Phase Plane Analysis of Battery Series Balancing on Robo

wideeyedarmenianElectronics - Devices

Nov 24, 2013 (3 years and 8 months ago)

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Phase Plane Analysis of Battery Series Balancing on Robo
t


Yu
-
Chang Chang
, Sheng Chen, and Chih
-
Chen Chen


Department of Vehicle Engineering, National Taipei University of Technology, Taipei, Taiwan, R.O.C

senchen@cc.hwh.edu.tw

Abstract (

文摘要
):


The

power

loading

of

the

servo

actuators

becomes

dominant

issues

in

the

mechatronic

design

of

walking

robots

with

different

sizes

and

weights
.

Traditionally,

taller

robots

with

higher

power

loading

behave

clumsy

than

the

smaller

ones
.

The

walking

balance

is

also

limited

by

the

same

perplexity

mentioned

above
.

This

reportis

dedicated

to

the

mechatronic

design

a

multi
-
link

walking

robot

with

variable

structure
.

This

innovational

design

of

length

variations

of

the

robot

legs

can

behave

better

mechanical

strength

and

reliability

than

the

traditional

ones
.

The

chronic

patients

can

simulate

the

different

physical

conditions

of

walking

robot

with

their

own

athletic

standard

of

calories

consumption
.

The

power

consumption

of

the

walking

robot

is

detected

based

on

different

size

and

weight

of

the

robot,

which

is

estimated

based

on

circumstances

of

the

chronic

patients
.

An

alternative

algorithm

of

tracking

methodology

is

suggested

to

follow

a

prescribed

trajectory

along

the

horizontal

plane
.

Finally,

the

multi
-
link

fuzzy
-
logic

controller

(MLFLC)

is

arranged

and

successfully

stabilizes

the

multi
-
link

robot

arm

under

the

assumption

of

nonlinear

system
.


Keywords
:

tracking

control,

image

identification,

PTZ

mechanism,

humanoid

robots

1.Introduction (
構想簡介
)


Lithium
-
ion

batteries

are

used

in

Robot

system

as

a

limited

and

precious

energy
;

Therefore,

how

to

effectively

manage

power

of

charge

and

discharge

characteristics

and

the

energy

of

lithium

batteries

on

the

load

applied

to

the

robot,

is

a

very

important

issue

to

extend

the

time

of

the

robot

cruise

and

lithium

battery

service

life
.

To

maximizing

battery

power

for

robot

use,

the

balance

topology

on

the

series

batteries

are

applied
;

plenty

of

schemes

in

algorithm

in

circuitry

were

developed

[
1
],

first

of

all

in

their

schemes,

resister

shunt

across

each

battery

in

series

controlled

by

switching

scheme,

has

been

presented

with

its

stable

operations,

low

production

cost

and

simple

implementation,

but

power

dissipation

is

a

main

drawback

of

this

scheme
.

In

order

to

reduce

the

power

consumption,

non
-
dissipative

switching

inductor

methods

are

applied,

However

the

oversize

and

weights

of

the

iron

core

in

the

inductor

are

the

major

drawbacks

for

realization
.

To

overcome

these

drawbacks,

the

switching

super

capacitor

scheme

with

phase

plane

control

is

proposed

in

this

paper
;

Moreover,

the

status

parameter

during

the

battery

charging

and

discharging

process,

such

as

voltages

and

currents

and

the

battery

temperature

is

monitoring

for

protection

and

control

with

the

sensor

system
.

In

this

paper,

an

active

battery

balancing

method

is

proposed

by

switching

super

capacitor

according

voltage

and

current

in

need

for

batteries with matrix connection.


2. Theoretical Description (
原理說明
)


Lithium
-
ion

batteries

are

used

in

Robot

system

as

a

limited

and

precious

energy
;

Therefore,

how

to

effectively

manage

power

of

charge

and

discharge

characteristics

and

the

energy

of

lithium

batteries

on

the

load

applied

to

the

robot,

is

a

very

important

issue

to

extend

the

time

of

the

robot

cruise

and

lithium

battery

service

life
.

To

maximizing

battery

power

for

robot

use,

the

balance

topology

on

the

series

batteries

are

applied
;

plenty

of

schemes

in

algorithm

in

circuitry

were

developed

[
1
],

first

of

all

in

their

schemes,

resister

shunt

across

each

battery

in

series

controlled

by

switching

scheme,

has

been

presented

with

its

stable

operations,

low

production

cost

and

simple

implementation,

but

power

dissipation

is

a

main

drawback

of

this

scheme
.

In

order

to

reduce

the

power

consumption,

non
-
dissipative

switching

inductor

methods

are

applied,

However

the

oversize

and

weights

of

the

iron

core

in

the

inductor

are

the

major

drawbacks

for

realization
.


