CN106427524A - Control device and control method of AGV hybrid power system - Google Patents
Control device and control method of AGV hybrid power system Download PDFInfo
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- CN106427524A CN106427524A CN201610715868.9A CN201610715868A CN106427524A CN 106427524 A CN106427524 A CN 106427524A CN 201610715868 A CN201610715868 A CN 201610715868A CN 106427524 A CN106427524 A CN 106427524A
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- agv
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/28—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the electric energy storing means, e.g. batteries or capacitors
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an AGV hybrid power system, and particularly relates to a control device of the AGV hybrid power system. The control device comprises an AGV bearing vehicle frame, wherein lifting mechanisms are arranged on the AGV bearing vehicle frame; a pressure sensor is arranged at each of two ends of each of the lifting mechanisms; a control system, a battery set and an electric generating set are also arranged on the AGV bearing vehicle frame; and the pressure sensors, the battery set and the electric generating set are respectively and electrically connected with the control system. The invention also discloses a control method of the AGV hybrid power system. The control method comprises the following steps that the pressure sensors receive a pressure signal and transmit the received pressure signal to the control system through a signal converter; and after judging the load condition of an AGV according to the transmitted signal, the control system transmits the signal to a battery set control unit and an electric generating set control unit, so that the starting and the stopping of the battery set and the starting and the stopping of the electric generating set are controlled. According to the control device and the control method disclosed by the invention, two power sources are combined, and can work in respective high-efficiency regions, so that the control device is energy-saving and environmentally-friendly, and can also have good economic benefits.
Description
Technical field
The present invention relates to a kind of AGV hybrid power system, particularly a kind of control device of AGV hybrid power system and control
Method processed.
Background technology
AGV is used in the horizontal trasportation equipment of automatization or semi-automatic harbour, with unmanned, self-navigation,
Be accurately positioned, the feature such as path optimization and Safe Avoidance of collision, and can be along the transport vehicle of the guide path automatic running of regulation
?.With expanding economy and the raising of environmental consciousness, the hybrid power of generating set and set of cells composition can be by multiple power
Source is organically combined, significantly the lifting power performance of vehicle and economic performance, is current practicable vehicle powertrain
System.But, AGV power difference for consuming in heavy duty work and underloading work is larger, if now all the time using generating set as
The fuel oil energy for only having 70% during the work of main power source, especially underloading is used on driving vehicle, and remaining fuel oil energy is then started
Tail gas, cooling water etc. are consumed cannot be utilized effectively, and be unfavorable for energy-conserving and environment-protective.And using set of cells as main power source,
Then battery set charge/discharge number of times and depth of discharge can be increased, be unfavorable for battery life, overall economic efficiency is than relatively low.
Content of the invention
It is an object of the invention to, a kind of control device of AGV hybrid power system is provided, by generating set and set of cells
While two kinds of power sources are organically combined, moreover it is possible to make which be operated in respective efficient region, it is ensured that generating set maximum limit
That spent is operated in optimum oil consumption area.The control method of this kind of AGV hybrid power system is additionally provided, while energy-conserving and environment-protective also
AGV can be made to obtain good economic benefit.
For solving above-mentioned technical problem, the present invention is adopted the following technical scheme that：
A kind of control device of AGV hybrid power system includes AGV loading carriage, is fixed with the AGV loading carriage
Some groups of elevating mechanisms, the two ends of the elevating mechanism are equipped with pressure transducer, and the pressure of pressure transducer sensing weight is simultaneously
Produce corresponding signal.Control system, set of cells and generating set is also equipped with the AGV loading carriage, and the pressure is passed
Sensor, set of cells, generating set are all electrically connected with control system.
The control device of aforesaid AGV hybrid power system is additionally provided with signal adapter, and the pressure transducer is by letter
Number transducer is electrically connected with control system, and signal adapter is easy to for output pressure signal to be converted to analogue signal and passes to control
System, improves the accuracy of output pressure signal.
Aforesaid pressure transducer is mainly made up of test section and signal transmission portion, the pressure interface position of the test section
In the upper surface of elevating mechanism hoistable platform, for gathering distribution of force information transmission to signal output portion, the signal transmission
Portion is by pressure signal transmission to control system.
For Protection control system, on aforesaid AGV loading carriage, electrical control cubicles are also equipped with, the control system is placed in electricity
In control cabinet.
The control device of aforesaid AGV hybrid power system is additionally provided with and controls list for transmitting the set of cells of communication information
Unit, the set of cells control unit is used for receiving the control signal from control system output, and passes it to set of cells and enter
And control startup and the stopping of set of cells.
