Please use this identifier to cite or link to this item:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/48219Full metadata record
| ???org.dspace.app.webui.jsptag.ItemTag.dcfield??? | Value | Language |
|---|---|---|
| dc.contributor.advisor | 黃漢邦 | |
| dc.contributor.author | Yi-Lin Tsai | en |
| dc.contributor.author | 蔡宜霖 | zh_TW |
| dc.date.accessioned | 2021-06-15T06:49:16Z | - |
| dc.date.available | 2016-09-18 | |
| dc.date.copyright | 2011-09-18 | |
| dc.date.issued | 2011 | |
| dc.date.submitted | 2011-08-30 | |
| dc.identifier.citation | [1] S. Buller, M. Thele, E. Karden, and R. W. De Doncker, “Impedance-based Non-linear Dynamic Battery Modeling for Automotive Applications,” Journal of Power Sources, Vol. 113, No. 2, pp. 422-430, January 2003.
[2] L. Bullard, H. B. Sierra-Alcazar, H. L. Lee, and J. L. Morris, “Operating Principles of the Ultracapacitor,” IEEE Transactions on Magnetics, Vol. 25, NO. 1, pp. 102-106, January 1989. [3] H. Chen and P. B. Luh, “An Alternative Framework to Lagrangian Relaxation Approach for Job Shop Scheduling,” European Journal of Operations Research, Vol. 149, No. 3, pp. 499-512, September 2003. [4] 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), Changhua, Taiwan, September 2007. [5] T. Y. Chen, “Integrated Scheduling and Decision Making for Manufacturing Systems,” Master Thesis, Graduate Institute of Mechanical Engineering, National Taiwan University, 2006. [6] M. Coleman, C. K. Lee, C. Zhu, and W. G. Hurley, “State-of-Charge Determination From EMF Voltage Estimation: Using Impedance, Terminal Voltage, and Current for Lead-Acid and Lithium-ion Batteries,” IEEE Transactions, Vol. 54, No. 5, pp. 2550-2557, October 2007. [7] G.T. Coupin, C.D. Muller, A. Remy-Kristensen and J.G. Kuhry, “Cell Surface Membrane Homeostasis and Intracellular Membrane Traffic Balance in Mouse L929 Cells,” Journal of Cell Science, Vol. 112, pp. 2431-2440, 1999. [8] D. C. Cox and R. Perez-Kite, “Battery State of Health Monitoring, Combining Conductance Technology with Other Measurement Parameters for Real-time Battery Performance Analysis,” Telecommunications Energy Conference, 2000. INTELEC. Twenty-second International, Phoenix, USA, pp. 342-347, September 2000. [9] K. Fukunaga, Introduction to statistical pattern recognition, Academic, New York, 1990. [10] B. Geng, J. K. Mills, and D. Sun, “Predictive On/Off Control for Microturbine Powered Plug-In Hybrid Electric Vehicle,” 5th PhD Student Workshop, Suzhou, China, 18-19 April 2011. [11] J. Gomeza, R. Nelsonb, E. E. Kalua, M. H. Weatherspoonb, and J. P. Zhengb, ” Equivalent Circuit Model Parameters of a High-Power Li-ion Battery: Thermal and State of Charge Effects,” Journal of Power Sources, Vol. 196, No. 10, pp. 4826-4831, May 2011. [12] J. F. Goncalves, J. J. De Magalhaes Mendes, and M. G. C. Resende, “A Hybrid Genetic Algorithm for the Job Shop Scheduling Problem,” European Journal of Operational Research, Vol. 167, No. 1, pp. 77-95, November 2005. [13] A. Hammouche, E. Karden, and R. W. De Doncker, “Monitoring State-of-Charge of Ni–MH and Ni–Cd Batteries Using Impedance Spectroscopy,” Journal of Power Sources, Vol. 127, No. 1-2, pp. 105-111, March 2004. [14] H. He, R. Xiong, and J. Fan, ” Evaluation of Lithium-ion Battery Equivalent Circuit Models for State of Charge Estimation by an Experimental Approach,” Energies, Vol. 4, No. 4, pp. 582-598, March 2011. [15] J. Jia, Y. Wang, S. Li, and G. Wang, “A Dynamic Discharge Structure for Ultracapacitor Application in the Fuel Cell UPS,” 2008 10th Intl. Conf. on Control, Automation, Robotics and Vision, Hanoi, Vietnam, 17-20 December 2008. [16] K. Kutluay, Y. Cadirci, Y. S. Ozkazanc, and I. Cadirci, “A New Online State-of-Charge Estimation and Monitoring System for Sealed Lead-Acid Batteries in Telecommunication Power Supplies,” IEEE Transactions on Industrial Electronics, Vol. 52, No. 5, pp. 1315-1327, September 