本論文提出設計並實現太陽能無人飛行載具之電源管理系統，以提供機載電腦系統 (OBC) 之電力使用。此電源管理系統主要分為三級 : 第一級為最大功率追蹤(MPPT)，其主要目地是用來收集太陽能，並且追蹤太陽能板隨著溫度與照度而改變的最大功率點，以得到最佳效率提供負載端之電源使用。第二級是電池管理 (BM)，鋰高分子聚合物電池為充/放電管理之蓄電池，共分為二個電池模組，其一用來做電力轉換之電壓源，另一則不斷攫取從太陽能板經最大功率追蹤後之電力，並用來當備份電池。第三級為電力轉換 (PC)，將電壓轉換為 +5V 與 ±12V 以提供系統及機載電腦之所需。

In this thesis, we designed and implemented a power management system for a solar powered UAV. The power management system will provide the power required for the on-board computers on UAV. The power management system mainly consists of three stages, the maximum power point tracking, the battery management, and the power conversion stages. The first stage (MPPT) attempts to obtain the maximum power available from the PV panels. The second stage, battery management, controls the charge and discharge processes of the Li-Ion polymer battery modules. The third stage is for power conversion which converts input voltage to +5V and ±12V for the OBCs and all other electronic circuitries.

摘     要                                              i
Abstract                                               ii
Acknowledgement                                       iii
CHAPTER 1	 INTRODUCTION                                  1 
CHAPTER 2 SYSTEM OVERVIEW                               6
CHAPTER 3	 MAXIMUM POWER POINT TRACKING                 12
3.1 SOLAR CELL CHARACTERISTIC ANALYSIS                 13
3.2 MPPT SYSTEM	                                     19
3.3 DC/DC CONVERTER	                            21
3.4 MOSFET DRIVER	                                     25
3.5 MPPT HARDWARE SCHEMATICS	                   30
3.6 CONTROL ALGORITHMS FOR MPPT	                   35
3.7 EFFICIENCY	                                      40
CHAPTER 4	 BATTERY MANAGEMENT                            42
4.1 LITHIUM BATTERY MODULES	                             43
4.2 AUTO-RANGING POWER CONVERTER                        48
4.3 CHARGE CONTROLLER	                             51
4.4 CHARGING ALGORITHM	                             57
CHAPTER 5	 POWER CONVERSION                              61
5.1 SYNCHRONOUS BUCK CONVERTER	                    61
5.2 SMALL SIGNAL ANALYSIS	                             65
5.2.1 Analysis for the Switch Closed and Open	           67
5.2.2 State Equation for the Buck Converter              70
5.2.3 Pulse Width Modulation Transfer Function	  75
5.3   CRITERION OF COMPENSATOR DESIGN	           76
5.3.1 Loop Gain of System	                              78
5.3.2 Error Amplifier with Compensator                   80
5.4   DESIGN OF THE POWER CONVERSION STAGE	           85
5.4.1 PWM Control Circuits	                              85
5.4.2 +5V Circuit Design	                              86
5.4.3 +12V Circuit Design	                              90
5.4.4 -12V Power Conversion	                              94
CHAPTER 6	                                                95
CONCLUSION	                                       95
BIBLIOGRAPHY                                             97
List of Tables
Table 2.1 Electric Specification of Solar Module: Left Side Wing ...............................7
Table 2.2 Electric Specification of Solar Module: Right Side Wing .............................8
Table 2.3 Electric Specification of Solar Module: Fuselage..........................................8
Table 2.4 Specification of Li-Ion Polymer Battery......................................................10
Table 3.1 Specification of the Buck Converter in MPPT System................................24
Table 3.2 The Rule of Switching Transistor ................................................................26
Table 3.3 The Relation of Switch Transistors in MOSFET Driver .............................27
Table 4.1 Properties of Secondary Battery ..................................................................44
Table 4.2 Specification of Li-Ion Polymer Battery......................................................45
Table 4.3 State of Battery Monitoring .........................................................................58
Table 4.4 Four Types of LED Flash.............................................................................58
Table 5.1 Bill of Material: +5V....................................................................................86
Table 5.2 Bill of Material: +12V..................................................................................90
List of Figures
Figure 1.1 Gossamer Penguin ................................................................................... - 2 -
Figure 1.2 Helios....................................................................................................... - 3 -
Figure 1.3 SoLong .................................................................................................... - 3 -
Figure 1.4 Block Diagram of the Power Management System ................................ - 4 -
Figure 2.1 Configuration of the Power Subsystem for Solar UAV................................7
Figure 2.2 Solar Module Pictures ..................................................................................9
Figure 2.3 A Battery Pack ............................................................................................11
Figure 2.4 Two Battery Modules .................................................................................11
Figure 3.1 Block Diagram of the MPPT System .........................................................13
Figure 3.2 Equivalent Circuit of Solar Cell .................................................................13
Figure 3.3 The Diagram of
dI
dV
versus V When the Insolation is Varied from 0.2
to 1 kW/m2 and 25 C ° ......................................................................15
Figure 3.4 The Diagram of
dP
dV
versus V : When Insolation is..............................16
Figure 3.5 The Diagram of
dI
dV
versus V : When Temperature is Varied from
0 C ° to 100 C ° and 1 kW/m2............................................................16
Figure 3.6 The Diagram of
dP
dV
versus V : When Temperature is Varied from
