GI/ITG KuVS Fachgesprch Energiebewute Systeme und Methoden RoBM 2 : - - PowerPoint PPT Presentation

▶
gi itg kuvs fachgespr ch energiebewu te systeme und
SMART_READER_LITE
LIVE PREVIEW

GI/ITG KuVS Fachgesprch Energiebewute Systeme und Methoden RoBM 2 : - - PowerPoint PPT Presentation

Mar 04, 2023 209 likes •593 views

GI/ITG KuVS Fachgesprch Energiebewute Systeme und Methoden RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems N. Lucas, C. Codrea, T. Hirth and J. Gutierrez {luc, codreacn, hirthts, gut} @iis.fraunhofer.de F. Dressler

slide-1
SLIDE 1

GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

  • N. Lucas, C. Codrea, T. Hirth and J. Gutierrez

{luc, codreacn, hirthts, gut} @iis.fraunhofer.de

  • F. Dressler

dressler@informatik.uni-erlangen.de

slide-2
SLIDE 2

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 2 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

Discussion Topics

slide-3
SLIDE 3

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 2 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

Discussion Topics

  • What do I know about my battery?
slide-4
SLIDE 4

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 2 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

Discussion Topics

  • What do I know about my battery?
  • What is Battery Management and Monitoring (BM2)?
slide-5
SLIDE 5

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 2 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

Discussion Topics

  • What do I know about my battery?
  • What is Battery Management and Monitoring (BM2)?
  • How can I implement a BM2 system?
slide-6
SLIDE 6

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 2 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

Discussion Topics

  • What do I know about my battery?
  • What is Battery Management and Monitoring (BM2)?
  • How can I implement a BM2 system?
  • Is the effort worth it?
slide-7
SLIDE 7

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 3 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

What do I know about my battery?

³ Battery technology

Batterie- System Nennzell- spannung [V] Energie- inhalt [Wh/kg] Energie- dichte [Wh/l]

  • Mind. Zyklen-

Lebensdauer [Zyklen] Memory Effekt Typische Anwendung Blei 2,0 25 – 36 70 – 110 250 – 500 Nein Batteriebetriebene Werkzeuge, Alarm- und Sicherheitssysteme NiCd 1,2 30 – 50 100 – 200 300 – 700 Ja Batteriebetriebene Werkzeuge, Modelle, Low- Cost-Produkte NiMH 1,2 52 – 80 180 – 300 300 – 600 Ja Laptop, Handy, Camcoder Li-Ion 3,6 75 - 120 210 - 280 500 - 1000 Nein Laptop, Handy, Camcoder

slide-8
SLIDE 8

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 4 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

What do I know about my battery?

³ Battery technology (2)

slide-9
SLIDE 9

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 5 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

³ Battery models

  • Characterisation of charge-

and discharge cycles for a defined set of temperatures and loads

  • Manufacturer‘s datasheets or

field measurements

  • EEPROM storage medium

for Look-Up-Tables

What do I know about my battery?

slide-10
SLIDE 10

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 6 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

³ „Standard Battery“ vs. „Smart Battery“

What do I know about my battery?

  • Common batteries seen as

dummy power sources

  • Smart batteries provide

additional information

  • Smart Battery System (SBS)

Specification defines data and communication interface

SMBus Host

Smart Charger Smart Battery SMBus +

  • Standard

Battery +

  • (b)

(a)

slide-11
SLIDE 11

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 7 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

Discussion Topics

  • What do I know about my battery?
  • What is Battery Management and Monitoring (BM2)?
slide-12
SLIDE 12

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 8 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

What is Battery Management and Monitoring (BM2)?

