Modeling and Simulation of an Unmanned Ground Vehicle Power System

Abstract

Long-duration missions challenge ground robot systems with respect to energy storage and efficient conversion to power on demand. Ground robot systems can contain multiple power sources such as fuel cell, battery and/or ultra capacitor. This paper presents a hybrid systems framework for collectively modeling the dynamics and switching between these different power components. The hybrid system allows modeling power source on/or switching and different regimes of operation, together with continuous parameters such as state of charge, temperature, and power output. We apply this modeling framework to a fuel cell/battery power system applicable to unmanned ground vehicles such as Packbot or TALON. A simulation comparison of different control strategies is presented. These strategies are compared based on maximizing energy efficiency and meeting thermal constraints.

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Document Details

Document Type
Technical Report
Publication Date
Mar 28, 2014
Accession Number
ADA607732

Entities

People

  • Dawn Tilbury
  • Ella Atkins
  • Jack Hartner
  • John Broderick

Organizations

  • United States Army Tank Automotive Research, Development and Engineering Center

Tags

Communities of Interest

  • Advanced Electronics
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Cells
  • Dynamics
  • Efficiency
  • Electronic Components
  • Energy
  • Energy Efficiency
  • Fuel Cells
  • Ground Vehicles
  • Hybrid Power
  • Hybrid Systems
  • Nonlinear Dynamics
  • Simulations
  • Unmanned
  • Unmanned Ground Systems
  • Unmanned Ground Vehicles
  • Unmanned Vehicles
  • Vehicles

Fields of Study

  • Engineering

Readers

  • Distributed Systems and Data Platform Development
  • Electrical Engineering
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Biotechnology