Research On Battery Management System Of Coke Oven Temperature Measuring Robot

For a long time,the temperature of the coke oven vertical fire channel was measured manually by looking at the fire hole through the furnace surface.To realize the automatic temperature measurement of vertical fire channel,a robot was designed to automatically complete the temperature measurement.The power of the robot is a battery pack composed of single lithium ion batteries connected in series and parallel.The lithium ion battery has the advantages of high working voltage,large energy density,low self-discharge rate,and no memory effect.In order to ensure the safe and stable operation of the robot,it is necessary to timely feedback the battery voltage,circuit,temperature,state of charge(SOC),state of health(SOH)and other information.Therefore,the introduction of a battery management system(BMS)on the robot control system is of great significance to the safe and stable operation of the robot.The thesis takes the robot’s lithium-ion battery pack as the research object.First,it makes an in-depth analysis of the robot’s working mechanism and power requirements of the operating conditions.The current several commonly used SOC and SOH estimation methods are classified and summarized.The power integration method combined with the open circuit voltage method is used to estimate SOC.An improved capacity method is proposed to estimate SOH based on the current SOC which can estimate SOH value online.By establishing a homogeneous porous model on the COMSOL software,the state change of the lithium battery pack is simulated.According to the simulation results,the feasibility of SOC estimation by the open circuit voltage method on the robot battery pack is verified,and on this basis,the SOC estimation method is further optimized.The local peak voltage is used instead of the open circuit voltage,and finally the local peak voltage is combined with the power integral Compared with the traditional method,this method of SOC estimation requires simpler circuit hardware.Combined with the actual situation of the robot,a master-slave battery management system was designed,using PLC as the lower computer,collecting data on the robot in time and doing preliminary analysis,and the PC as the upper computer to further process the data and control the PLC Make decisions and feed back the battery status to the man-machine interface.Between the upper computer and the lower computer through GPRS DTU equipment with Mod Bus communication protocol,point-to-point communication.A battery protection circuit with passive equalization is designed for the battery pack,and a voltage and current sensor is designed based on the Hall sensor.In order to ensure the continuous power of the robot,a continuous power charging and discharging circuit by switching the main power supply is designed,and the battery is cooled by the TEC cooling chip,And designed a high temperature protection module for the high temperature gas of the coke oven looking at the fire hole.Finally,in order to realize the functions of charge and discharge control,data storage,fault detection,SOC and SOH estimation,etc.,based on ISPSoft and Kingview platform,the control program of the battery management system was designed.