201205089 六、發明說明： 【發明所屬之技術領域】 本發明是有關於一種波動耗電系統的電池電量顯示方 法及其裝置，特別是有關於一種可以指針錶狀顯示以電池 供應電力的波動耗電系統，其耗電狀態及殘電量之裝置與方 法。 【先前技術】 電池的電力顯示在以電池為電力供應的系統中，具 有相當重要的功能，主要原因為電池所供應的電量為有 限的，使用者要隨時監控系統的耗電狀態與電池殘電量 (battery residual power)是否足夠，並預為因應；其中， 電池殘電量也常以電池電量狀態（battery state of charge，SOC)為表示。 在習知的技術中，有許多不同的量測技術與顯示被 揭露；如台灣專利1259907與台灣專利公開號 201003083，揭露以量測電池的電壓與迴路電流，將其轉 換為電功率，並與預存的電量比較後產生殘留的電量， 並顯示予使用者；再如美國專利US5,629,605、 US4,825，170號案揭露以發光二極體（LED)燈號的不同組 合為電量顯示。然而，以數字或LED燈號顯示電池電量 的技術只能用於大致穩定耗電的系統中，主要由於穩定 耗電的系統其瞬時變化（instantaneous fluctuation)不大， 以數字或LED燈號顯示不會產生過於快速變動，致使用 201205089 者無法判讀。 為減少LED顯示燈號的數量，如台灣專利1322274 揭路一種指示電池電量狀態的方法和裝置，如第1圖， 係利用電池監控器94連接於電池92上，感測電池92 壓後，由指示控制器91產生指示的信號，由脈寬調 變器93發出不同的脈寬調變信號（pwM)，驅動lEd燈 95以不同亮度及不同頻率顯示電池92的電量。例如， 電池92接近滿電量（8〇%至100°/〇)時，以最高亮度、每個 T閃亮-次；電池92電量為6G%至80%時，以次 同冗度、每個週期τ閃亮二次；當電池92電量降低至〇 至20%時，則以最弱亮度、每個週期τ閃亮五次以顯示。 此方法以不同凴度與不同頻率的閃爍，可使觀測者人眼 $特性，以直觀的感受到電池92是否滿電或即將耗盡； 虽應用於固定輸出的負載時，可予觀測者相當的便利。 :、、;、而，對於輸出電力不穩定的耗電系統，電池92電壓輸 出時高時低的快速變化，將造成LED燈95亮度與閃亮 鲁頻率不同的快速變化，觀測者難以判斷電池％的電量。 ^由於波動耗電系統，其電池的電壓與迴路電流變動相 當快速’習知的顯示方法與裝置無法使用於波動耗電系 統’因此為克服習知技術的困難，發展能使用於波動耗電 系統的電量顯示，有其急迫必要性。 【發明内容】 有鑑於上述習知技術之問題，本發明之主要目的之 5 201205089 一係提供一種波動耗電系統的電池電量顯示、、 於以電池為電力供應給負載使用之電力系統、方法，以應用 電壓、電流或電功率以類比信號之指針狀顯將電池供電的 步驟： 顯不’包含下列 si :以電壓感測電路拓樸數位取樣量测電池 =瞬時電壓v(k);以電流壓感測電路拓樸數 篁，電池與負載供電迴路之瞬時電流I(k);其中， 電墨感測電路拓樸及電流壓感測電路拓樸所量測得到 的瞬時電壓v(k)與瞬時電流I(k)，均為數位信號； 52 :以瞬時電壓v(k)與瞬時電流I(k)計算產生瞬時電 功率P(k) ’並組成電量向量屮化）；其中， P(k)=V(k)xi(k) (1) Ψ(^ = [ν(^ i(/t) P(A)f (2) k為第k次的數位取樣； 53 :將該電量向量ψ(1ί)轉換為類比信號之電量觀測 向量Ψ(ΐ) ’ t為瞬時時間；其中， Ψω = [ν(〇 1(/) mj (3) 54 :以指針錶狀顯示該電量觀測向量屮⑴； 55 .回到 si，k=k；+l。 由於波動耗電系統負載端的耗電變化甚為快速，例如機 械人系統’機械人的各伺服馬達可能隨時啟動或停止，耗電 情況隨時都在改變’電量顯示波動很大，使用者難以觀測； 為克服此問題，本發明之另一個主要目的係提供一種波動 201205089 耗電系統的電池電量顯示方法，如同前述之步驟S1〜S4，其 中S2與S3可增加一比例積分計算： S2’ ：以瞬時電壓V(k)與瞬時電流I(k)計算產生瞬時 電功率P(k)，並組成電量向量T(k);電量向量Ψ(1〇 經以比例積分（PI)計算為電量向量Ψ/Ιί); ^(k)-[Vu(k) lu(k) P„W]r • ={κ丨νΣ('㈨-KK丨丨Σν丨㈨-KP丨卿 ‘Σ (训-V⑽ Γ (4) 其中，Κιν、Κη、ΚΙΡ 為積分常數；KPV、ΚΡΙ、ΚΡΡ 為比例常數；rv(k)、r^k)、rP(k)為電壓、電流與電 功率之參考值。 S3’ ：將該電量向量Ψ。（k)轉換為類比信號之電量觀 測向量屮⑴，t為瞬時時間； • 本發明之再一個主要目的係提供一種波動耗電系統 的電池電量顯示方法，該方法可以進一步將電池供電的電 壓、電流、耗電功率或電池殘電量以類比信號之指針錶狀顯 示，包含下列步驟： SS0 :該電池充電完成後，記錄該電池之初始儲存電量 Q〇; SS1:以電壓感測電路拓樸數位取樣量測電池供電迴路 之瞬時電壓V(k);以電流感測電路拓樸數位取樣量測電池 201205089 與負載供電迴路之瞬時電流I(k);其中，電壓感測電路拓 樸及電流壓感測電路拓樸所量測得到的瞬時電壓V(k)與瞬 時電流I(k)，均為數位信號； SS2 :以瞬時電壓V(k)與瞬時電流I(k)計算產生瞬時 電功率P(k)，對該瞬時電功率以時間累計計算後，與 該電池之初始儲存電量Q〇比較，估測產生一殘電量 R(k);並組成電量向量Ψ(1〇 ;其中， P(k)=V(k)xI(k) R(k)=Q〇-I(P(k)xAk) (5) V(k) = [V(k) 1(^:) ?(k) R(k)f (6) △k為數位取樣時間；若再經以比例積分計算，電量 向量Ψ(1〇經以比例積分（PI)計算為電量向量Tu(k); ^(k) = [Vu(k) I„(^) ?u(k) R„W]r201205089 VI. Description of the Invention: [Technical Field] The present invention relates to a battery power display method and device thereof for a wave power consumption system, and more particularly to a wave power consumption that can display a battery-powered power in a pointer-like manner System, device and method for power consumption state and residual power. [Prior Art] The power of the battery is displayed in a battery-powered system, which has a very important function. The main reason is that the battery is limited in power supply, and the user should monitor the power consumption status and battery residual capacity of the system at any time. (battery residual power) is sufficient and pre-emptive; among them, battery residual power is often expressed in terms of battery state of charge (SOC). In the prior art, many different measurement techniques and displays are disclosed; for example, Taiwan Patent No. 1259907 and Taiwan Patent Publication No. 201003083, which disclose measuring the voltage and loop current of a battery, converting it into electric power, and pre-existing The remaining power is generated and displayed to the user; as shown in the U.S. Patent Nos. 5,629,605 and 4,825,170, the various combinations of the LEDs are used for the power display. However, the technique of displaying the battery power by digital or LED light can only be used in a system that is substantially stable in power consumption, mainly because the system that stabilizes power consumption has a small instantaneous fluctuation (instantaneous fluctuation), and is not displayed by digital or LED light. It will be too fast to change, so