A Redundancy Dual-backup Method of the Battery Pack for the Two-wheeled Self-balanced Vehicle

Abstract

Abstract. In order to improve the stability and reliability of the two-wheeled self-balanced vehicle, a redundancy dual-backup method of the battery pack is proposed. The redundancy dual-backup scheme for the power supply system is presented, and the failure detection and switching method are given. In order to keep the balance of the batteries, the composed method effectively avoids the nonlinear impact and imbalance load emerges in the two groups of the battery. The experimental results show that the redundancy dual-backup method could prevent the failure of the battery and enhance the safety and reliability of the vehicle. IntroductionSelf-balance system is a combination of robot technology, intelligent control and embedded mechatronics technology. Through the detection and analysis of the system posture, the self-balance system keeps the state variables in a preset band and keep the system balance.Relative to the conventional four wheeled vehicle, the two wheeled self-balanced electric vehicle has the advantages such as energy saving and environmental protection. The two wheeled vehicles are used in the narrow space shuttle, the exhibition inspection and other special occasions. It can be used as a research platform of the intelligent control algorithm. It is one of the research hotspots in the field of electric vehicles theory and engineering.The self-balanced electric vehicle is arranged in two rounds, which is combined of the linear inverted pendulum and the rotary inverted pendulum. With the characteristics of flexible movement, intelligent control and environment friendly, the self-balanced electric vehicle is a typical unstable, nonlinear and strong coupling system.An If-Then fuzzy rule base is built to cooperate with the parallel distributed compensation control of the self-balanced transporter [1]. A tilting-type balancing mobile robot platform is investigated for enhancing lateral stability [2]. A self-balanced human transportation vehicle is proposed for the teaching of feedback control concepts in undergraduate electrical, mechatronic, and mechanical engineering environments [3]. A wheeled human-conveyance vehicle with a low-level microprocessor is realized in [4], and a simple Mamdani-like fuzzy controller is given for the self-balanced vehicle control. An electric drive system for self-balanced vehicles is presented in [5].A method for the estimation of the battery pack state of charge based on Unscented Particle Filter (UPF) algorithm is established [6]. The battery pack modeling for the analysis of battery management system of a hybrid electric vehicle is given [7].The modeling, system design, control and implementation of two wheeler self-balanced vehicle is introduced in [8][9][10]. The analysis and design of a passive steering mechanism for a pedaled, self-balanced, personal mobility vehicle is proposed in [11].As the power source of the two-wheeled vehicle, the Lithium battery is the energy storage device. It has the advantages of high working voltage, high energy density, low self-dischar...