GI/ITG KuVS Fachgespräch Energiebewußte 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 dressler@informatik.uni-erlangen.de
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems Discussion Topics GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 2
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems Discussion Topics • What do I know about my battery? GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 2
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems Discussion Topics • What do I know about my battery? • What is Battery Management and Monitoring (BM 2 )? GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 2
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems Discussion Topics • What do I know about my battery? • What is Battery Management and Monitoring (BM 2 )? • How can I implement a BM 2 system? GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 2
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems Discussion Topics • What do I know about my battery? • What is Battery Management and Monitoring (BM 2 )? • How can I implement a BM 2 system? • Is the effort worth it? GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 2
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems What do I know about my battery? ³ Battery technology Batterie- Nennzell- Energie- Energie- Mind. Zyklen- Memory Effekt Typische Anwendung System spannung inhalt dichte Lebensdauer [V] [Wh/kg] [Wh/l] [Zyklen] 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 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 3
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems What do I know about my battery? ³ Battery technology (2) GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 4
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems What do I know about my battery? 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 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 5
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems What do I know about my battery? ³ „Standard Battery“ vs. „Smart Battery“ • Common batteries seen as + + dummy power sources SMBus Standard Smart Smart Battery Charger Host Battery - - • Smart batteries provide additional information • Smart Battery System (SBS) SMBus Specification defines data and communication interface (a) (b) GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 6
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems Discussion Topics • What do I know about my battery? • What is Battery Management and Monitoring (BM 2 )? GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 7
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems What is Battery Management and Monitoring (BM 2 )? 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 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 8
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems What is Battery Management and Monitoring (BM 2 )? 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 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 9
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems What is Battery Management and Monitoring (BM 2 )? 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 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 10
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems What is Battery Management and Monitoring (BM 2 )? ³ Remaining capacity Temp. Reg. • Coulomb-Counter: Measurement of discharge current with shunt resistor and current-sense Voltage. Reg. amplifier MUX ADC Charge. Reg. NTC • Registers for charge- and discharge currents Discharge. Reg. Difference serves as a means to estimate Bat. remaining capacity • Remaining capacity = f (Ic, Id, T, Age) R Control Logic • Accuracy depends on the quality of the battery models (Look-Up-Tables) and measurements GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 11
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems What is Battery Management and Monitoring (BM 2 )? 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 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 12
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems What is Battery Management and Monitoring (BM 2 )? 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 GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 12
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems Discussion Topics • What do I know about my battery? • What is Battery Management and Monitoring (BM 2 )? • How can I implement a BM 2 system? GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 13
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems How can I implement a BM 2 system? • SBS Specification is a valuable reference model (www.sbs-forum.org) • INTERFACE: I 2 C-based two-wire SMBus common interface. Describes protocols, addressing and electrical requirements SMBus Smart Smart • DATA: Smart Battery Data (SBData) Charger Host Battery specification • DEVICES: Specification of Smart Battery, SMBus Smart Battery Charger and SMBus Host GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 14
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems How can I implement a BM 2 system? • Smart Batteries are rarely available SMBus Smart Smart Charger Host Battery SMBus GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 15
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems How can I implement a BM 2 system? • Smart Batteries are rarely available Host Standard Battery uC Sensors EEPROM SMBus Smart Smart Smart Charger Host Battery Charger SMBus SMBus SMBus Interface Interface Interface SMBus SMBus GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 15
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems How can I implement a BM 2 system? ³ RoBM 2 board RS232 Battery + - uC Sensors EEPROM Smart Charger SMBus SMBus SMBus Interface Interface Interface SMBus GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 16
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems How can I implement a BM 2 system? ³ RoBM 2 board RS232 Battery + - uC Sensors EEPROM Smart Charger SMBus SMBus SMBus Interface Interface Interface SMBus GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 16
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems How can I implement a BM 2 system? ³ RoBM 2 board RS232 Battery + - uC Sensors EEPROM Smart Charger SMBus SMBus SMBus Interface Interface Interface SMBus GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 16
RoBM 2 : Measurement of Battery Capacity in Mobile Robot Systems How can I implement a BM 2 system? ³ RoBM 2 board RS232 Battery + - uC Sensors EEPROM Smart Charger SMBus SMBus SMBus Interface Interface Interface SMBus GI/ITG KuVS Fachgespräch Energiebewußte Systeme und Methoden 11.10.2005 Seite 16
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