CN109447357A - A kind of cargo loads the fuel consumption optimization method of haulage truck scheduling system - Google Patents
A kind of cargo loads the fuel consumption optimization method of haulage truck scheduling system Download PDFInfo
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- CN109447357A CN109447357A CN201811301223.6A CN201811301223A CN109447357A CN 109447357 A CN109447357 A CN 109447357A CN 201811301223 A CN201811301223 A CN 201811301223A CN 109447357 A CN109447357 A CN 109447357A
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- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
Abstract
The invention discloses the fuel consumption optimization methods that a kind of cargo loads haulage truck scheduling system.First, the time that a truck is filled using number of truck as x-axis, loading machine establishes three-dimensional system of coordinate as y-axis, total oil consumption as z-axis, pass through the different coordinate points drawing three-dimensional curved surface images of acquisition, then, taking the time of number of truck corresponding to the minimum point of oil consumption and loading machine one truck of loading in three-dimension curved surface image is that the scheduling of truck dispatching system configures.The present invention improves the yield of a mine and device efficiency, transfers mode using the flex-ible assignment of computer control, and flexibly allotment truck can be realized according to the dynamic change of operating system.
Description
Technical field
This patent relates to non-road vehicles kinetic model, oil consumption model and car networking in the reality of non-road vehicles
Border uses, and in particular to a kind of cargo loads the fuel consumption optimization method of haulage truck scheduling system.
Background technique
Car networking (Internet of Vehicles) is the huge friendship being made of information such as vehicle location, speed and routes
Mutual network.By devices such as GPS, RFID, sensor, camera image processing, vehicle can complete itself environment and state letter
The acquisition of breath；By Internet technology, all vehicles can be by the various information Transmission Convergences of itself to central processing unit；It is logical
Cross computer technology, the information of these a large amount of vehicles can be analyzed and processed, thus calculate the best route of different vehicle,
It reports without delay road conditions and arranges signal lamp cycle.The current research in relation to car networking is mainly focused on road vehicles in urban road
Traveling planning, propose many mathematical models, such as crossroad is current, lane switching etc., and in non-road vehicles
Field, since working condition is increasingly complex compared to city and unpredictable, car networking application is very few, lacks perfect mathematical modulo
Type.
The communication technology in truck dispatching system, based on radio communication, part infrared communication mode.Truck tune
The information that degree system is sent from the digital communication apparatus in the various equipment of opencut to control centre, relayed relay tower conveying,
The final computer system for importing control centre, it is then that dispatch command is anti-by computer to the automatic working process of various information
The various equipment of opencut of feeding.Fixed dispatching system is generally all continued to use using the opencut of truck transport ore-rock, i.e., in work team
Certain substantially stationary decometer vehicle is certain excavator service.It does so, organization and administration are fairly simple, but it is existing to often result in busy unevenness
As truck stands in a long line before excavator sometimes, then excavates captain Shi Qianche sometimes.It is fast with communication equipment and computer technology
Speed development, starts the surface mine for some truck Automatic dispatchings occurred the 1970s, the machine controlled using computer
It is dynamic to transfer mode with vehicle, truck is flexibly deployed according to the dynamic change of operating system.After the eighties, truck automatic dispatching
System has faster development, and the whole world has about 50 mines and applies successively.The Truck dispatching in mine has lacked effective tune
Control mode is spent to save fuel consumption, is improved efficiency.
Summary of the invention
In order to solve the problems in background technique, the invention proposes the combustions that a kind of cargo loads haulage truck scheduling system
Oil consumption optimization method solves the problems, such as to have obtained fuel consumption allocation optimum while busy unevenness.After the method for the present invention is implemented
It can be improved system effectiveness, can be improved the yield and device efficiency of system, and be conducive to ore quality collocation, be conducive to set
Standby automatically-monitored and raising mine management is horizontal.
Technical scheme is as follows:
Firstly, filling the time T an of truck using number of truck N as x-axis, loading machineldAs y-axis, total oil consumption Q conduct
Z-axis establishes three-dimensional system of coordinate, obtains different coordinate points (N, Tld, Q) and drawing three-dimensional curved surface image, wherein total oil consumption Q is adopted
It is calculated with the objective function of following formula:
Wherein, M is sandy soil total amount, and M ' is truck capacity, Qtr,ldFor truck under full load conditions from gatehead to unloading point
Oil consumption, Qtr,eyFor the truck oil consumption from unloading point to gatehead under no-load condition, QldIt is loading machine in loading process
Oil consumption；
And establish following constraint condition:
Wherein, TtrFor truck from gatehead go to unloading point or from unloading point go to gatehead needed for the time, Tld(max)
Maximum duration needed for filling a truck for loading machine, Tld(max)Field working conditions requirement, T need to be metld(min)It is filled for loading machine
Shortest time needed for one truck, Tld(min)It need to be determined according to the actual power of truck and loading machine.
