Simulation of a Hybrid Power Supply for Robotic Applications Depending on Storage Capacity

The paper focuses on determining the required supercapacitor capacity and consequently the current required from an external source to achieve the required power for powering the drive. A simulation analysis of the proposed solutions is presented in the paper. The control algorithm for the accumulator and supercapacitor storage system is introduced. The accumulator is directly connected to the load and the supercapacitor is parallel connected to the common node through the bidirectional converter. The load is also connected to the common node. The peak power demand is simulated using the current-controlled source with an unregulated DC voltage. The voltage controller is not used, and the bidirectional converter works in a current mode. The advantage of the control algorithm is that it is not required information about load demand from the robotic arm, but only the load current measurement is utilized to deliver peak power from the supercapacitor.