機器人之電池管理系統

A Battery Management System For Robot

許家銘(Jia-Ming Shiu)

指導教授 ： 王榮爵

國立虎尾科技大學/電機資訊學院/光電與材料科技研究所/碩士(2011年)

https://doi.org/10.6827/NFU.2011.00068

摘要

本研究以鋰鐵磷電池(LiFepo4)作為移動式機器人之動力來源，針對機器人之各式各樣的元件與負載之用電需求，設計電源供應電池組系統，即為：動力電池組(36V/20Ah)主要供應機器人馬達電源並作為系統電池能量補充的來源；系統電池組(48V/10AH)主要供給機器人電腦電力及周邊電力包含螢幕等裝置。
電源管理系統主要包含動力電池保護板與系統電池保護板。動力電池保護板功能包含雙迴路開關控制電路、隔離式輔助電源、過充過放保護電路、電池殘量估測、單一電池電壓監控、隔離式UART and SPI通訊介面等。系統電池保護板功能包含單一電池電壓監測、電池殘電量估測、升壓充電電路、隔離式UART通訊介面等，機器人充電器包含兩級電路，分別為前級功率因素校正與後級半橋諧振電路和一組輔助電源。
實測上動力電池保護板可以正確的在電池異常時切斷電源並警示使用者，也能透過UART通訊介面對電池模組做控制，系統電池能穩定的供給機器人電腦電源，並接受動力電池的能量補充。另外在充電器方面，本充電站能接受110V或220V的市電輸入，並且提供最大20A的充電電流，在一個小時內能將已耗盡之機器人電池組充電完成，並且整機效率最大為91.5%。

關鍵字

鋰鐵磷電池 ； 移動式機器人 ； 電源管理系統 ； 機器人充電器

並列摘要

In this study, the lithium iron phosphate batteries (LiFepo4) are used as the power source of the mobile robot. The power supply battery system is designed according to the functions of various robotic components and their power requirements. The battery systems are the power battery pack system (36V/20Ah) and the system battery pack system (48V/10AH). The former provides the power supply for the robotic motors and the system battery pack system, the latter provides the power supply for the robotic computer and peripheral devices.
The power management system mainly consists of the power battery protection board and the system battery protection board. The functions of power battery protection board includes the dual-loop switch control circuit, the isolation auxiliary power, the overcharge and overdischarge protection circuits, the battery capacity estimation, the single battery monitoring, the isolation UART and SPI communication interface etc.. The functions of the system battery protection board includes the single battery monitoring, the battery capacity estimation, the boost charge circuit, the isolation UART and SPI Communication interface etc.. Next, the robotic charger includes two-stage circuits, they are, the front-stage power factor correction circuit, the post-stage half bridge resonant converter circuit, and the auxiliary power.
In experimental test, the power battery protection board can cut off the power supply and alert user instantly when the battery pack occurs anomaly, it can also control battery pack through the UART communicate interface. The system battery can stabilize to supply the power for the robotic computer, and accept the power battery energy supplement. Next, the robotic charger can accept the 110V or 220V AC input, and provide the maximum charging current of 20A. When the robotic battery capacity is low, the robotic charger can charge the battery complete within an hour, and the overall efficiency is 91.5%.

並列關鍵字

lithium iron phosphate batteries ； mobile robot ； power management system ； robotic charger

參考文獻

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