Design of an Embedded Energy Management System for Li–Po Batteries Based on a DCC-EKF Approach for Use in Mobile Robots

Arezki Abderrahim Chellal,José Gonçalves,Vítor Pinto,Hicham Megnafi,José Lima

doi:10.3390/machines9120313

Abstract

In mobile robotics, since no requirements have been defined regarding accuracy for Battery Management Systems (BMS), standard approaches such as Open Circuit Voltage (OCV) and Coulomb Counting (CC) are usually applied, mostly due to the fact that employing more complicated estimation algorithms requires higher computing power; thus, the most advanced BMS algorithms reported in the literature are developed and verified by laboratory experiments using PC-based software. The objective of this paper is to describe the design of an autonomous and versatile embedded system based on an 8-bit microcontroller, where a Dual Coulomb Counting Extended Kalman Filter (DCC-EKF) algorithm for State of Charge (SOC) estimation is implemented; the developed prototype meets most of the constraints for BMSs reported in the literature, with an energy efficiency of 94% and an error of SOC accuracy that varies between 2% and 8% based on low-cost components.

Highlights

The rapid development of robots in recent years is reflected by technological advances and the miniaturization of electronic components
This paper focuses on describing a compliant, lightweight battery management system based on ATMEGA328P microcontrollers, capable of monitoring and operating a wide variety of lithium batteries, with a prior update of the Open Circuit Voltage (OCV)(SOC) relationship, in a wide variety of applications, and using the Dual Coulomb Counting Extended Kalman Filter (DCC-Extended Kalman Filter (EKF)) approach for State of Charge (SOC) prediction and monitoring
All tests were performed at room temperature and with an initial EKF and DCC-EKF estimator guess set at 50%

Summary

Introduction

The rapid development of robots in recent years is reflected by technological advances and the miniaturization of electronic components. The most widely used battery systems in robotics today are based on electrochemical batteries, lithium-ion technologies, and is mainly due to their high energy density, power density and their great efficiency. Traditional batteries such as nickel or lead batteries contain toxic and harmful metals and resources that are found in politically unstable regions [6]. As with all rechargeable batteries, Lithium–polymer (Li–po) batteries make use of the red-ox phenomenon that occurs in their electrode This type of reaction involves the transfer of electrons from one material to another through an external electrical circuit

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