The control device of aforesaid AGV hybrid power system is additionally provided with the generator set control list for transmitting communication information
Unit, the generator set control unit is used for receiving the control signal from control system output, and passes it to electromotor
The startup of group and then control set of cells and stopping.
Aforesaid generating set include electromotor and electromotor, electromotor and electromotor by generator set control unit with
Control system is electrically connected.
As set of cells has certain discharge and recharge number of times to limit, if continually carry out the electrically operated meeting of charge and discharge to set of cells
The service life of impact set of cells.In order to extend the service life of set of cells, in aforesaid set of cells control unit, electricity is additionally provided with
Pressure sensor, the voltage sensor is electrical connected with set of cells and the voltage real-time monitoring to set of cells, while voltage is believed
Number pass to control system.When the voltage of only set of cells is less than the setting value of system, voltage sensor receives control system
Control signal just allows set of cells to charge.
Aforesaid generating set is diesel generating set or gas-liquid-liquid three-phase flow or jet dynamic control, described set of cells
For lead-acid battery or lead carbon battery or capacitive character lithium battery.
A kind of control method of AGV hybrid power system, in AGV transportation, the test section in pressure transducer connects
After receiving pressure, pressure signal is conveyed to signal transmission portion, output pressure signal is changed by signal transmission portion by signal adapter
For analogue signal, and control system is passed it to, control system judges the loading condition of AGV according to the pressure signal for transmitting：
When AGV heavy duty, control system delivers a signal to set of cells control unit and generator set control unit so that send out
Group of motors control unit control generating set is worked all the time as main power source, and the control set of cells conduct of set of cells control unit
Auxiliary power source runs, and waits use next time if electric power storage if energy is more than needed；When AGV underloading, control system is delivered a signal to
Set of cells control unit and generator set control unit, now set of cells control unit high level control set of cells operation, by which
Main power source when running as AGV, generator set control unit is forbidden controlling generating set startup.
For the difference of power consumption when AGV heavy duty work and underloading work, using above-mentioned control logic, in set of cells
7 and 8 technical specification parameter identical of generating set in the case of, it is ensured that generating set 8 is operated in optimum oil consumption area to greatest extent,
So that AGV obtains 18% economic benefit.
Compared with prior art, the present invention is same organically combined generating set and two kinds of power sources of set of cells
When, different operator schemes are selected according to different pressure by the setting of pressure transducer, control system etc., is sent out in heavy duty
Group of motors is used as main power source, and during underloading, set of cells is used as main power source so as to be operated in respective efficient region, it is ensured that
Generating set is operated in optimum oil consumption area to greatest extent.By the setting of voltage sensor, the use of set of cells is also improved
Life-span.Using this kind of control logic, in the case of set of cells and generating set technical specification parameter identical, it is ensured that generating set
Optimum oil consumption area is operated in greatest extent so that AGV obtains 18% economic benefit while energy-conserving and environment-protective.
Description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of pressure transducer in the present invention；
Fig. 3 is a kind of circuit catenation principle figure of the present invention；
Fig. 4 is another kind of circuit catenation principle figure of the present invention.
The implication of reference：1- signal adapter, 2-AGV loading carriage, 3- electrical control cubicles, 4- elevating mechanism, 5- pressure
Sensor, 6- control system, 7- set of cells, 8- generating set, 9- electromotor, 10- electromotor, 11- set of cells control unit,
12- generator set control unit, 13- voltage sensor, 14- signal transmission portion, 15- test section.
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
Specific embodiment
Embodiments of the invention 1：As shown in Figure 1, Figure 2, Figure 3 and Figure 4, some groups of liftings are fixed with AGV loading carriage 2
Mechanism 4, the two ends of elevating mechanism 4 are equipped with pressure transducer 5, and pressure transducer 5 is main by test section 15 and signal transmission portion
14 compositions, the pressure interface of test section 15 is located at the upper surface of 4 hoistable platform of elevating mechanism, for gathering distribution of force information
Signal output portion 14 is passed to, signal transmission portion 14 is by pressure signal transmission to control system 6.Also install on AGV loading carriage 2
There are electrical control cubicles 3, set of cells 7 and generating set 8, control system 6 is placed in electrical control cubicles 3.Control system 6, set of cells 7, electromotor
Group 8 is all electrically connected with control system 6.Generating set 8 includes electromotor 9 and electromotor 10, electromotor 9 and electromotor 10 by sending out
Group of motors control unit 12 is electrically connected with control system 6.The device is additionally provided with signal adapter 1, and pressure transducer 5 passes through signal
Transducer 1 is electrically connected with control system 6, and signal adapter 1 is easy to for output pressure signal to be converted to analogue signal and passes to control
System processed 6, improves the accuracy of output pressure signal.