2005. [17] H. L. Lee, G. L. Bulllard, G. E. Mason, and K. Kern, “Improved Pulse Power Sources with High-Energy Density Capacitor,” IEEE Transactions on Magnetics, Vol.25, No. 1, pp. 324-330, January 1989. [18] X. Li, J. Li, L. Xu, M. Ouyang, and X. Han, “Online Management of Lithium-ion Battery Based on Time-Triggered Controller Area Network for Fuel-Cell Hybrid Vehicle Applications,” Journal of Power Sources, Vol. 195, No. 10, pp. 3338-3343, May 2010. [19] Y. Liao, J. Huang, and Q. Zeng, “Distributed Battery Management System in Battery Electric Vehicle,” Advanced Materials Research, Vol. 201-203, pp. 2427-2430, February 2011. [20] Y. Liao, J. Huang, and Q. Zeng, “A Novel Method for Estimating State of Charge of Lithium Ion Battery Packs,” Advanced Materials Research, Vol. 152-153, pp. 428-435, October 2010. [21] J. Liu and H. Peng, “Control Optimization for a Power-split Hybrid Vehicle,” American Control Conference, Minneapolis, Minnesota, USA, pp. 466-471, June 2006. [22] J. Liu, H. Peng, and Z. Filipi, “Modeling and analysis of the Toyota hybrid system,” Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey, California, USA, pp. 134-139, July 2005. [23] Y. H. Liu, J. H. Teng, and Y. C. Lin “Search for an Optimal Rapid Charging Pattern for Lithium-ion Batteries Using Ant Colony System Algorithm,” IEEE Trans. on Industrial Electronics, Vol. 52, No. 5, pp. 1328–1336, October 2005. [24] R. C. Luo and K. L. Su, 'Multilevel Multisensor-Based Intelligent Recharging System for Mobile Robot,' IEEE Transactions on Industrial Electronics, Vol. 55, No. 1, pp. 270-279, 2008. [25] D. C. Magnuson, “Lithium Ion Battery Packs High Power Usage and Control”, Battery Power Products & Technology magazine, Vol. 10, No. 4, July/August 2006. [26] E. Meissner and G. Richter, “Battery Monitoring and Electrical Energy Management Precondition for Future Vehicle Electric Power Systems,” Journal of Power Sources, Vol. 116, No. 1-2, pp. 79-98, 2003. [27] L. S. Nelson, “The Shewhart Control Chart-Test for Special Causes,” Journal of Quality Technology, Vol. 16, No. 4, pp. 237-239, 1984. [28] K. S. Nga, C. S. Mooa, Y. P. Chenb, and Y. C. Hsiehc, “Enhanced Coulomb Counting Method for Estimating State-of-Charge and State-of-Health of Lithium-ion Batteries,” Applied Energy, Vol. 86, No. 9, pp. 1506-1511, September 2009. [29] K. Ogawa, H. Kim, M. Mizukawa, and Y. Ando “Development of the Robot Power Management System Adapting to Tasks and Environments-The design guideline of the Power Control System Applied to the Distributed Control Robot-,” Proceedings of IEEE International Joint Conference, Bexco, Busan, Korea, pp. 2042-2046, October 2006. [30] T. C. Pai, ” Development of Socket Collaborative Service-oriented Architecture Information Platform with Web-based Dispatching and Diagnosis Systems”, Master Thesis, Graduate Institute of Industrial Engineering, National Taiwan University, 2008. [31] S. Piller, M. Perrina, and A. Jossen, “Methods for State-of-Charge Determination and Their Applications,” Journal of Power Sources, Vol. 96, No. 1, pp. 113-120, June 2001. [32] A. S. Raheja and V. Subramaniam, “Reactive Recovery of Job Shop Schedules-A Review,” International Journal of Advanced Manufacturing Technology, Vol. 19, No. 10, pp. 756-763, January 2002. [33] R. Rastogi and K. Shim, “PUBLIC: A Decision Tree Classifier That Integrates Building and Pruning,” Proceedings of the 24th International Conference on Very Large Databases, New York, NY, USA, pp. 404-415, August 1998. [34] J. Shafer, R. Agrawal, and M. Mehta, “SPRINT: A Scalable Parallel Classifier for Data Mining,” Proceedings of the 22th International Conference on Very Large Databases, Mumbai, India, pp. 544-555, September 1996. [35] S. H. M. W. Spong and M. Vidyasagar., 'Robot Modeling and Control.' [36] J. R. Tsai, “Interleaving Phase Shifters for Critical Mode Boost PFC,” IEEE Trans. Power Electronics, vol. 23, no. 3, pp. 1348-1357, 