you can't read it if you use 201205089. In order to reduce the number of LED display lights, such as Taiwan Patent No. 1,322,274, a method and apparatus for indicating the state of the battery state, as shown in FIG. 1, is connected to the battery 92 by the battery monitor 94, and after sensing the battery 92, The controller 91 is instructed to generate an indication signal, and the pulse width modulator 93 issues a different pulse width modulation signal (pwM), which drives the LED lamp 95 to display the power of the battery 92 at different brightnesses and frequencies. For example, when the battery 92 is close to the full charge (8〇% to 100°/〇), the highest brightness, each T is flashed-time; when the battery 92 is 6G% to 80%, the same amount of redundancy, each The period τ flashes twice; when the battery 92 is reduced to 〇 to 20%, it is displayed with the weakest brightness, each period τ five times. This method can make the observer's human eye visible by the flicker of different degrees and different frequencies, so as to intuitively feel whether the battery 92 is fully charged or is about to be exhausted; although it is applied to the fixed output load, the observer can be quite Convenience. :,,;,,,, for the power consumption system with unstable output power, the high and low voltage changes of the battery 92 voltage output will cause rapid changes in the brightness of the LED lamp 95 and the flashing Lu frequency, and it is difficult for the observer to judge the battery. % of electricity. ^ Due to the fluctuating power consumption system, the voltage and loop current of the battery vary quite rapidly. [The conventional display method and device cannot be used in the fluctuating power consumption system.] Therefore, in order to overcome the difficulties of the prior art, development can be used for the fluctuating power consumption system. The power display shows its urgent need. SUMMARY OF THE INVENTION In view of the above-mentioned problems of the prior art, the main object of the present invention is 5,050,090,89, which provides a battery power display of a fluctuating power consumption system, and a power system and method for supplying power to a load using a battery. The step of applying the voltage, current or electric power to the battery in analogy with the signal of the analog signal: Displaying the following si: measuring the battery with the voltage sensing circuit topology digital measurement battery = instantaneous voltage v (k); The instantaneous number of sensing circuits, the instantaneous current I(k) of the battery and the load supply circuit; wherein, the instantaneous voltage v(k) measured by the topology of the ink sensing circuit and the topology of the current-voltage sensing circuit The instantaneous current I(k) is a digital signal; 52: the instantaneous electric power P(k)′ is calculated by the instantaneous voltage v(k) and the instantaneous current I(k) to form the electric quantity vector ;; wherein, P(k) )=V(k)xi(k) (1) Ψ(^ = [ν(^ i(/t) P(A)f (2) k is the kth digital sample; 53: the power vectorψ (1ί) The electric quantity observation vector converted to the analog signal Ψ(ΐ) 't is the instantaneous time; where Ψω = [ν(〇1(/) mj (3) 54 : The needle shows the electric quantity observation vector 屮(1); 55. Back to si, k=k; +l. Since the power consumption of the load end of the fluctuating power consumption system changes very quickly, for example, the mechanical system of each robot's servo motor may When starting or stopping at any time, the power consumption is changing at any time. 