Autonoomse põlluroboti akuhaldussüsteem
Laen...
Kuupäev
2022
Kättesaadav alates
08.09.2022
Autorid
Ajakirja pealkiri
Ajakirja ISSN
Köite pealkiri
Kirjastaja
Abstrakt
Eesti Maaülikooli meeskonna poolt on loodud mustikataimede väetamise roboti (põlluroboti)
kontseptsioon, mille rakendamine muudab mustikataimede väetamise produktiivsemaks ja
kulutõhusamaks. Käesoleva töö eesmärgiks oli koostada roboti akuhaldussüsteem, see
seadistada ning süsteemi tööd laboritingimustes katsetada. Töö käigus uuriti erinevate
teadusartiklite põhjal tänapäevaste liitiumakutehnoloogiate omadusi ja võimalusi,
liitiumakude laadimisprotsessile esitatavaid nõudmisi ning laadimismetoodikat, samuti
akuhaldussüsteemides kasutatavat andmesideliidest CAN. Seejärel valiti akusüsteemi
lisakomponendid (kaablid, kaitselülitus, laadimis-tarbimisahela relee), koostati
akuhaldussüsteem, ühendati koostatud süsteemiga laadija ning seadistati ja katsetati
akuhaldussüsteemi. Töö tulemusena valmis toimiv akusüsteem. Katsetuste käigus leiti, et
koostatud akusüsteem on valitud laadimisparameetritel ühe põlluroboti energiaga
varustamiseks piisav kogu aku eluea vältel. Põllurobotil kasutamiseks on tulevikus vaja
akusüsteem robotiga sidestada, et robot saaks reaalajas infot aku täituvuse kohta. Ka on vaja
simuleeritud maksimaalsel väliskeskkonna temperatuuril mõõta akukasti monteeritud
akupaki temperatuuri ning katsetada robotit tööolukorras, saamaks infot roboti poolt reaalselt tarbitava energiahulga ja tarbimiskiiruse kohta, et vajadusel laadimisparameetreid või
akukasti ehitust muuta.
A team from Estonian University of Life Sciences has developed the concept of a autonomous field robot for blueberry fertilization, the implementation of which makes blueberry fertilization process more productive and cost-effective. The aim of this Bachelor’s Thesis was to assemble, configure and test a battery management system for the robot. In the course of the work, the features and possibilities of modern lithium battery technologies, the requirements for the charging process and the charging methodology, as well as the data communication interface CAN used in battery management systems were studied on the basis of various research articles. Then the additional components of the battery system were selected (cables, circuit breaker, relay for charge-discharge circuit), the battery management system parameters were configured, the assembled system was connected with the charger, and the whole system was set up and tested. The work resulted in a functional battery system. During the tests, it was found that the battery system is sufficient to supply the energy of one field robot for the entire battery lifetime at the selected charging parameters. In the future it is necessary to interface the battery system with robot’s controller, so that the robot receives real-time information on the battery charge level. It is also necessary to measure the temperature of the battery pack mounted in the battery box at the simulated maximum ambient temperature and test the robot in working conditions to obtain information on the actual energy consumption and rate, tuning charge parameters or battery box design afterwards, if need arises.
A team from Estonian University of Life Sciences has developed the concept of a autonomous field robot for blueberry fertilization, the implementation of which makes blueberry fertilization process more productive and cost-effective. The aim of this Bachelor’s Thesis was to assemble, configure and test a battery management system for the robot. In the course of the work, the features and possibilities of modern lithium battery technologies, the requirements for the charging process and the charging methodology, as well as the data communication interface CAN used in battery management systems were studied on the basis of various research articles. Then the additional components of the battery system were selected (cables, circuit breaker, relay for charge-discharge circuit), the battery management system parameters were configured, the assembled system was connected with the charger, and the whole system was set up and tested. The work resulted in a functional battery system. During the tests, it was found that the battery system is sufficient to supply the energy of one field robot for the entire battery lifetime at the selected charging parameters. In the future it is necessary to interface the battery system with robot’s controller, so that the robot receives real-time information on the battery charge level. It is also necessary to measure the temperature of the battery pack mounted in the battery box at the simulated maximum ambient temperature and test the robot in working conditions to obtain information on the actual energy consumption and rate, tuning charge parameters or battery box design afterwards, if need arises.
Kirjeldus
Bakalaureusetöö
Tehnika ja tehnoloogia õppekaval
Märksõnad
bakalaureusetööd, akuhaldussüsteem, akutehnoloogiad, liitium-ioonaku, akuelementide balansseerimine, CAN-andmesideliides, Roheline Ülikool (töö toetab EMÜ Rohelise Ülikooli põhimõtteid), energiavarustus, alternatiivenergia