的整个电气系统,这样就可在满足机器人整体性能指标的前提下,最大限度地降低其全系统能耗。

The power management techniqucs for sensor subsystem is studied, which use the time-out algorithm to control the power management units,then does the dynamic modcling and digital simulation on powe management process to the toral sensor subsystcm.at last analyzes the energy consumption of sensor subsystem with and without the control of power management unit and with and without the control of time-out algorithm.The following conclusions are obtained,the Hexapod Bio-Robots power management unit can save energy cffcctively only with the control of corresponding algorithm, otherwise it can waste energy on the environmenl conditions that change frequcntly. The relevanl designs and techniques can exlend to the total electrical syslem by the study on the power managemenl units of sensor subsyslern, so thest, methods can reduce the system energy to the maximum on the premise of satisfying the integrated performance indices.