'The power display fluctuates greatly and is difficult for the user to observe. To overcome this problem, another main object of the present invention is to provide a battery power display method for the 201205089 power consumption system. As in the foregoing steps S1 to S4, wherein S2 and S3 can be added with a proportional integral calculation: S2': calculating the instantaneous electric power P(k) by the instantaneous voltage V(k) and the instantaneous current I(k), and composing the electric quantity vector T (k); the charge vector Ψ (1〇 is calculated as the charge vector Ψ/Ιί) by proportional integral (PI); ^(k)-[Vu(k) lu(k) P„W]r • ={κ丨ΣΣ('(九)-KK丨丨Σν丨(九)-KP丨卿'Σ (train-V(10) Γ (4) where Κιν, Κη, ΚΙΡ are integral constants; KPV, ΚΡΙ, ΚΡΡ are proportional constants; rv(k), r^k), rP(k) are reference values of voltage, current and electric power. S3': convert this electric quantity vector Ψ (k) into a class The electric quantity observation vector 屮(1) of the specific signal, t is the instantaneous time; • Another main object of the present invention is to provide a battery power display method for the fluctuating power consumption system, which can further increase the voltage, current, and power consumption of the battery. Or the residual battery power is displayed as a pointer of analog signal, including the following steps: SS0: After the battery is charged, record the initial storage power of the battery Q〇; SS1: use the voltage sensing circuit topology digital sampling battery power supply The instantaneous voltage V(k) of the loop; the instantaneous current I(k) of the battery 201205089 and the load supply circuit measured by the current sensing circuit topographic digital sampling; wherein the voltage sensing circuit topology and the current voltage sensing circuit topology The measured instantaneous voltage V(k) and the instantaneous current I(k) are both digital signals; SS2: the instantaneous electric power P(k) is calculated by the instantaneous voltage V(k) and the instantaneous current I(k), After the instantaneous electric power is calculated by time, compared with the initial stored electric quantity Q〇 of the battery, it is estimated that a residual electric quantity R(k) is generated; and the electric quantity vector Ψ(1〇; wherein, P(k)=V(k) )xI(k) R(k)=Q〇-I(P(k)xAk (5) V(k) = [V(k) 1(^:) ?(k) R(k)f (6) △k is the digital sampling time; if it is calculated by proportional integral, the electric quantity vector Ψ( 1〇 is calculated as the charge vector Tu(k) by proportional integral (PI); ^(k) = [Vu(k) I„(^) ?u(k) R„W]r
=k/κ Σ (k) - KpVV{k)) Kn Σ (r, {k) - KpII{k)) ΚΙΡΣ(^) - ΚρρΡ^) K^r.ik) - KpRR(k))J ⑺ 其中，K|v、Kn、Kip、Kir 為積分常數；Kpv、Κρι、 Kpp、Kpr 為比例常數；i*v(k)、r!(k)、rp(k)、rR(k)為電壓、 電流、電功率與殘電量之參考值。 SS3:將該電量向量Ψ(1〇(或Tu(k))轉換為類比信號之 電量觀測向量屮⑴，t為瞬時時間； 201205089 Ψ⑴=[V⑴ I(，）P(，）R(t)r (8) 554 :以指針錶狀顯示該電量觀測向量Ψ(〇 ; 555 :回到 SSI，k=k+l ° 本發明之又一個主要目的係提供一種波動耗電系統 的電池電量顯示裝置，係應用於以電池為電力供應給負載使 用之電力系統，包含：電流感測電路拓樸、電壓感測電路拓 樸、運算處理器、數位類比轉換單元、比例積分計算單元及 $ 顯示單元； 其中，該電流感測電路拓樸係與電池及負載以串聯相藕 接，用以量測數位信號之瞬時電流I(k);該電壓感測電路拓 樸係與電池及負載以併聯相藕接，用以量測數位信號之瞬時 電壓V(k)，並輸出至該運算處理器。 運算處理器可接收瞬時電壓V(k)與瞬時電流I(k)，該運 算處理器包含一運算單元，該運算單元可將該瞬時電壓V(k) 與該瞬時電流I(k)計算產生一瞬時電功率P(k)，並將該瞬時 φ 電壓V(k)、該瞬時電流I(k)及該瞬時電功率P(k)組合構成一 電量向量Ψ(1〇，並將該電量向量T(k)輸出至比例積分計算 單7L。 該比例積分計算單元，可接收該電量向量Ψ(1〇，將該 電量向量Ψ(1〇加以比例積分計算後為電量向量Ψ/Ιί)，輸 出至該數位類比轉換單元。為達不同目的，該比例積分計 算可為智慧型的計算，如單純的比例積分控制器（ΡΙ controller)計算或可為模糊比例積分控制器（Fuzzy ΡΙ controller)計算。 201205089 “數^類比轉換單元可將該電量向量ψ«(或％(k))轉換 為類比信號之電量觀測向量ψ(ϊ)，輸出至該顯示單元； i 顯不單元為指針錶狀，可將該類比信號之電量觀測向 垔屮⑴以指針錶狀顯示。 於祕再者’本發明之波動耗電系統的電池電量顯示裝置， 並力存魏與輯量估測功能後，可進—步估測殘電量 殘雷’即’該運算處理器進—步包含—儲存單元與一 初始33兀；該儲存單元可儲存該電池之初始狀態的-_間該，量估測單元可將該瞬時電功率P(k) 雷Γ 十’與该初始儲存電量Q〇比較後，估測產生一殘 功ί R(k)’將該瞬時電壓V(k)、該瞬時電流I(k)、該瞬時雷 量^)(k)與該殘電量R(k)之任-項或其組合構成—電量向 承上所述，本發明之波動耗電系統的電池電量顯示方法 =裝置’可1：測電池與貞載之電力迴路的_電壓及瞬時 叫’經計算後可得瞬時電功率與殘電量，，經由比例積 :消除穩態的誤差，再由數位類比轉換，將欲顯示的瞬時 1時電流、瞬時電功率、殘電量之任—或其組合轉換 -類比信號而以指針錶狀顯示；藉由本發明之方法與 除可避免過於快it的指針跳自、存在穩態誤差外 於圓形指針量表較為直觀與具有易讀性 更為便利。 系使用者 【實施方式】 201205089 請參閱第2圖，其係為本發明之波動耗電系統的電池 電量顯示裝置第-實施例之示意圖。目中，該電池電量顯 示裝置1’係應用於以電池2為電力供應給負載3使用之 電力系統，在本實施例負載3為一機械人系統，此僅為 舉例，但不以此為限。機械人系統共具有十二個以電力 驅動的伺服器，包含雙腳踝、雙膝、髖關節、雙手腕、 雙手肘、雙肩及頸部，這些伺服器會隨時被驅動或隨時 停止，其耗電為不固定的波動的型態，以耗電的電功率 觀之，經常在〇〜6〇〇/0總負载範圍内跳動，或不經常在 40〜80%總負載範圍内跳動；本實施例之波動耗電系統的 電池電量顯示裝置可以平穩的顯示此系統的電量狀況，可為 瞬時電壓、瞬時電流與瞬時電功率之任—個或其組合。 請參考第2圖、第4圖及第6圖，第6圖為本實施 例之波動耗f系統的電池電量顯示方法步驟方塊圖，在第6 圖中，步驟如下： s 1 .以電壓感測電路拓樸〗2數位取樣量測電池2供電 迴路之瞬時電壓v(k);以電流壓感測電路拓樸^數 位取樣量測電池2與負载3供電迴路之瞬時電流 I(k)，其中，電壓感測電路拓樸12及電流壓感測電路 拓樸11所量測得到的瞬時電壓V(k〇與瞬時電流 I(k) ’均為數位信號； S2 .如式（1) ’以瞬時電壓V(k)與瞬時電流I(k)計算 產生瞬時電功率p(k)，並如式（2)組成電量向量 ψ〇〇, k為第的數位取樣；其中，哪)可為瞬 201205089 時電壓v(k)、瞬時電流i(k)、瞬時電功率p(k)之任 一個或其組合； S3:將該電量向量％k)轉換為類比信號之電量觀測 向量屮⑴，t為瞬時時間，如式（3); S4:以指針錶狀顯示該電量觀測向量ψ⑴之瞬時電壓 V(t)、瞬時電流I(t)、瞬時電功率ρ⑴之任一個或其 S5 :回到S卜k=k+卜 在本實施例之電池電量顯示裝置丨，包含：一電流 測電路拓樸U、一電壓感測電路拓樸12、一運算處:器 13、一數位類比轉換單元16及一顯示單元ρ ; ° 雷、也測電路拓樸U係以串聯方式藕接於 路拓樸ϊΛ載3所構成的電力供應迴路中，電流感測電 位電路拓樸，可數位取樣量測瞬時電流 電路拓：虎、，並輸出至運算處理器13 ;該電壓感測 、係以併聯方式藕接於電池2與負載3所構成 π、迴路中，竭測電路拓樸12為一數位電路 =運;壓v(k)的數位信號，並輸 处里态13, k為第1^次的數位取樣。 