3.Experimental Results (
實驗結果
)


The

energy

applications

of

lithium

battery

for

robot

power

system

block

diagram

is

described

as

Fig

.
1
.

In

the

block

diagram,

the

lithium

battery

matrix

includes

16

series,

2

parallel

(
16
S
2
P)

lithium
-
ion

batteries

to

fit

the

driving

motor

with

48
V

on

robot

with

cell

voltage

normally

about

3
.
3
V~
3
.
7
V
;

The

coils

of

wireless

inductive

charging

system

are

fitted

under

the

feet

of

the

robot

for

the

lithium
-
ion

batteries

charging

which

is

providing

more

convenient

than

a

traditional

contact

plug
-
in

charging

method
;

The

scheme

of

super

capacitor

for

improving

series

battery

imbalance

with

phase

plane

control

is

applied,

and

surge

absorber

by

super

capacitor

is

included
;

Lithium
-
ion

batteries

are

used

in

Robot

system

as

a

limited

and

precious

energy
;

Therefore,

how

to

effectively

manage

power

of

charge

and

discharge

characteristics

and

the

energy

of

lithium

batteries

on

the

load

applied

to

the

robot,

is

a

very

important

issue

to

extend

the

time

of

the

robot

cruise

and

lithium

battery

service

life
.


4
.

Contribution

(
貢獻說明
)


Lithium
-
ion

batteries

are

used

in

Robot

system

as

a

limited

and

precious

energy
;

Therefore,

how

to

effectively

manage

power

of

charge

and

discharge

characteristics

and

the

energy

of

lithium

batteries

on

the

load

applied

to

the

robot,

is

a

very

important

issue

to

extend

the

time

of

the

robot

cruise

and

lithium

battery

service

life
.

To

maximizing

battery

power

for

robot

use,

the

balance

topology

on

the

series

batteries

are

applied
;

plenty

of

schemes

in

algorithm

in

circuitry

were

developed

[
1
],

first

of

all

in

their

schemes,

resister

shunt

across

each

battery

in

series

controlled

by

switching

scheme,

has

been

presented

with

its

stable

operations,

low

production

cost

and

simple

implementation,

but

power

dissipation

is

a

main

drawback

of

this

scheme
.

In

order

to

reduce

the

power

consumption,

non
-
dissipative

switching

inductor

methods

are

applied,

However

the

oversize

and

weights

of

the

iron

core

in

the

inductor

are

the

major

drawbacks

for

realization
.


5. Conclusions (
結論
)


This report has successfully proposed an innovational concept of the adjustable
designed legs and mechanical issues of walking robots with variable center of gravity. The
Lyapunov stability of the multi
-
link system can be assured under the modulation of the
equilibrium conditions of the zero moment points. In fact, biped walking in its broadest
sense encompasses all forms of multi
-
link mechanism and the dynamic behavior of the
inverse pendulum. The overall performance of the walking system have be improved 30%
both the area of transient states and steady states, respectively. The complexity of the
suspension system and the lateral friction of the bipedal shoes are ignored if the kinematic
theory of the multi
-
link structure is taken into consideration. Future work of the multi
-
degrees of freedom analysis and robot
-
leg design will be focused on the design of the
autonomous system. Moreover, many slipping problems can be modeled more flexibly by
applying the walking dynamics. These innovations of slipping dynamics for bipedal robots
will be a challenging work to research in the near future.


Acknowledgments (
贊助者感謝辭
)
:

Financial supports for this work are provided by the
National Science Council, Taiwan, R.O.C., under the contract NSC 100
-
2221
-
E
-
146
-
001,
NSC 100
-
2622
-
E
-
146
-
001
-
CC2, and NSC 100
-
2632
-
E
-
146
-
001
-
MY3.
.


References (
參考資料
)

[1] S. Chen, C. K. Wang, and H.P. Huang, “Intelligent Cell
-
balance Algorithm with Pseudo
-
series

Connected Battery on the Security Robot,” The 6th Taiwan Power Electronics Conference
&

Exhibition

TPECE 2007

, Sep. 7th, 2007.

[2] C. K. Wang, Sheng Chen, and Han Pang Huang., “Realistic Implementation of
Inductance

Recharging System with Intelligent Cell
-
balance Algorithm on the Humanoid Robot”,

International Journal of Fuzzy System, Vol.10, No.1, March 2008 . (EI)

[3] C. K. Wang, S. Chen, and H.P. Huang, “Visualized Human
-

Mchine Interface of the
Power

Management System on the Safeguard Robot,” The Ninth International Conference on

Automation Technology Automation 2007, June 13
-
14th, 2007.