2008. [37] B. Tsenter and M. Golod, “Lithium-ion Battery Software Safety Protection,” IEEE Aerospace and Electronics Systems Magazine, Vol. 13, No. 9 , pp. 23–25, September 1998. [38] C. K. Wang, H.P. Huang, and S. Chen, “The Pc-based Graphic-user Interface of the Power Management System on the Security Robot,” Journal of Advanced Manufacturing Technology, Vol. 35, No. 3-4, pp. 416-422, August 2007. [39] C. K. Wang, S. Chen, and H. P. Huang, “Realistic Implementation of Inductance Recharging System with Intelligent Cell-balance Algorithm on the Humanoid Robot, ” International Journal of Fuzzy systems, Vol. 10, No.1, pp. 304-309, March 2008. [40] J. Wanga, B. Caoa, Q. Chenb, and F. Wanga, “Combined State of Charge Estimator for Electric Vehicle Battery Pack,” Control Engineering Practice, Vol. 15, No. 12, pp. 1569-1576, December 2007. [41] S. Wen, “Cell balancing buys extra run time and battery life”, Analog Applications Journal, pp. 14-18, 1st Quarter 2009. [42] S. D. Wu, R. H. Storer, and P. C. Chang, “One-Machine Rescheduling Heuristics with Efficiency and Stability as Criteria,” Computers and Operations Research, Vol. 20, No. 1, pp. 1-14, January 1993. [43] X. Wu, L. Mi, W. Tan, J. Qin, and M. Zhao, “State of Charge (SOC) Estimation of Ni-MH Battery Based on Least Square Support Vector Machines,” Advanced Materials Research, Vol. 211-212, pp. 1204-1209, February 2011. [44] J. Xu, M. Gao, Z. He, Q. Han, and X. Wang, “State of Charge Estimation Online Based on EKF-Ah Method for Lithium-ion Power Battery,” Image and Signal Processing, 2009. CISP '09. 2nd International Congress, Tianjin, China, pp. 1-5, October 2009. [45] C. Y. Yu and H. P. Huang, “Development of the Order Fulfillment Process in the Foundry Fab by Applying Distributed Multi-Agents on A Generic Message-Passing Platform,” IEEE/ASME Transactions on Mechatronics, Vol. 6, No. 4, pp. 387-398, December 2001. [46] V. Yufit and N.P. Brandon, ” Development and Application of An Actively Controlled Hybrid Proton Exchange Membrane Fuel Cell—Lithium-ion Battery Laboratory Test-bed Based on Off-the-shelf Components,” Journal of Power Source, Vol. 196, No. 2, pp. 801-807, January 2011. [47] CART: http://www.salford-systems.com/421.php [48] http://news.networkmagazine.com.tw/trends/2009/02/11/10524/ [49] http://www.handheld.eet-china.com/ART_8800478354_4000004_TA_2a83594e.HTM [50] IBM: http://www14.software.ibm.com/webapp/download/operation.jsp?id=Tivoli+Monitoring+Power+Management+Oct07&locale=zh_tw [51] Rartian: http://www.raritan-ap.com/tw/products/power-management/ | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/48219 | - |
| dc.description.abstract | 有鑑於近年全球能源節約意識提升，如何讓能源用得有效率不浪費變成了大家關注的議題。隨著攜帶型電話、攜帶型電腦的普及，以及機器人的應用，電池的有效使用成為非常重要的課題。本論文的目的便是發展一套智慧型電源管理及電池管理系統，讓使用者更方便管理電源，以期能幫助機器人完成所指派的任務而不必擔心電量不足的問題。本論文將發展機器人智慧型電源及電池管理系統，該系統涵蓋電源管理系統、電池管理系統、及資訊分析系統。
在電源管理系統方面，除了監控馬達的電壓、電流以及電池放電量外，更須針對機器人尚能執行多久的時間提供給使用者。異常行為可以藉由即時監控資訊，利用所開發之GMPP系統通知使用者以採取措施，更可加以重新排程延長使用時間。 在電池管理系統方面，除了監控電池電壓、電流及溫度，防止電池過冷過熱、過度放電等異常狀況外，最主要是讓使用者知道電池的殘電量，進而安排何時需要充電，讓使用更有效率。 最後，資訊分析系統能針對歷史資料做異常行為診斷，讓使用者改進使用方式，避免異常行為再度發生。 本論文中所提到的智慧型電源及電池管理系統，可使機器人在電源管理上達到可靠度高和穩定性佳的供電效果，而該系統將會實際運用於機器人上。 | zh_TW |
| dc.description.abstract | The awareness of energy conservation in recent years has made the more efficient use of energy a global topic. Power conservation is a particularly important issue, especially in the use of the increasingly popular mobile phones and notebooks. In addition, robot applications must not only meet fundamental requirements but also conserve power. The purpose of this thesis is to develop an intelligent power management and battery management system that allows users to manage power more efficiently so that robots can complete assigned tasks without the problem of insufficient power. The intelligent power and battery management system consists of power management system, battery management, and data analyzing system.