瞬時雷理益〗3可接收數位信號之瞬時電壓V(k)與 =流_，該運算處理器13包含一運算單元二 以式⑴計算產了生將:二J㊁:(】)與瞬時電流計算I(k) ’ (k) _m(k)及瞬時電功率p(k)之任一項或其組 201205089 j成-電量向*_，如式(2)，並將該電量向 輸出至該數位類比轉換單元16，其中，電量向量ψ( 為數位的信號所組成向量。 旦數位類比轉換單元16可將該電量向量的各向 1值轉換為類比信號之電量觀測向量ψ(〇,如式⑺，輸 出至該顯示單元17，t為瞬時時間； 該顯示單元17包含有電壓指示錶17卜電功率指示 172及電流指示錶173，可將該類比信號之電量觀測向量 平⑴之以指針錶狀顯示瞬時電壓v⑴、瞬時電流^⑴及瞬 ，電功率p(t)，如第4圖。其令，電壓指示錶m、電功 =指不錶m及電流指示錶173為指針錶狀，可為商品的 才曰不錶（lndlcator gauge)或以液晶顯示幕顯示之指針錶狀 :指不錶，在此實施例係以液晶顯示幕顯示之指示錶為 實踐’但不以此為限。 … 參閱第3圖’其係為本發明之波動耗電系統的電池 亍【d置/用一實施例之示意圖。，中’該電池電量顯 係應用於以電池2為電力供應給負載3使用之 :力系統，如同第一實施例’本實施例負載3亦為一機 械人糸統，本實施例之波動耗電系統的電池電量顯示裝置 =平穩的^示此系統的電量狀況，可為瞬時電壓、瞬時 電〜、瞬時電功率與殘電量之任一個或其組合。 請參考第3圖、第5圖及第7圖 =波祕的電池電魏衫法步驟_ % 圖中，步驟如下： u社乐/ 13 201205089 SSO :該電池2充電完成後，由運算處理器13之儲存單 元132記錄該電池2之初始儲存電量Q〇 ; 551 :以電壓感測電路拓樸12數位取樣量測電池2供電 迴路之瞬時電壓V(k);以電流壓感測電路拓樸11數 位取樣量測電池與負載供電迴路之瞬時電流I(k); 其中，電壓感測電路拓樸12及電流壓感測電路拓樸 11所量測得到的瞬時電壓V(k)與瞬時電流I(k)，均 為數位信號； 552 :如式⑴，以瞬時電壓V(k)與瞬時電流I(k)計算 _ 產生瞬時電功率P(k)，由殘電量估測單元133將瞬 時電功率P(k)以時間累計計算後，由式(5)與該電池2 之初始儲存電量Q〇比較，估測產生一殘電量R(k);並 組成電量向量Ψ(1〇，如式（6);其中，k為第k次的 數位取樣；Ψ(1〇可為瞬時電壓V(k)、瞬時電流I(k)、 瞬時電功率P(k)、殘電量R(k)之任一個或其組合； 再經以式（7)由比例積分計算單元14以比例積分 計算，電量向量Ψ(1〇經以比例積分（PI)計算為電量 * 向量Ψ^ΐί);其中，為達不同目的，該比例積分計算 可為智慧型的計算，如單純的比例積分控制器（ΡΙ controller)計算或可為模糊比例積分控制器 (Fuzzy PI controller)計算，在本實施例係採用模糊 比例積分控制器計算。 553 :如式（8)，將該電量向量轉換為類比信號之 電量觀測向量Ψ⑴，t為瞬時時間； 14 201205089 554 :以指針錶狀顯示該電量觀測向量屮⑴’· 555 :回到 SSI，k=k+l 〇 ， 在本實施例之電池電量顯示裝 =電路拓樸U、一電壓感測電路拓樸12=運 13、-比例積分計算單a 14、—H處理= 及一顯示單元17; 頰比轉換早兀16=k/κ Σ (k) - KpVV{k)) Kn Σ (r, {k) - KpII{k)) ΚΙΡΣ(^) - ΚρρΡ^) K^r.ik) - KpRR(k))J (7) Where K|v, Kn, Kip, and Kir are integral constants; Kpv, Κρι, Kpp, and Kpr are proportional constants; i*v(k), r!(k), rp(k), and rR(k) are voltages. , current, electric power and residual power reference value. SS3: Convert the power vector Ψ (1〇 (or Tu(k)) into the electric quantity observation vector 屮(1) of the analog signal, t is the instantaneous time; 201205089 Ψ(1)=[V(1) I(,)P(,)R(t) r (8) 554: display the electric quantity observation vector in the form of a pointer (Ψ; 555: return to SSI, k=k+l °. Another main object of the present invention is to provide a battery power display device for a fluctuating power consumption system The utility model is applied to a power system for supplying power to a load by using a battery, comprising: a current sensing circuit topology, a voltage sensing circuit topology, an arithmetic processor, a digital analog conversion unit, a proportional integral calculation unit and a display unit; The current sensing circuit topology is connected to the battery and the load in series to measure the instantaneous current I(k) of the digital signal; the voltage sensing circuit topology is in parallel with the battery and the load. Connected to measure the instantaneous voltage V(k) of the digital signal and output to the operational processor. The arithmetic processor can receive the instantaneous voltage V(k) and the instantaneous current I(k), and the operation processor includes an operation a unit that can convert the instantaneous voltage V(k) with the instantaneous power The I(k) calculation generates a transient electric power P(k), and combines the instantaneous φ voltage V(k), the instantaneous current I(k) and the instantaneous electric power P(k) to form a power vector Ψ (1〇, And outputting the electric quantity vector T(k) to the proportional integral calculation unit 7L. The proportional integral calculation unit can receive the electric quantity vector Ψ (1〇, the electric quantity vector Ψ (1〇 is proportionally integrated and calculated as the electric quantity vectorΨ) /Ιί), output to the digital analog conversion unit. For different purposes, the proportional integral calculation can be a smart calculation, such as a simple proportional integral controller (ΡΙ controller) calculation or can be a fuzzy proportional integral controller (Fuzzy ΡΙ controller) calculation 201205089 "The number ^ analog conversion unit can convert the power vector ψ « (or % (k)) into