Title :
An efficient power management system for biped robot
Author :
Xie, Lun ; Qiao, Qingyi ; Wang, Zhiliang
Author_Institution :
Sch. of Inf. Eng., Univ. of Sci. & Technol., Beijing
Abstract :
In order to ensure the biped robot operating stably for a long time and make it more environment-friendly and energy-saving, an efficient power management system is designed. It can support an uninterruptible power supply, charging of lithium battery, monitoring and protection of the power, multichannel DC (direct current) outputs of different voltages, etc. Besides, a charge controlling algorithm based on classical digital PID control and a new method of estimating SOC (the state of charge) are developed. With many experiments, the two are proved efficient and perfect.
Keywords :
digital control; legged locomotion; secondary cells; three-term control; uninterruptible power supplies; biped robot; charge controlling algorithm; charge state; digital PID control; lithium battery charging; multichannel DC outputs; power management system; uninterruptible power supply; Batteries; Energy management; Environmental management; Lithium; Monitoring; Power system management; Power system protection; Robots; Uninterruptible power systems; Voltage;
Conference_Titel :
Electrical Machines and Systems, 2008. ICEMS 2008. International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-3826-6
Electronic_ISBN :
978-7-5062-9221-4