Then, number of truck N corresponding to the minimum point of oil consumption Q and loading machine load a card in three-dimension curved surface image
The time T of vehicleldScheduling as truck dispatching system configures, that is, solve minimize above-mentioned objective function obtain number of truck N with
And loading machine loads the time T of a truckldScheduling as truck dispatching system configures.
Oil consumption Q of the truck under full load conditions from gatehead to unloading pointtr,ldUsing the objective function of following formula
It calculates:
Wherein,For the average speed of truck, Mtr,ldFor the quality of truck under truck full load conditions；
The truck oil consumption Q from unloading point to gatehead under no-load conditiontr,eyUsing the objective function of following formula
It calculates:
Wherein, Mtr,eyFor the quality of truck under truck no-load condition；
Oil consumption Q of the shown loading machine in loading processldIt is calculated using the objective function of following formula:
Qld=g (Tld) (5)
Wherein, TldFor the loading time of truck.Loading machine dynamical system is established using SIMULINK module in MATLAB
Model simultaneously obtains Q by emulationldWith TldFunctional relation.
The average speed of the truckIt is calculated using following formula:
Wherein, strThe distance between unloading point is arrived for gatehead,
The TtrIt is calculated using following formula:
Ttr=0.5 (N-1) Tld (7)
The entire collaborative work time T of the optimization methodtlIt is calculated using following formula:
Wherein, TldFor the loading time of truck.
It is according to above-mentioned principle formula it is found that constant in truck and loading machine physical system, truck empty mass and distance
In the case of, the time T of a truck is loaded according to expression formula (1) (3) (4) (5) (6) oil consumption Q and loading machineldAnd truck
Quantity N is related, and it is as follows to establish relationship:
Q=f (N, Tld) (9)
The beneficial effects of the present invention are:
The present invention has obtained number of truck and loading machine loading time by establishing truck oil consumption model and solve
Allocation optimum solves the problems, such as to have obtained fuel consumption allocation optimum while busy unevenness, with fuel consumption allocation optimum truck
It loads and transports, and then improve the yield of a mine and device efficiency, transfer mode using the flex-ible assignment of computer control,
Flexibly allotment truck can be realized according to the dynamic change of operating system.
Detailed description of the invention
Field working conditions figure Fig. 1 of the invention
Fig. 2 specific embodiment of the invention block diagram
Fig. 3 specific embodiment of the invention algorithm flow chart
Truck Fig. 4 of the invention, loading machine cooperate with the total oil consumption figure of operating condition
Specific embodiment
The present invention will be further explained below with reference to the attached drawings
As depicted in figs. 1 and 2, specific implementation case of the invention and its implementation process are as follows:
1. initialization
Assuming that the sandy soil total amount M for needing to transport is 100t, the distance s of gatehead to unloading point is 2km, each truck is fully loaded
It is 10t that M ', which can be transported,.Assume initially that number of truck N value range is 3 to 6, taking N first is 3, incremental step a length of 1, when loading
Between TldValue range is 200s to 280s, takes T firstldFor 200s, a length of 20s of incremental step.
2. determining target b-t
The haulage time of each truck is 2Tld.According to expression formula Ttr=0.5 (N-1) Tld, obtain Ttr=Tld, due to round-trip
Distance is identical, therefore the time T that truck is round-triptrAll take Tld；Average speed is calculated according to formula (6)So that it is determined thatT=Ttr=200s.
Be really isosceles trapezoid by the travel speed of truck planning curve approximation in specific implementation, i.e., truck successively with
It is even accelerate, at the uniform velocity, the even traveling completed between gatehead and unloading point of slowing down.
3. determining the round-trip oil consumption of truck
Truck Dynamics Simulation Model, the mesh formulated in input step 2 are established using the SIMULINK module in MATLAB
V-t is marked, the instantaneous oil consumption Q of engine is obtained by MATLAB emulationins, obtain after integrating in 2TldThe round-trip oil of interior single truck
Consumption is respectively Qtr,ldAnd Qtr,ey.The oil consumption Q that loading machine fills a truck can be calculated according to (5) formulald, further according to (1) formula
It can get total oil consumption Q of entire cooperative working process.
