Evaluation of a power management system for heterogeneous modules in self-reconfigurable multi-module systems
Evaluation of a power management system for heterogeneous modules in self-reconfigurable multi-module systems
复制标题
自重构多模块系统中异构模块电源管理系统的评估
DOI：
10.1109/iros.2011.6094917
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
R. Szczuka
中科院分区：
文献类型：
--
作者：
Zhuowei Wang;F. Cordes;A. Dettmann;R. Szczuka
提出了一种新型的异构自重构多模块系统的电源管理系统，该系统由有源电力供应商、不同的电力消费者和混合电路组成。为了优化每个模块的功能，提出了一种将功能与电源分离的概念，并将其应用于可以自主地以不同配置与移动的模块组合的非移动的有效载荷项目中。通过允许消费者和电源连接到公共电源总线，该概念增强了模块化机器人系统的灵活性，可重用性和性能。基于此概念的电源管理系统的实现和评估。实验结果表明，电源总线能够有效地在各模块之间传输电能，在切换过程中，不带电池组的用户模块也能正常工作，电源管理系统能够可靠地保护各模块免受硬件故障的影响。
This paper presents a novel homogeneous power management system for heterogeneous self-reconfigurable multi-module systems consisting of active power suppliers, diverse power consumers and hybrids. To optimize functionality of each module, a concept separating functionality from power supply is proposed and applied in immobile payload items which can be combined with mobile modules in varying configurations autonomously. By allowing consumers and power sources to connect to common power bus, the concept enhances flexibility, reusability and performance of modular robotic systems. The power management system based on the concept is implemented and evaluated. The experimental results show that power is efficiently transferred in power bus among individual modules, consumer modules without battery packs can be kept alive during switching, and the power management system can protect individual modules from hardware faults reliably.