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| 講演名 | 2010-11-12 17:30 A Fuzzy Logic-Wavelet Transform Based Energy Management Strategy for Battery/Ultra-capacitor Composite Power Supply for Robots ○Yuan Haiwen・Lv Yingming・Liu Yingyi（Beihang Univ.）  EMD2010-126 |
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| 抄録 | （和） | In order to overcome the shortcomings of batteries used as the mobile robot power supply, the composite power supply composed of battery and ultra-capacitor has been studied widely. However, the energy management strategy is greatly significant for the composite power supply, because it determines the performance of the composite power supply in large extent. The energy management strategy based on fuzzy logic and wavelet transform is designed in this paper, and the fuzzy controller is improved by employing the input threshold. Firstly, the power requested to battery or ultra-capacitor is calculated by the fuzzy control strategy in advance, according to the state of the composite power supply and the power requested by the robot drive system. Then, the power signal requested to battery is decomposed and reconstructed through the wavelet transform algorithm in order to filter the high frequency component of it. The filtered signal is considered as the final power requested to battery, and the rest of the power requested by the robot drive system is considered as the power requested to ultra-capacitor. The simulation model of the composite power supply and the energy management strategy is established in MATLAB/Simulink environment. The fuzzy logic-wavelet transform based strategy and the fuzzy control strategy are simulated respectively, so as to compare with them each other. The simulation results show that the drive power can be shared between battery and ultra-capacitor more reasonably and battery can be protected batter through employing the energy management strategy designed in this paper, and the details are shown as follow. (1)Because of the inherent fuzzy characteristic of traditional fuzzy controller, it can not guarantee that battery or ultra-capacitor is used independently, no matter how small the power requested by the robot drive system is. However, the improved fuzzy control strategy can deal with this work very well. (2)The high frequency component of the power signal distributed to battery can be successfully separated by the wavelet transform algorithm, but the basic profile of the signal remains unchanged. Thus, the output power and the current of battery become much smoother without increase in energy consumption. This is very beneficial for battery protection. |
| （英） | In order to overcome the shortcomings of batteries used as the mobile robot power supply, the composite power supply composed of battery and ultra-capacitor has been studied widely. However, the energy management strategy is greatly significant for the composite power supply, because it determines the performance of the composite power supply in large extent. The energy management strategy based on fuzzy logic and wavelet transform is designed in this paper, and the fuzzy controller is improved by employing the input threshold. Firstly, the power requested to battery or ultra-capacitor is calculated by the fuzzy control strategy in advance, according to the state of the composite power supply and the power requested by the robot drive system. Then, the power signal requested to battery is decomposed and reconstructed through the wavelet transform algorithm in order to filter the high frequency component of it. The filtered signal is considered as the final power requested to battery, and the rest of the power requested by the robot drive system is considered as the power requested to ultra-capacitor. The simulation model of the composite power supply and the energy management strategy is established in MATLAB/Simulink environment. The fuzzy logic-wavelet transform based strategy and the fuzzy control strategy are simulated respectively, so as to compare with them each other. The simulation results show that the drive power can be shared between battery and ultra-capacitor more reasonably and battery can be protected batter through employing the energy management strategy designed in this paper, and the details are shown as follow. (1)Because of the inherent fuzzy characteristic of traditional fuzzy controller, it can not guarantee that battery or ultra-capacitor is used independently, no matter how small the power requested by the robot drive system is. However, the improved fuzzy control strategy can deal with this work very well. (2)The high frequency component of the power signal distributed to battery can be successfully separated by the wavelet transform algorithm, but the basic profile of the signal remains unchanged. Thus, the output power and the current of battery become much smoother without increase in energy consumption. This is very beneficial for battery protection. |
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| キーワード | （和） | Battery / Ultra-capacitor / Composite power supply / Energy management / Fuzzy logic controller(FLC) / Wavelet transform(WT) / / |
| （英） | Battery / Ultra-capacitor / Composite power supply / Energy management / Fuzzy logic controller(FLC) / Wavelet transform(WT) / / | |
| 文献情報 | 信学技報, vol. 110, no. 270, EMD2010-126, pp. 247-250, 2010年11月. | |
| 資料番号 | EMD2010-126 | |
| 発行日 | 2010-11-04 (EMD) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| 著作権に ついて |
技術研究報告に掲載された論文の著作権は電子情報通信学会に帰属します．(許諾番号：10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| PDFダウンロード | EMD2010-126 |
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| 研究会情報 | |
| 研究会 | EMD |
| 開催期間 | 2010-11-11 - 2010-11-12 |
| 開催地（和） | 西安交通大学（中国、西安） |
| 開催地（英） | Xi'an Jiaotong University |
| テーマ（和） | IS-EMD2010（機構デバイス研究会第10回国際セッション） |
| テーマ（英） | IS-EMD2010 (10th International Session in Electro-Mechanical Devices) |
| 講演論文情報の詳細 | |
| 申込み研究会 | EMD |
| 会議コード | 2010-11-EMD |
| 本文の言語 | 英語 |
| タイトル（和） | |
| サブタイトル（和） | |
| タイトル（英） | A Fuzzy Logic-Wavelet Transform Based Energy Management Strategy for Battery/Ultra-capacitor Composite Power Supply for Robots |
| サブタイトル（英） | |
| キーワード(1)（和/英） | Battery / Battery |
| キーワード(2)（和/英） | Ultra-capacitor / Ultra-capacitor |
| キーワード(3)（和/英） | Composite power supply / Composite power supply |
| キーワード(4)（和/英） | Energy management / Energy management |
| キーワード(5)（和/英） | Fuzzy logic controller(FLC) / Fuzzy logic controller(FLC) |
| キーワード(6)（和/英） | Wavelet transform(WT) / Wavelet transform(WT) |
| キーワード(7)（和/英） | / |
| キーワード(8)（和/英） | / |
| 第1著者 氏名（和/英/ヨミ） | Yuan Haiwen / Yuan Haiwen / |
| 第1著者 所属（和/英） | Beihang University (略称： Beihang Univ.) Beihang University (略称： Beihang Univ.) |
| 第2著者 氏名（和/英/ヨミ） | Lv Yingming / Lv Yingming / |
| 第2著者 所属（和/英） | Beihang University (略称： Beihang Univ.) Beihang University (略称： Beihang Univ.) |
| 第3著者 氏名（和/英/ヨミ） | Liu Yingyi / Liu Yingyi / |
| 第3著者 所属（和/英） | Beihang University (略称： Beihang Univ.) Beihang University (略称： Beihang Univ.) |
| 講演者 | 第1著者 |
| 発表日時 | 2010-11-12 17:30:00 |
| 発表時間 | 15分 |
| 申込先研究会 | EMD |
| 資料番号 | EMD2010-126 |
| 巻番号（vol） | vol.110 |
| 号番号（no） | no.270 |
| ページ範囲 | pp.247-250 |
| ページ数 | 4 |
| 発行日 | 2010-11-04 (EMD) |
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