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Since an autonomous mobile robot often works with various tasks in different environments, the current of battery onboard is time-varying, hence the battery internal resistance is variable. This paper presents an estimation method for battery State of Charge (SOC) based on an H∞ observer to deal with the effect of the modeling errors caused by the variation of the internal resistance. The observer...
Battery state-of-charge (SOC) estimation is essential for a mobile robot, such as inspection of power transmission lines. It is often estimated using a Kalman filter (KF) under the assumption that the statistical properties of the system and measurement errors are known. Otherwise, the SOC estimation error may be large or even divergent. In this paper, without the requirement of the known statistical...
A hybrid electric vehicle with battery pack and ultracapacitor is modeled because they are practicable to be energy storage units now. A control strategy is proposed to regulate output power of energy storage units. Simulation model for the hybrid electric vehicle is constructed in MATLAB/Simulink environment and simulation is performed. Simulation results show that the proposed control strategy is...
Online evaluation of battery state of function (SOF) is crucial for battery management systems of autonomous mobile robots. Battery State of Charge (SOC) represents its remaining energy available, whereas internal resistance and capacity reflect its state of health (SOH). In this paper, an improved equivalent circuit model is proposed to estimate SOC, internal resistance and capacity using an unscented...
In this paper, a battery state of charge (SOC) estimation method based on the extended Kalman filter is proposed. In some known battery SOC estimation methods, it is assumed that the relationship between battery open circuit voltage and SOC is linear and static. However, this relationship is only piece wisely linear in practice and varies with the ambient temperature, as assumed in this work. The...
In this paper, a simplified battery model and a closed-loop estimation method of the state of charge (SOC) are proposed. The simplified battery model consists only of two resistors and two capacitors, based on which a sliding mode observer is designed to compensate modeling errors when the SOC is estimated. The proposed method can overcome the drawbacks of the conventional SOC estimation methods,...
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