³ Battery Management

  • Adjustment of charge voltage and current to the charge profile of the battery

³ Battery Monitoring

  • Calculation of remaining capacity under present operating conditions
  • Battery supervision and generation of warnings and error alarms
slide-13
SLIDE 13

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 9 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

³ Charge cycle: Li-Ion

  • CC-CV profile:
  • Constant Current phase up to 4.1-4.2V
  • Constant Voltage charge phase until

detection of threshold current

  • Alternative: Pulse-charge with constant

current and adjustable frequency and duty- cycle

  • Overcharge or undercharge: Integrated

battery protection electronics

What is Battery Management and Monitoring (BM2)?

slide-14
SLIDE 14

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 10 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

³ Charge cycle: VRLA

  • Usually charged with moderate supply

currents and no control hardware Slow procedure

  • Alternative: multi-stage charge strategy
  • Conditioning phase
  • CC-CV profile
  • Trickle-current phase

What is Battery Management and Monitoring (BM2)?

slide-15
SLIDE 15

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 11 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Bat. R NTC MUX ADC Control Logic

  • Temp. Reg.
  • Voltage. Reg.
  • Charge. Reg.
  • Discharge. Reg.

What is Battery Management and Monitoring (BM2)?

³ Remaining capacity

  • Coulomb-Counter: Measurement of discharge

current with shunt resistor and current-sense amplifier

  • Registers for charge- and discharge currents

Difference serves as a means to estimate remaining capacity

  • Remaining capacity = f (Ic, Id, T, Age)
  • Accuracy depends on the quality of the battery

models (Look-Up-Tables) and measurements

slide-16
SLIDE 16

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 12 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

What is Battery Management and Monitoring (BM2)?

³ Battery Monitoring parameters

  • SOC (State-Of-Charge)

=> Remaining capacity

  • SOF (State-Of-Function)

=> Capability to fulfill the current demands

  • SOH (State-Of-Health)

=> Lifetime estimation

slide-17
SLIDE 17

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 12 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

What is Battery Management and Monitoring (BM2)?

³ Battery Monitoring parameters

  • SOC (State-Of-Charge)

=> Remaining capacity

  • SOF (State-Of-Function)

=> Capability to fulfill the current demands

  • SOH (State-Of-Health)

=> Lifetime estimation

Battery Models + Measurements + Specification

slide-18
SLIDE 18

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 13 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

Discussion Topics

  • What do I know about my battery?
  • What is Battery Management and Monitoring (BM2)?
  • How can I implement a BM2 system?
slide-19
SLIDE 19

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 14 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

How can I implement a BM2 system?

SMBus Host

Smart Charger Smart Battery SMBus

  • INTERFACE: I2C-based two-wire SMBus

common interface. Describes protocols, addressing and electrical requirements

  • DATA: Smart Battery Data (SBData)

specification

  • DEVICES: Specification of Smart Battery,

Smart Battery Charger and SMBus Host

  • SBS Specification is a valuable reference model (www.sbs-forum.org)
slide-20
SLIDE 20

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 15 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

How can I implement a BM2 system?

SMBus Host

Smart Charger Smart Battery SMBus

  • Smart Batteries are rarely available
slide-21
SLIDE 21

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 15 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

How can I implement a BM2 system?

SMBus Host

Smart Charger Smart Battery SMBus

  • Smart Batteries are rarely available

SMBus Interface SMBus Interface

uC

Sensors

EEPROM

SMBus

SMBus Interface

Smart Charger

Host Standard Battery

slide-22
SLIDE 22

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 16 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

How can I implement a BM2 system?

³ RoBM2 board

SMBus Interface SMBus Interface

uC

Sensors

EEPROM

SMBus

SMBus Interface

Smart Charger RS232 Battery +

slide-23
SLIDE 23

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 16 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

How can I implement a BM2 system?

³ RoBM2 board

SMBus Interface SMBus Interface

uC

Sensors

EEPROM

SMBus

SMBus Interface

Smart Charger RS232 Battery +

slide-24
SLIDE 24

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 16 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

How can I implement a BM2 system?

³ RoBM2 board

SMBus Interface SMBus Interface

uC

Sensors

EEPROM

SMBus

SMBus Interface

Smart Charger RS232 Battery +

slide-25
SLIDE 25

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 16 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

How can I implement a BM2 system?