The power management system will real-time monitor the motor currents and voltages, and the battery discharge power to provide users with the sufficient operation time for robots with a rescheduling strategy to extend their operation time. Abnormal behaviors can be observed by monitoring real time information and notifying the user to take immediate action through the constructed generic message-passing platform system (GMPP). The battery management system can monitor the battery voltage, current and temperature to prevent overheating, excessive discharge and abnormal conditions. Finally, the data analyzing system can detect abnormal behavior from historical data, and then users can avoid the same situation by improving the operation process. The proposed intelligent power and battery management system will provide the robot a reliable and stable power supply. It will be implemented in real robot systems. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T06:49:16Z (GMT). No. of bitstreams: 1 ntu-100-R98546027-1.pdf: 5665905 bytes, checksum: 69cbfe7c7901fe12916e127cc680ffcb (MD5) Previous issue date: 2011 | en |
| dc.description.tableofcontents | 摘要 i
Abstract ii List of Tables vi List of Figures vii Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Objectives 1 1.3 System Architecture 3 1.4 Thesis Organization 4 Chapter 2 Background Knowledge and Relevant Research 6 2.1 Power Management System 6 2.1.1 Introduction 6 2.1.2 PMS Available in the Market 7 2.1.3 Architecture of PMS 10 2.2 Battery Management System 11 2.2.1 Battery Monitoring 11 2.2.2 Battery Management 12 2.2.3 State of Charge Determination 17 2.2.4 Cell balance 17 2.3 GMPP 23 2.4 Principal Component Analysis (PCA) 24 2.5 Statistical Process Control 29 2.6 Classification and Regression Tree 31 Chapter 3 Power Management System 34 3.1 System Architecture 34 3.2 Robotic Systems 36 3.2.1 Humanoid Robot 37 3.2.2 Mobile Robot 41 3.3 Predictive Maintenance Module 42 3.3.1 Real-Time Discharge Power Monitoring System 43 3.3.2 Real-Time Residual Power Monitoring System 44 3.4 Rescheduling Module 45 3.5 Communication Module 47 3.5.1 GMPP 47 3.5.2 Integration of XML and GMPP 48 3.6 Historical Data Analysis Module 49 3.6.1 PCA-based SPC 49 3.6.2 CART 51 Chapter 4 Battery Management System 57 4.1 Ultra-Capacitor and Cell Balance Technology 57 4.1.1 The Structure of Ultra-capacity and LiFePo4 Battery in Series Connection System 57 4.1.2 The Improved Structure of Ultra-capacity and LiFePO4 Battery in Series Connection System 58 4.2 Intelligent Battery Charging Discharging and Protection Technology 61 4.2.1 High-efficiency Battery Charging Circuit Module 61 4.2.2 Development of an Intelligent Battery Charging Technique 67 4.2.3 Battery Protection and Monitoring Module 68 4.3 LiFePO4 Battery 70 4.3.1 Characteristics 71 4.3.2 Parameters of Battery Status 73 4.4 Battery Management 76 4.4.1 SOC Estimation 76 4.4.2 Real-Time Residual Capacity Monitoring System 78 Chapter 5 Simulations and Experiments 82 5.1 Definition of the Robot’s Action 82 5.1.1 Assumption of the Robot’s Action 83 5.1.2 Constraints of the Robot’s Action 84 5.2 Simulation and Experimental Results 85 5.2.1 Simulation Results 88 5.2.2 Experimental Results 95 Chapter 6 Conclusions and Future Works 109 6.1 Conclusions 109 6.2 Future Works 109 References 111 Appendix A 120 | |
| dc.language.iso | zh-TW | |
| dc.subject | 即時監控系統 | zh_TW |
| dc.subject | 電源管理系統 | zh_TW |
| dc.subject | 電池管理系統 | zh_TW |
| dc.subject | 智慧型機器人 | zh_TW |
| dc.subject | intelligent robot | en |
| dc.subject | battery management system | en |
| dc.subject | power management system | en |
| dc.subject | real-time monitoring system | en |
| dc.title | 機器人智慧型電源及電池管理系統 | zh_TW |
| dc.title | An Intelligent Power and Battery Management System for Robots | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 99-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 林沛群,蔡清元 | |
| dc.subject.keyword | 電源管理系統,電池管理系統,智慧型機器人,即時監控系統, | zh_TW |
| dc.subject.keyword | power management system,intelligent robot,battery management system,real-time monitoring system, | en |
| dc.relation.page | 124 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2011-08-30 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 工業工程學研究所 | zh_TW |
| Appears in Collections: | 工業工程學研究所 | |
Files in This Item:
| File | Size | Format | |
|---|---|---|---|
| ntu-100-1.pdf Restricted Access | 5.53 MB | Adobe PDF |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.