基于Matlab/Simulink仿真的轮式挂线机器人能耗分析及优化

Energy consumption analysis and optimization of the wheeled cable robot based on Matlab/Simulink simulation

为更准确地评估轮式挂线机器人的能耗,综合考虑机器人滚动阻力、空气阻力和坡度阻力,构建了机器人动力学模型;结合电机模型、电池模型建立轮式挂线机器人能耗仿真模型,分析线路坡度、行驶速度对机器人能耗的影响,并针对能耗进行优化。结果分析表明:爬坡角度由0°增加到30°,机器人能耗增加了4倍;行驶速度由0.5 m/s提升至1.5 m/s,机器人能耗增加了3倍;在保持风阻系数不变的情况下,机器人重量减轻0.5 kg,电池荷电状态提高2.2%,同时功率下降4.9%。

To make a more accurate prediction of the energy consumption of the wheeled cable robot,a dynamic model of robot was proposed by taking into account the rolling resistance,air resistance,and slope resistance.Then,a wheeled cable robot energy consumption simulation model was built by combining the dynamics mode with the motor model and battery model.The influences of line slope and driving speed on the energy consumption of the robot during operation were analyzed.Furthermore,optimizations were implemented to reduce energy consumption.The results show that the energy consumption of the robot is increased by 4 times when the climbing angle rises from 0°to 30°and,it is increased by 3 times when the driving speed increases from 0.5 m/s to 1.5 m/s.With the wind resistance coefficient held constant,a weight reduction of 0.5 kg in the robot resulted in a 2.2%increase in the state of charge,accompanied by a 4.9%decrease in power consumption.