The device is additionally provided with the set of cells control unit 11 for transmitting communication information, and set of cells control unit 11 is used for connecing
The control signal for exporting from control system 6 is received, and then controls startup and the stopping of set of cells 7.As set of cells 7 has necessarily
Discharge and recharge number of times limit, if continually carry out the electrically operated service life that can affect set of cells 7 of charge and discharge to set of cells 7.For
Extend the service life of set of cells 7, in set of cells control unit 11, is additionally provided with voltage sensor 13, voltage sensor 13 and electricity
Pond group 7 is electrical connected and the voltage real-time monitoring to set of cells 7, while voltage signal is passed to control system 6.Only battery
When the voltage of group 7 is less than the setting value of system, voltage sensor 13 receives the control signal of control system 6 and just allows set of cells 7
Charge.The device is additionally provided with the generator set control unit 12 for transmitting communication information, and generator set control unit 12 is used for
The control signal for exporting from control system 6 is received, and then controls startup and the stopping of generating set 8.Generating set 8 is diesel oil
Generating set, electromotor 9 does fuel using diesel oil, and its viscosity is difficult greatly evaporation, and autoignition temperature is than relatively low, and power is big, warp
Ji performance is good.Set of cells 7 is lead carbon battery, and this kind of battery charge time be short, can high-power discharge and recharge, recycle number of times height,
Low cost, manufacture, recovery process maturation.
Embodiment 2：As shown in Figure 1, Figure 2 and Figure 3, the control device of this kind of AGV hybrid power system includes AGV carrying vehicle
Some groups of elevating mechanisms 4 are fixed with frame 2, AGV loading carriage 2, and the two ends of elevating mechanism 4 are equipped with pressure transducer 5, pressure
Sensor 5 senses the pressure of weight and produces corresponding signal.Control system 6, set of cells 7 is also equipped with AGV loading carriage 2
With generating set 8, pressure transducer 5, set of cells 7, generating set 8 are all electrically connected with control system 6.The device is additionally provided with signal
Transducer 1, pressure transducer 5 is electrically connected with control system 6 by signal adapter 1, and signal adapter 1 is easy to pressure output
Signal is converted to analogue signal and passes to control system 6, improves the accuracy of output pressure signal.Pressure transducer 5 is main
It is made up of test section 15 and signal transmission portion 14, the pressure interface of test section 15 is located at the upper table of 4 hoistable platform of elevating mechanism
Face, for gathering distribution of force information transmission to signal output portion 14, signal transmission portion 14 is by pressure signal transmission to control system
System 6.In order to be also equipped with electrical control cubicles 3 on Protection control system 6, AGV loading carriage 2, control system 6 is placed in electrical control cubicles 3.
Embodiment 3：As shown in Figure 3 and Figure 4, the control method of this kind of AGV hybrid power system, in AGV transportation,
Pressure signal is conveyed to signal transmission portion 14 after receiving pressure by the test section 15 in pressure transducer 5, and signal transmission portion 14 leads to
Cross signal adapter 1 and output pressure signal is converted to analogue signal, and control system 6 is passed it to, 6 basis of control system
The pressure signal for transmitting judges the loading condition of AGV：
When control system 6 judges AGV heavy duty, control system 6 transmits enabling signal to generator set control unit 12, sends out
Group of motors control unit 12 controls generating set 8 to be worked as main power source all the time.Control system 6 also transmits enabling signal to electricity
Pond group control unit 11, set of cells control unit 11 controls set of cells 7 to run as auxiliary power source, stores if energy is more than needed
Electricity waits use next time.Voltage sensor 13 is additionally provided with set of cells control unit 11, voltage sensor 13 is by the electricity of set of cells 7
Pressure signal transmission is to control system 6.When the voltage of only set of cells 7 is less than the setting value of system, voltage sensor 13 receives control
The control signal of system processed 6 just allows set of cells 7 to charge.
When control system 6 judges AGV underloading, control system 6 transmits enabling signal to set of cells control unit 11, battery
Group control unit 11 high level control set of cells 7 is run, main power source when running as AGV.Control system 6 is also transmitted
Stop signal is to generator set control unit 12, and generator set control unit 12 forbids that generating set 8 starts.
For the difference of power consumption when AGV heavy duty work and underloading work, using above-mentioned control logic, in set of cells
7 and 8 technical specification parameter identical of generating set in the case of, it is ensured that generating set 8 is operated in optimum oil consumption area to greatest extent,
So that AGV obtains 18% economic benefit.