the power observation vector ψ (ϊ) of the analog signal, and output to the display unit; i display unit is The pointer is in the form of a pointer, and the power observation of the analog signal can be displayed in the form of a pointer to the 垔屮(1). The secret battery is displayed in the battery power display device of the fluctuation power consumption system of the present invention, and the Wei and the volume estimation function are supported. After that, you can estimate the residual power Residual thunder 'that' the operation processor includes - the storage unit and an initial 33 兀; the storage unit can store the initial state of the battery - _ between the amount, the estimated unit can calculate the instantaneous electric power P (k After the Thunder ten' is compared with the initial stored power Q〇, it is estimated that a residual power is generated ί R(k)' the instantaneous voltage V(k), the instantaneous current I(k), the instantaneous Thunder amount ^) (k) and any combination of the residual electric power R(k) or a combination thereof - the electric quantity is shown in the above, the battery electric quantity display method of the fluctuating power consumption system of the present invention = device '1: measuring the battery and carrying The _ voltage and instantaneous call of the power circuit can be calculated to obtain instantaneous electric power and residual power. Through the proportional product: eliminate the steady-state error, and then convert by digital analogy, the instantaneous 1 hour current, instantaneous electric power, The residual power amount - or a combination thereof - is analogous to the signal and is displayed in the form of a pointer; by the method of the present invention, it is more intuitive than the circular pointer scale except that the pointer can be skipped too fast and there is a steady state error. It is more convenient to read. [Embodiment] 201205089 Please refer to Fig. 2, which is a schematic view showing a first embodiment of a battery power display device of a wave power consumption system of the present invention. In the present embodiment, the battery power display device 1' is applied to a power system that uses the battery 2 as a power supply to the load 3. In the present embodiment, the load 3 is a robot system, which is merely an example, but not limited thereto. . The robot system has a total of twelve electrically powered servers, including two ankles, knees, hips, wrists, elbows, shoulders and neck. These servers are driven at any time or stopped at any time. Power consumption is an unfixed type of fluctuation. In terms of power consumption, it often jumps within the total load range of 〇~6〇〇/0, or does not often jump within 40~80% of the total load range; this implementation For example, the battery power display device of the fluctuating power consumption system can smoothly display the power state of the system, which can be any one of the instantaneous voltage, the instantaneous current and the instantaneous electric power or a combination thereof. Please refer to FIG. 2, FIG. 4 and FIG. 6 . FIG. 6 is a block diagram showing the steps of the battery power display method of the fluctuating f system of the embodiment. In the sixth figure, the steps are as follows: s 1 . Measuring circuit topology〗 2 digital sampling measurement battery 2 power supply loop instantaneous voltage v (k); current voltage sensing circuit topology ^ digital sampling measurement battery 2 and load 3 power supply circuit instantaneous current I (k), Among them, the voltage sensing circuit topology 12 and the current voltage sensing circuit topology 11 measured the instantaneous voltage V (k 〇 and the instantaneous current I (k) ' are digital signals; S2 . as in (1) ' The instantaneous electric power p(k) is calculated by the instantaneous voltage V(k) and the instantaneous current I(k), and the electric quantity vector ψ〇〇 is formed as in the formula (2), k is the first digital sampling; wherein, which can be an instant 201205089, any one or a combination of voltage v(k), instantaneous current i(k), instantaneous electric power p(k); S3: convert