一台用於搜尋和救援(SAR)的移動機器人(MR)。由於搜救任務的複雜性和潛在危險，因此推動移動機器人的使用來降低搜救團隊的受傷風險。由於搜救任務的持續時間不穩定，因此能源管理系統對於維持可持續運作至關重要。太陽能是可以從自然界中獲取的一種能源。然而，太陽能的缺點是容易受到天氣因素的影響。通過組合電池和超級電容器，EMS 將為該缺點提供有益的幫助。通過模糊邏輯控制器（FLC）和PI 控制器來管理電池和超級電容器之間的功率共享。FLC 為PI 控制器提供參考值，因此它將超級電容器電壓保持在定值。它將提供足夠的空間來儲存太陽能，同時幫助電池保持更長的運行時間。此外，本文所提出的EMS 提供了一種休眠模式的特點，以在主電源太弱時節省能量，並且適合於移動機器人應用。模擬和實驗表明，EMS 設計可以實現維持超級電容器電壓和調節功率共享。不僅如此，此系統還為中央控制器提供百分比功率參考建議，以管理其負載電流。根據現有的光伏電流和負載管理，此系統可以將電池功耗降低多達35%，並將峰值電流降低多達5%。

A mobile robot (MR) commonly is used in search and rescue (SAR) operation. The task complexity and potential hazard drive the utilization of mobile robot to reduce the risk of the SAR team for injured. Because SAR mission has an uncertainty of time duration, the energy management system is crucial to preserve sustainable operation. Solar energy is one energy that can be harvested from nature. However, solar energy has the drawback related to fluctuation depending on the weather. By combining the battery and the supercapacitor, the EMS will provide beneficially to solve the shortcoming.
Managing power sharing between the battery and the supercapacitor is conducted by the fuzzy logic controller and proportional integral controller. The fuzzy logic controller provides a reference value to proportional integral controller so it will keep the supercapacitor voltage at a certain value. It will provide sufficient space to store solar energy and at the same time help the battery to stay longer for operation. Moreover, the proposed energy management system offers feature for providing load power reference recommendation and offering hibernate mode to saving energy when the main power source is too weak and it is suitable for mobile robot application.
The simulation and experimental show the energy management system design can achieve to maintain the supercapacitor voltage and regulating the power-sharing. Moreover, it also provides percentage power reference recommendation for the central controller to manage its load current. It can reduce the battery power consumption up to 35% and reducing peak current up to 5% depend on the existing photovoltaic current and load management.

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