Hybrid System Control for Robot Motors Based on a Reduced Component, Multi-Voltage Power Supply System
- Authors
- Kim, T.; Kwak, S.; Park, J.
- Issue Date
- Dec-2021
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- Batteries; Dual Voltage Power Supply.; Hybrid Energy Storage; Inductors; Robot actuation; Robots; Servomotors; Supercapacitors; Switches; Voltage control
- Citation
- IEEE Transactions on Circuits and Systems II: Express Briefs, v.68, no.12, pp 3582 - 3586
- Pages
- 5
- Journal Title
- IEEE Transactions on Circuits and Systems II: Express Briefs
- Volume
- 68
- Number
- 12
- Start Page
- 3582
- End Page
- 3586
- URI
- https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/72854
- DOI
- 10.1109/TCSII.2021.3077463
- ISSN
- 1549-7747
1558-3791
- Abstract
- This paper presents a hybrid power supply system for robot actuators that has multiple voltage buses and hybrid energy storage including a supercapacitor. The proposed system utilizes a multi-tasking control scheme to reduce the component count. To improve the system response of mobile robots, a supercapacitor is employed in the proposed architecture along with a battery. The proposed circuit offers two higher voltage buses than the main battery voltage in order to employ higher voltage actuators with a lower current for a higher power density. To manage the DC buses and the supercapacitor’s bidirectional power flow, three switching devices are used in the proposed structure, reducing a switching device and an inductor. A control structure using a mixed switching strategy has been developed to regulate the higher-voltage buses and the supercapacitor’s power flow simultaneously. The proposed control and circuit structure are validated by hardware experiments. IEEE
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