the electric quantity vector %k) into an electric quantity observation vector 屮(1) of the analog signal, t is Instantaneous time, as in equation (3); S4: display the instantaneous voltage V(t), instantaneous current I(t), instantaneous electric power ρ of the electric quantity observation vector ψ(1) in a pointer form (1) either one or S5: returning to Sbk=k+b The battery power display device of the present embodiment includes: a current measuring circuit topology U, a voltage sensing circuit topology 12, and an operation: , a digital analog conversion unit 16 and a display unit ρ; ° Ray, also measured circuit topology U is connected in series to the power supply circuit formed by the road top 3, the current sensing potential circuit Topology, digital sampling and measurement of instantaneous current circuit topology: Tiger, and output to the arithmetic processor 13; the voltage sensing, connected in parallel with the battery 2 and the load 3 constitutes π, the loop, exhausted The circuit topology 12 is a digital circuit = operation; the digital signal of the voltage v (k) is pressed, and the internal state 13 is input, and k is the digital sampling of the 1st time. The instantaneous Rayleigh benefit 3 can receive the instantaneous voltage V(k) and the = stream_ of the digital signal, and the arithmetic processor 13 includes an arithmetic unit 2 which calculates the production by the formula (1): two J: ()) and the instantaneous current Calculating any one of I(k) ' (k) _m(k) and instantaneous electric power p(k) or its group 201205089 j into - electric quantity to *_, as in equation (2), and outputting the electric quantity to the The digital analog conversion unit 16 includes a power vector ψ (a vector composed of digital signals. The digital analog conversion unit 16 can convert the respective 1-values of the power vector into a power observation vector of the analog signal 〇 (〇, eg, (7), output to the display unit 17, t is instantaneous time; the display unit 17 includes a voltage indicating table 17 and an electric power indicator 172 and a current indicating table 173, and the electric quantity observation vector of the analog signal can be flat (1) with a pointer table The instantaneous voltage v(1), the instantaneous current ^(1), and the instantaneous electric power p(t) are displayed as shown in Fig. 4. The voltage indicating table m, the electric power = the indicating meter m, and the current indicating table 173 are in the form of a pointer, which may be The product's talents are not listed (lndlcator gauge) or the liquid crystal display screen is displayed as a pointer: In this embodiment, the indication table displayed by the liquid crystal display screen is practiced 'but not limited thereto. · Referring to FIG. 3 ' is a battery of the fluctuation power consumption system of the present invention. [d/using an embodiment In the schematic diagram, the battery power is applied to the battery 2 for power supply to the load 3: the force system, like the first embodiment, the load 3 of the embodiment is also a mechanical system, this embodiment Battery power display device of the fluctuating power consumption system = stable display of the power state of the system, which may be any one or a combination of instantaneous voltage, instantaneous power, instantaneous power and residual power. Please refer to Figure 3, Figure 5. Fig. 7 and Fig. 7=Beauty of the battery electric jersey method _ % In the figure, the steps are as follows: u 乐乐 / 13 201205089 SSO: After the battery 2 is completed, the battery is recorded by the storage unit 132 of the arithmetic processor 13 2 initial storage power Q 〇; 551 : voltage sensing circuit topology 12 digital sampling measurement battery 2 power supply loop instantaneous voltage V (k); current pressure sensing circuit topology 11 digital sampling measurement battery and load Instantaneous current I(k) of the power supply loop; The instantaneous voltage V(k) and the instantaneous current I(k) measured by the voltage sensing circuit topology 12 and the current voltage sensing circuit topology 11 are both digital signals; 552: as the