Calculation of Constant Power Lithium Battery Discharge Curves

Traub, Lance W.

doi:10.3390/batteries2020017

Cited by 27 publications

(19 citation statements)

References 10 publications

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“…We performed 10 trials for each configuration using a fully charged, 3-cells, Li-Po battery. It is well known that the discharge curve for LiPo batteries is linear only within a certain region [25]; therefore, we only considered such a region to compute the flight time. As expected, the X configuration is able to provide the best results and allows the vehicle to hover on average for 253 s. Changing the morphology of the drone causes a drop in the hover time of around 17%, 23%, and 63% for the H, T and O configurations, respectively.…”

Section: B Morphing Tradeoffsmentioning

confidence: 99%

The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly

Falanga

Kleber

Mintchev

et al. 2019

IEEE Robot. Autom. Lett.

228

154

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The recent advances in state estimation, perception, and navigation algorithms have significantly contributed to the ubiquitous use of quadrotors for inspection, mapping, and aerial imaging. To further increase the versatility of quadrotors, recent works investigated the use of an adaptive morphology, which consists of modifying the shape of the vehicle during flight to suit a specific task or environment. However, these works either increase the complexity of the platform or decrease its controllability. In this letter, we propose a novel, simpler, yet effective morphing design for quadrotors consisting of a frame with four independently rotating arms that fold around the main frame. To guarantee stable flight at all times, we exploit an optimal control strategy that adapts on the fly to the drone morphology. We demonstrate the versatility of the proposed adaptive morphology in different tasks, such as negotiation of narrow gaps, close inspection of vertical surfaces, and object grasping and transportation. The experiments are performed on an actual, fully autonomous quadrotor relying solely on onboard visual-inertial sensors and compute. No external motion tracking systems and computers are used. This is the first work showing stable flight without requiring any symmetry of the morphology. Index Terms-Aerial systems: Applications, aerial systems: mechanics and control, motion control, robust/adaptive control of robotic systems. I. INTRODUCTION Q UADROTORS are disrupting industries ranging from agriculture to transport, security, infrastructure, entertainment, and search and rescue [1]. Their maneuverability and hovering capabilities allow them to navigate through complex structures, inspect damaged buildings, and even explore underground tunnels and caves. Yet, current quadrotors still lack the

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Section: B Morphing Tradeoffsmentioning

confidence: 99%

The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly

Falanga

Kleber

Mintchev

et al. 2019

IEEE Robot. Autom. Lett.

228

154

View full text Add to dashboard Cite

show abstract

“…In simulation, the state of charge decreases with (e.g., [26]) in respect to the nominal capacity of the battery C nom,Bat . The effective battery I eff,Bat current is slightly higher because of the Peukert-Effekt [27,28] with the nominal battery current I nom,Bat and the Peukert-Factor f peu = 1.05 for Li-ion-batteries [28]. Recuperation by windmilling is not considered in this work.…”

Section: Batterymentioning

confidence: 99%

“…and the state derivatives from Eqs. (27), (28), (29), (30), (13) and (25). The control vector contains the lift coefficient C L and rotational speed of the propeller N:…”

Section: Optimal Control Problemmentioning

confidence: 99%

Energy-optimal guidance of a battery-electrically driven airplane

Settele

Bittner

2019

CEAS Aeronaut J

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This study introduces an approach to decrease the electric energy consumption by efficient guidance of a battery-electrically propulsed airplane. An appropriate mathematical model containing a detailed energy consumption estimation is presented. With this, an optimal control problem is formulated and solved using the Matlab Toolbox FALCON.m. Furthermore, steady state efficiency criteria are established for a range optimal climb and a horizontal flight. With the help of steady state grid calculation, values for both efficiency criteria and corresponding guidance parameters are determined. The optimal values of both criteria are correlated with the steady state arcs of the optimal trajectory. For the descend segment, an optimal airspeed is determined and correlated also with the trajectory. As a result, energy optimal steady state guidance parameters can be provided to the pilot for each flight segment. A concept of a cockpit display is introduced that delivers efficient guidance parameters to the pilot.

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“…There are different approaches to measure the discharge profile of a battery. Discharging at constant power generates a curve closer to that of real flight considering that in cruise, the aircraft speed is maintained constant and, consequently, the use of power (3) . The classic way to find the discharge profile of a battery can be used as an alternative, which is discharging it at a constant current and measuring its voltage.…”

Section: Introductionmentioning

confidence: 96%

Measuring battery discharge characteristics for accurate UAV endurance estimation

et al. 2020

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The increasing use of unmanned aerial vehicles in areas such as rescue, mapping, and transportation have made it necessary to study more accurate techniques for calculating flight time estimates. Such calculations require knowing the battery discharge profile. Simplified flight time calculation methods provide data with uncertainties as they are based solely on manufacturer datasheet information. This study presents a setup to measure the battery discharge curve using a LabVIEW interface with a low-cost acquisition system. The acquired data passes through a nonlinear optimisation algorithm to find the battery coefficients, which enables the more precise estimation of its range and endurance. The great advantage of this model is that it makes it possible to predict how the battery will discharge at different rates using just one experimental curve. The methodology was applied to three different batteries and the model was validated with different discharge rates in a controlled environment, which resulted in endurance lower than 3.0% for most conditions and voltage estimation error lower than 3.0% in operational voltage. The work also presented a methodology for estimating cruise time based on the current used during each flight stage.

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Calculation of Constant Power Lithium Battery Discharge Curves

Cited by 27 publications

References 10 publications

The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly

The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly

Energy-optimal guidance of a battery-electrically driven airplane

Measuring battery discharge characteristics for accurate UAV endurance estimation

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