0 C ° to 100 C ° and 1 kW/m2..........................................................17
Figure 3.7 Characteristic Curve of Solar Cell..............................................................18
Figure 3.8 V-I Characteristic of Solar Cell ..................................................................19
Figure 3.9 MPP Tracking Process................................................................................21
Figure 3.10 Thevenin’s Equivalent Circuit of Solar Cell ............................................21
Figure 3.11 Buck-Type DC/DC Converter ..................................................................22
Figure 3.12 Buck Converter Waveform: Continuous Conduction Mode ....................23
Figure 3.13 Driver Circuit for MOSFET: (a) Control with Pull-Up Resistor (b)
viii
Control with External Driver Circuit ...................................................26
Figure 3.14 The Phenomenon of MOSFET Driver (a) When Qout (Base) is High (b)
When Qout (Base) is Low....................................................................27
Figure 3.15 Rise of Gate Voltage Using Pull-Up Resistor...........................................28
Figure 3.16 Limiting the Gate-Source Voltage ............................................................29
Figure 3.17 The Driver Circuit for the Switching Transistor.......................................30
Figure 3.18 Complete Circuit Diagram of the First Stage (MPPT).............................31
Figure 3.19 Pin Diagram of PIC18F452 ......................................................................32
Figure 3.20 Hall Sensor Characteristic Curve .............................................................33
Figure 3.21 TL494 Block Diagram..............................................................................34
Figure 3.22 Pin Connections of TL494........................................................................35
Figure 3.23 MPPT Control System with the ICT Method...........................................37
Figure 3.24 Flowchart of the ICT Method...................................................................39
Figure 3.25 Flowchart of the MPPT Control ...............................................................40
Figure 4.1 Schematic of the Battery Management.......................................................43
Figure 4.2 Structure of the Lithium Battery Modules..................................................46
Figure 4.3 Charge/Discharge Voltage Profile of Lithium Battery...............................47
Figure 4.4 Effect of Temperature on Li-Ion Voltage...................................................47
Figure 4.5 Waveform of Constant-Current Constant-Voltage Charging......................48
Figure 4.6 Charge Regulator........................................................................................50
Figure 4.7 Auto-Ranging Power Converter .................................................................51
Figure 4.8 Schematic of VCF Block............................................................................53
Figure 4.9 Battery Senses Voltage: Pack1 ...................................................................54
Figure 4.10 PIC 18F4515 and Capacitor Monitor Circuit ...........................................55
Figure 4.11 The Control Circuit of Charge Current.....................................................56
Figure 4.12 Flowchart of Charging Algorithm ............................................................60
Figure 5.1 Synchronous Buck Power Stage Schematic ...............................................62
Figure 5.2 Power Supply Control Loop Components..................................................62
Figure 5.3 Simplified Diagram for Synchronous Buck Converter ..............................63
Figure 5.4 Inductor Current Boundary in Continuous Mode.......................................65
Figure 5.5 Buck Converter Equivalent Circuit (a) Switch Closed...............................68
Figure 5.6 Circuit for Developing the State Equation for the Buck Converter (a)
Switch Closed (b) Switch Open...........................................................71
Figure 5.7 Principle of Pulse Width Modulation .........................................................75
Figure 5.8 The Control Diagram of the Synchronous Buck Converter .......................78
Figure 5.9 Bode Plot of Desired Loop Gain Function.................................................79
ix
Figure 5.10 PI Compensator ........................................................................................80
Figure 5.11 Bode Plot of the Buck Converter: Power Stage, Desired Loop Gain and PI
Compensator ........................................................................................81
Figure 5.12 PID Compensator .....................................................................................82
Figure 5.13 Bode Plot of the Buck Converter: Power Stage, Desired Loop Gain and
PID Compensator.................................................................................83
Figure 5.14 Function Diagram of TL5001...................................................................85
Figure 5.15 +5V Uncompensated Open Loop Response.............................................88
Figure 5.16 +5V Compensated Open Loop Response.................................................89
Figure 5.17 +5V Uncompensated and Compensated Open Loop Response ...............89
Figure 5.18 +5V Synchronous Buck Converter...........................................................90
Figure 5.19 +12V Uncompensated Open-Loop Response ..........................................92
Figure 5.20 +12V Compensated Open-Loop Response ..............................................93
Figure 5.21 +12V Compensated and Uncompensated Open-Loop Response.............93
Figure 5.22 +12V Synchronous Buck Converter.........................................................94
Figure 5.23 ICL 7600...................................................................................................94

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