equation (1), with the instantaneous voltage V (k) and the instantaneous current I(k) are calculated _ to generate the instantaneous electric power P(k), and the residual electric power P (k) is calculated by time after the residual electric quantity estimating unit 133 is calculated by the formula (5) and the battery 2 The initial stored power Q〇 is compared, and an estimated residual electric quantity R(k) is generated; and the electric quantity vector Ψ is formed (1〇, as in the formula (6); wherein k is the kth digital sampling; Ψ (1〇 can be Any one or a combination of the instantaneous voltage V(k), the instantaneous current I(k), the instantaneous electric power P(k), and the residual electric energy R(k); and then proportionally integrated by the proportional integral calculating unit 14 by the equation (7) Calculate, the electricity vector Ψ (1 〇 is calculated by proportional integral (PI) as the amount of electricity * vector Ψ ^ ΐ ί); wherein, for different purposes, the proportional integral calculation can be a smart calculation, such as a simple proportional integral controller (ΡΙ controller) calculation or can be calculated for the fuzzy proportional controller (Fuzzy PI controller). In this embodiment, the fuzzy proportional integral controller is used. . 553: Convert the electric quantity vector into the electric quantity observation vector Ψ(1) of the analog signal as in equation (8), and t is the instantaneous time; 14 201205089 554: display the electric quantity observation vector 以(1)'· 555 in the form of a pointer: return to the SSI, k=k+l 〇, in the battery power display device of the embodiment = circuit topology U, a voltage sensing circuit topology 12 = transport 13, - proportional integral calculation single a 14 , - H processing = and a display unit 17; cheek ratio conversion early 兀 16
電池^貞樸U細串财式藕接於 :拓樸？1 A : 電力供應迴路中，電流感測電 m 路拓樸，可數位取樣量測瞬時電流 電路拓：〜Γ並輸出至運算處理器13;該電壓感測 式藕接於電池2與負載3所構成 、，力供應迴路中，電㈣測電路拓樸12為—數位電路 數位轉量_時電壓v(k)的數位信號，並輸 出運舁處理器13 ;k為第k次的數位取樣。 r運算處理器13可接收數位信號之瞬時電壓V(k)與 瞬時電流i(k)，該運算處理器13包含一運算單元i3i、 一儲存單元132、一殘電量估測單元133 ,運算單元131 "T將瞬時電壓V(k)與瞬時電流計算I(k)，以式⑴計算產 生一瞬時電功率p(k);該儲存單元132可儲存該電池2之 初1狀態的初始儲存電量;該殘電量估測單元1幻可將 該瞬時電功率p(k)以時間累計，與該初始儲存電量比較 如式（5))，估測產生一殘電量R(k);由運算單元131將 瞬時電壓V(k)、瞬時電流I(k)及瞬時電功率P(k)之任一 項或其組合構成一電量向量Ψ(1〇,如式（2)，並將該電量 15 201205089 向量ψ(ι〇輸出至該比例積分計算單元14，其中，電量向 量Ψ〇)為數位的信號所組成向量。 比例積分計算單元〗4藕接於該運算處理器13 ,可接收 5亥，量向I屮(幻’該電量向量<p(k)經以式（7)由比例積分 汁，單7G 14以比例積分計算為電量向量叭化广將電量 向量ψ"(ι〇輸出至該數位類比轉換單元16。 ^數位類比轉換單元16可將該電量向量％(k)的各向 量值轉換為類比信號之電量觀測向量Ψ⑴，如式（8)，輸 出至該顯示單元17，t為瞬時時間； _ 該顯示單元17包含有電功率指示錶172及殘電量指 不錶174,可將該類比信號之電量觀測向量少⑴之以指針 錶狀顯示瞬時電功率PW與殘電量R(t)，如第5圖。i中， 示錶1曰72與殘電量指示錶174為指針錶狀，：此 實鉍例係以液晶顯不幕顯示之指示錶為實踐。 離 更 以上所述僅為舉例性’而非為限制性者。 本發明之精神與範疇’而對其進行之等效修 ，均應包含於後附之申請專利範圍中。 少5 【圖式簡單說明】 第1圖係為習知電池電量顯示裝置之示意圖； 電量顯示裝置 電量顯示裝置 第2圖係為本發明之波動耗電系統的電池 第一實施例之示意圖； 第3圖係為本發明之波動耗電系統的電池 201205089 第二實施例之示意圖； 第4圖係為本發明之波動耗電系統的電池電量顯示裝置第 一實施例之電壓指示錶、電功率指示錶及電流指 不錶不意圖， 第5圖係為本發明之波動耗電系統的電池電量顯示裝置第 二實施例之電功率指示錶與殘電量指示錶示意 圖， 第6圖係為本發明之波動耗電系統的電池電量顯示方法第 一實施例之步驟方塊圖；以及 第7圖係為本發明之波動耗電系統的電池電量顯示方法第 二實施例之步驟方塊圖。 【主要元件符號說明】 1:電池殘電量顯示裝置； 2 :電池； 3 :負載； 11 :電流感測電路拓樸； 12 :電壓感測電路拓樸； 13 :運算處理器； 131 :運算單元； 132 :儲存單元； 133 :殘電量估測單元； 14 :比例積分計算單元； 16 :數位類比轉換單元； 17 201205089 17 ;顯示單元； 171 :電壓指示錶； 172 :電功率指示錶； 173 :電流指示錶； 174 :殘電量指示錶； 91 :指示控制器； 92 :電池； 93 :脈寬調變器； 94 ’：電池監控器； 95 :發光二極體燈；以及 S1〜S5 :方法步驟；以及 SS0〜SS5 :方法步驟。Battery ^ 贞 U U fine string financial style 于 connected to: top? 1 A : In the power supply circuit, the current sensing circuit m topology, digitally sampled and measured instantaneous current circuit topology: ~Γ and output to the arithmetic processor 13; the voltage sensing type is connected to the battery 2 and the load 3 In the force supply circuit, the electrical (four) measuring circuit topology 12 is a digital signal of the digital circuit digital quantity _time voltage v(k), and is output to the processor 13; k is the kth digital sampling . The r operation processor 13 can receive the instantaneous voltage V(k) of the digital signal and the instantaneous current i(k). The operation processor 13 includes an operation unit i3i, a storage unit 132, a residual power estimation unit 133, and an operation unit. 131 "T calculates