Claims (10)
1. a kind of control device of AGV hybrid power system, it is characterised in that including AGV loading carriage (2), the AGV is carried
Some groups of elevating mechanisms (4) are fixed with vehicle frame (2), and the two ends of elevating mechanism (4) are equipped with pressure transducer (5)；Institute
State and on AGV loading carriage (2), be also equipped with control system (6), set of cells (7) and generating set (8)；The pressure transducer
(5), set of cells (7), generating set (8) are all electrically connected with control system (6).
2. the control device of AGV hybrid power system according to claim 1, it is characterised in that be additionally provided with signal conversion
Device (1), described pressure transducer (5) are electrically connected with control system (6) by signal adapter (1).
3. the control device of AGV hybrid power system according to claim 2, it is characterised in that the pressure transducer
(5) mainly it is made up of test section (15) and signal transmission portion (14), the pressure interface of test section (15) is located at elevator
The upper surface of structure (4) hoistable platform, signal transmission portion (14) are electrically connected with control system (6).
4. the control device of AGV hybrid power system according to claim 3, it is characterised in that AGV loading carriage (2)
On be also equipped with electrical control cubicles (3), control system (6) are placed in electrical control cubicles (3).
5. the control device of AGV hybrid power system according to claim 4, it is characterised in that be additionally provided with set of cells control
Unit (11) processed, described set of cells (7) are electrically connected with control system (6) by set of cells control unit (11).
6. the control device of AGV hybrid power system according to claim 5, it is characterised in that be additionally provided with generating set
Control unit (12), described generating set (8) are electrically connected with control system (6) by generator set control unit (12).
7. the control device of AGV hybrid power system according to claim 1, it is characterised in that generating set (8)
Including electromotor (9) and electromotor (10), electromotor (9) and electromotor (10) are by generator set control unit (12) and control
System (6) is electrically connected.
8. the control device of AGV hybrid power system according to claim 5, it is characterised in that the set of cells control
Voltage sensor (13) is additionally provided with unit (11), voltage sensor (13) respectively with set of cells (7) and control system (6)
Electrical connection.
9. the control device of AGV hybrid power system according to claim 1, it is characterised in that generating set (8)
For diesel generating set or gas-liquid-liquid three-phase flow or jet dynamic control；Described set of cells (7) is lead-acid battery or lead charcoal electricity
Pond or capacitive character lithium battery.
10. the control method of a kind of AGV hybrid power system described in claim 6, it is characterised in that in AGV transportation
In, pressure transducer (5) receives pressure signal and passes to control system (6) by signal adapter (1), and control system (6) is sentenced
The loading condition of disconnected AGV：
When AGV heavy duty, control system (6) delivers a signal to set of cells control unit (11) and generator set control unit
(12) so that generator set control unit (12) control generating set (8) is worked all the time as main power source, set of cells control
Unit (11) control set of cells (7) is run as auxiliary power source, waits use next time if electric power storage if energy is more than needed；
When AGV underloading, control system (6) delivers a signal to set of cells control unit (11) and generator set control unit
(12), now set of cells control unit (11) high level control set of cells (7) operation, active force when running as AGV
Source, generator set control unit (12) forbids that generating set (8) starts.
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| CN201610715868.9A CN106427524A (en) | 2016-08-24 | 2016-08-24 | Control device and control method of AGV hybrid power system |
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| CN201610715868.9A CN106427524A (en) | 2016-08-24 | 2016-08-24 | Control device and control method of AGV hybrid power system |
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| CN110509785A (en) * | 2019-09-05 | 2019-11-29 | 北京特种机械研究所 | A kind of extended-range AGV |
| CN110539652A (en) * | 2019-09-05 | 2019-12-06 | 北京特种机械研究所 | extended-range type traction Automatic Guided Vehicle (AGV) |
| CN111538310A (en) * | 2020-04-21 | 2020-08-14 | 新石器慧通（北京）科技有限公司 | Voltage control method and device, unmanned vehicle, terminal equipment and storage medium |
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| CN110509785A (en) * | 2019-09-05 | 2019-11-29 | 北京特种机械研究所 | A kind of extended-range AGV |
| CN110539652A (en) * | 2019-09-05 | 2019-12-06 | 北京特种机械研究所 | extended-range type traction Automatic Guided Vehicle (AGV) |
| CN111538310A (en) * | 2020-04-21 | 2020-08-14 | 新石器慧通（北京）科技有限公司 | Voltage control method and device, unmanned vehicle, terminal equipment and storage medium |
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Application publication date: 20170222 |