Abstract
For implementing lithium battery SOC estimation on the wireless sensor mobile robot platform, a mathematical relationship model based on Thevenin model is proposed and the model parameter of experimenting battery is identified. Considering the battery electromotive force, battery capacity and battery charge-discharge efficiency factors effects on the SOC estimation, Kalman filter algorithm was adopted to realize the battery charged state estimate. The experiment was conducted on embedded systems, through the actual test, the system can accurately estimate the battery SOC under complex conditions. Compared with standard reference value, the proposed model and algorithm can effectively correct SOC under the existence of initial value error, and the system error is within 5%. The accurate SOC estimation plays a key role in the robot platform power management.
Published Version
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