instantaneous voltage V(k) and instantaneous current I(k), and calculates an instantaneous electric power p(k) by formula (1); the storage unit 132 can store the initial stored power of the first state of the battery 2 The residual power estimating unit 1 can accumulate the instantaneous electric power p(k) in time, and compare with the initial stored electric quantity as in the formula (5)), and estimate to generate a residual electric quantity R(k); Any one or a combination of the instantaneous voltage V(k), the instantaneous current I(k), and the instantaneous electric power P(k) constitutes a power vector Ψ(1〇, such as equation (2), and the amount of electricity 15 201205089 vector ψ(ι〇 output to the proportional-integral calculation unit 14, wherein the electric quantity vector Ψ〇) is a vector composed of digital signals. The proportional-integral calculation unit is connected to the arithmetic processor 13 and can receive 5 hai, the quantity direction I屮 (The magical power vector <p(k) is calculated from the proportional integral juice by the formula (7), and the single 7G 14 is calculated as the proportional integral. The quantity vector is converted into a power vector ψ" (i is output to the digital analog conversion unit 16. The digital analog conversion unit 16 can convert each vector value of the power vector %(k) into a power observation vector of the analog signal Ψ(1) If the formula (8) is output to the display unit 17, t is the instantaneous time; _ the display unit 17 includes the electric power indication table 172 and the residual power indication table 174, and the electric quantity observation vector of the analog signal can be less (1) The instantaneous electric power PW and the residual electric power R(t) are displayed in the form of a pointer, as shown in Fig. 5. In the case, the table 1曰72 and the residual electric quantity indicating table 174 are in the form of a pointer, and the actual example is liquid crystal display. The indications shown in the following are for practical use. The above description is only for the sake of example, and is not intended to be limiting. The equivalents of the spirit and scope of the present invention should be included in the attached application. In the patent range, less than 5 [Simplified description of the drawings] Fig. 1 is a schematic diagram of a conventional battery power display device; FIG. 2 is a first embodiment of a battery of the wave power consumption system of the present invention. Schematic diagram; Figure 3 is The battery of the invention of the fluctuating power consumption system 201205089 is a schematic diagram of the second embodiment; the fourth figure is the voltage indicating table, the electric power indicating table and the current indicating table of the first embodiment of the battery electric quantity display device of the fluctuating power consumption system of the present invention. 5 is a schematic diagram of an electric power indicator table and a residual power indicator table of the second embodiment of the battery power display device of the fluctuating power consumption system of the present invention, and FIG. 6 is a battery power of the fluctuating power consumption system of the present invention. A block diagram of a first embodiment of the display method; and a seventh block diagram of a second embodiment of the battery power display method of the fluctuating power consumption system of the present invention. [Description of main component symbols] 1: Battery residual capacity display device; 2: Battery; 3: Load; 11: Current sensing circuit topology; 12: Voltage sensing circuit topology; 13: Operation processor; 131: Operation unit 132: storage unit; 133: residual power estimation unit; 14: proportional integral calculation unit; 16: digital analog conversion unit; 17 201205089 17; display unit; 171: voltage indication table; 172: electric power indicator; 173: current Indicator table; 174: Residual battery indicator; 91: Indication controller; 92: Battery; 93: Pulse width modulator; 94 ': Battery monitor; 95: LED lamp; and S1~S5: Method steps ; and SS0~SS5: method steps.