³ RoBM2 board

SMBus Interface SMBus Interface

uC

Sensors

EEPROM

SMBus

SMBus Interface

Smart Charger RS232 Battery +

slide-26
SLIDE 26

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 16 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

How can I implement a BM2 system?

³ RoBM2 board

SMBus Interface SMBus Interface

uC

Sensors

EEPROM

SMBus

SMBus Interface

Smart Charger RS232 Battery +

slide-27
SLIDE 27

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 17 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

How can I implement a BM2 system?

³ RoBM2 board: Features

  • Level 2 Smart Battery Charger
  • chemistry independent, universal charger
  • Vext = 8-28V, Vbat = 19V max, Icharge = 8A max
  • ATmega microcontroller
  • 16K Bytes ISP Flash, 512 Bytes EEPROM, 1K Byte SRAM, 8-channel 10-bit ADC
  • SMBus interface for SBS
  • RS232 interface to mobile robot system
slide-28
SLIDE 28

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 18 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

How can I implement a BM2 system?

³ RoBM2 board: Performed measurements

  • Total Battery voltage
  • Battery-pack1 voltage
  • External-supply voltage
  • Open circuit voltage (OCV)
  • Charge current
  • Discharge current
  • Ambient temperature, battery-pack1 and pack2 temperature (over SMBus connectors)
slide-29
SLIDE 29

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 19 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

How can I implement a BM2 system?

³ RoBM2 board: Available data and Alarms over RS232

  • Remaining capacity in percent
  • Measured voltages, currents and temperatures
  • Charger‘s status register
  • Battery models for consistency checks
  • Presence of external supply
  • Alarms on overtemperature, non-balanced battery pack, user-defined voltage thresholds
slide-30
SLIDE 30

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 20 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

How can I implement a BM2 system?

³ RoBM2 board: Integration in the Robertino Robot System

  • PC104 footprint (9cm x 10cm) for

seamless replacement of the connector board

  • RS232 interface between RoBM2

and Robertino processor

  • Plug-In manager in the processor

enables dynamic power management (DPM) policies

slide-31
SLIDE 31

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 21 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

Discussion Topics

  • What do I know about my battery?
  • What is Battery Management and Monitoring (BM2)?
  • How can I implement a BM2 system?
  • Is the effort worth it?
slide-32
SLIDE 32

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 22 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

Is the effort worth it?

  • Simple connector board vs. RoBM2
slide-33
SLIDE 33

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 23 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

  • Reliability
  • System added value
  • Total cost of ownership (TCO)

Is the effort worth it?

³ Decision Aspects

slide-34
SLIDE 34

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 24 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

Is the effort worth it?

³ Decision: Reliability

  • Battery Management performs safe battery charge cycles : Overcharge and derivated

damage to „chemical equipment“ is avoided

  • Abnormal operation can be detected and aborted: Alarms on non-balanced battery packs,
  • vertemperature or user-defined events
  • Battery Monitoring provides estimate of running time (Remaining Capacity)
slide-35
SLIDE 35

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 25 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

Is the effort worth it?

³ Decision: System added value

  • Battery Management mature for Lead-Acid, Ni- and Li-based batteries
  • Battery Monitoring enables battery-driven system design:
  • Device Level battery-aware task scheduling: reduce peak current consumption
  • Network Level battery-aware task scheduling: distributed execution depending on SOC
  • f each device
  • Dynamic power management: service quality depends on SOC
slide-36
SLIDE 36

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 26 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

Is the effort worth it?

³ Decision: Total Cost of Ownership

  • RoBM2 board implies additional initial costs
  • RoBM2 board reduces maintenance costs
  • Battery lifetime is extended using battery management resources
  • Adoption of new battery technology (e.g. Li-Ion instead of VRLA) needs no hardware

replacement

slide-37
SLIDE 37

RoBM2: Measurement of Battery Capacity in Mobile Robot Systems

Seite 27 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005

Thank You!