4. optimizing fuel consumption
As shown in figure 3, increasing N and TldValue, repeat step 1 and step 2 until the two maximum value, and be calculated each
(i.e. N and T under configuring conditionldUnder different values) oil consumption Q.Using N as x-axis, TldAs y-axis, Q is drawn such as z-axis
Three-dimension curved surface image shown in Fig. 4, takes image minimum point, you can learn that the corresponding loading machine of oil consumption curved surface minimum point loads one
The time T of truckldAnd number of truck N.
The corresponding best configuration of the present embodiment minimum point is as follows: number of truck N is 4, and loading machine fills a truck
Time TldIt is 14.296kg for 240s, total oil consumption Q.
By above-mentioned implementation as it can be seen that the present invention can obtain the fuel consumption allocation optimum of Truck dispatching, Truck dispatching is realized
Effectively control, improves the yield of a mine and device efficiency.
Claims (3)
1. the fuel consumption optimization method that a kind of cargo loads haulage truck scheduling system, which is characterized in that
Firstly, filling the time T an of truck using number of truck N as x-axis, loading machineldAs y-axis, total oil consumption Q as z-axis
Three-dimensional system of coordinate is established, different coordinate points (N, T are obtainedld, Q) drawing three-dimensional curved surface image, wherein total oil consumption Q use with
The objective function of lower formula calculates:
Wherein, M is sandy soil total amount, and M ' is truck capacity, Qtr,ldFor oil of the truck under full load conditions from gatehead to unloading point
Consumption, Qtr,eyFor the truck oil consumption from unloading point to gatehead under no-load condition, QldThe oil for being loading machine in loading process
Consumption；
And establish following constraint condition:
Wherein, TtrFor truck from gatehead go to unloading point or from unloading point go to gatehead needed for the time, Tld(max)For dress
Maximum duration needed for carrier aircraft fills a truck, Tld(min)Shortest time needed for filling a truck for loading machine；
Then, number of truck N corresponding to the minimum point of oil consumption Q and loading machine load a truck in three-dimension curved surface image
Time TldScheduling as truck dispatching system configures.
2. cargo according to claim 1 loads the fuel consumption optimization method of haulage truck scheduling system, feature exists
In oil consumption Q of the truck under full load conditions from gatehead to unloading pointtr,ldIt is calculated using the objective function of following formula:
Ttr=0.5 (N-1) Tld
Wherein, strThe distance between unloading point is arrived for gatehead,For the average speed of truck, Mtr,ldFor truck full load conditions
The quality of lower truck,Indicate the average speed about truckWith the quality of truck under truck full load conditions
Mtr,ldFunction；
The truck oil consumption Q from unloading point to gatehead under no-load conditiontr,eyIt is calculated using the objective function of following formula:
Ttr=0.5 (N-1) Tld
Wherein, Mtr,eyFor the quality of truck under truck no-load condition,Indicate the average speed about truckWith the mass M of truck under truck no-load conditiontr,eyFunction；
Oil consumption Q of the shown loading machine in loading processldIt is calculated using the objective function of following formula:
Qld=g (Tld)
Wherein, TldFor the loading time of truck, g (Tld) indicate about truck loading time TldFunction.
3. cargo according to claim 1 loads the fuel consumption optimization method of haulage truck scheduling system, feature exists
In: the optimization method further calculates the entire time T that cooperates using following formulatl:
Wherein, TldFor the loading time of truck.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112488441A (en) * | 2020-10-23 | 2021-03-12 | 湖南大学 | Intelligent dispatching method and system for strip mine truck |
| CN113625567A (en) * | 2021-08-10 | 2021-11-09 | 山河智能装备股份有限公司 | Excavator rotation energy recovery control method and system, excavator and storage medium |
| CN112488441B (en) * | 2020-10-23 | 2024-05-14 | 湖南大学 | Intelligent scheduling method and system for strip mine trucks |
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Cited By (3)
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| CN113625567A (en) * | 2021-08-10 | 2021-11-09 | 山河智能装备股份有限公司 | Excavator rotation energy recovery control method and system, excavator and storage medium |
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Application publication date: 20190308 |
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