CN110065488B - Intelligent control system and control method for heavy AGV frame transport vehicle - Google Patents
Intelligent control system and control method for heavy AGV frame transport vehicle Download PDFInfo
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- CN110065488B CN110065488B CN201910408131.6A CN201910408131A CN110065488B CN 110065488 B CN110065488 B CN 110065488B CN 201910408131 A CN201910408131 A CN 201910408131A CN 110065488 B CN110065488 B CN 110065488B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000011217 control strategy Methods 0.000 claims abstract description 28
- 238000004088 simulation Methods 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 6
- 238000005303 weighing Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/10—Weight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/24—Energy storage means
- B60W2710/242—Energy storage means for electrical energy
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an intelligent control system and a control method for a heavy AGV frame transport vehicle, wherein the control system comprises the following components: the sensor unit is used for detecting weight information of different positions of the AGV frame transport vehicle and real-time position information of the AGV frame transport vehicle; the vehicle control module receives the data information transmitted by the sensor unit, and the vehicle control module operates the vehicle model under the working condition of setting state parameters by adopting off-line simulation: and the overall optimal control strategy under different mass center positions, different cargo masses and different track positions is obtained by calculating the mass center positions and the cargo masses of the whole vehicle, and the overall vehicle control module performs dynamic and linear optimal control on the AGV frame transport vehicle according to the obtained overall optimal control strategy.
Description
Technical Field
The invention relates to the technical field of AGV frame transport vehicles for transporting cargoes in steel works and ports, in particular to an intelligent control system and an intelligent control method for a heavy AGV frame transport vehicle.
Background
Currently, in order to improve energy saving and environmental protection of a vehicle as much as possible, some advanced control strategies are used in a control system thereof. The advanced control strategies used on the existing automobile mainly comprise model prediction control, fuzzy control, neural network control, sliding mode variable structure control and the like, and the control strategies can reduce the oil consumption of the automobile, but the control strategies can only increase the economical efficiency of the automobile to a certain extent due to the complex and diversified running conditions of the automobile, and if the limit economical potential of the automobile is to be exerted, the global optimal control is the current optimal control method, but because the global optimal control needs to define all running conditions of the automobile in advance, the global optimal control is impossible for the common automobile. The heavy AGV frame transport vechicle is used for the transportation of steelworks, harbour goods, relies on the magnetism nail on ground to carry out self-tracking and goes, carries out operation regulation and control to AGV frame transport vechicle through on-vehicle sensor and controller, and AGV frame transport vechicle can be automatic acceleration and deceleration and discernment current position, because the particularity of AGV frame transport vechicle, its orbit of traveling can be confirmed in advance, this provides the prerequisite for the application of global optimal control strategy. The existing heavy frame transport vehicle is controlled manually, a driver controls the speed of the transport vehicle through an accelerator pedal, and the charging time is determined manually, or fixed speed control is adopted, so that the phenomena of poor control effect, high energy consumption and low efficiency of the heavy frame transport vehicle are caused.
Disclosure of Invention
According to the problems existing in the prior art, the invention discloses an intelligent control system of a heavy AGV frame transport vehicle, which focuses on applying a global optimal control strategy to the AGV frame transport vehicle, wherein the intelligent control system specifically comprises the following steps:
the sensor unit is used for detecting weight information of different positions of the AGV frame transport vehicle and real-time position information of the AGV frame transport vehicle;
the vehicle control module receives the data information transmitted by the sensor unit, and the vehicle control module operates the vehicle model under the working condition of setting state parameters by adopting off-line simulation: the method comprises the steps that global optimal control strategies under different mass center positions, different cargo masses and different track positions are obtained through calculating the mass center positions and the cargo masses of the whole vehicle, and the whole vehicle control module carries out dynamic and linear optimal control on an AGV frame transport vehicle according to the obtained global optimal control strategies;
the executing mechanism receives the global optimal control strategy transmitted by the whole vehicle control module, wherein the executing mechanism comprises a diesel generator set, a power battery set and a driving motor, wherein the power battery set stores residual electric energy and outputs the electric energy when needed, and the driving motor drives wheels, and the diesel generator set charges the power battery set and provides power compensation for the driving motor.
The whole vehicle control module reads data information in a table lookup module stored in the whole vehicle control module to obtain a global optimal control strategy, wherein driving parameters of a motor and a generator under different mass center positions, different weights and different track positions of a vehicle are stored in the table lookup module, X-axis coordinates of the table lookup module are the current position of the whole vehicle, Y-axis coordinates are the mass center position and the cargo quality of the whole vehicle, and Z-axis coordinates are the optimal working state parameters of a diesel generator set and each driving motor at the next moment under different electric quantities of a power battery pack.
The sensor unit at least comprises weighing sensors for detecting weight information of different positions of the AGV frame transport vehicle and magnetic nail detection antennas for detecting real-time position information of the AGV frame transport vehicle.
A control method of an intelligent control system of a heavy AGV frame transport vehicle comprises the following steps:
s1, detecting weights of different positions of an AGV frame transport vehicle through weighing sensors arranged on wheels of the AGV frame transport vehicle, and obtaining position information of the mass and the mass center of the whole vehicle through data calculation;
s2, acquiring current running track position information of the AGV frame transport vehicle through a magnetic nail detection antenna;
s3, acquiring electric quantity information of a battery pack;
s4, adopting a global optimal control strategy to inquire and select the global optimal control strategy through a table look-up function according to the data information acquired by the S1, the S2 and the S3;
and S5, executing control operation on the working states of the diesel generator, the power battery and each driving motor at the next moment of the AGV frame transport vehicle by adopting a global optimal control strategy.
By adopting the technical scheme, the intelligent control system and the control method for the heavy AGV frame transport vehicle provided by the invention aim to furthest reduce the energy consumption and emission of the AGV frame transport vehicle, increase the cruising ability, fully reduce the running cost of the AGV frame transport vehicle in the whole life cycle, furthest improve the economy and environmental protection performance of the AGV frame transport vehicle and improve the competitiveness of products on the premise of ensuring the power performance of the heavy AGV frame transport vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a control system according to the present invention;
FIG. 2 is a flow chart of a control method in the present invention.
Detailed Description
In order to make the technical scheme and advantages of the present invention more clear, the technical scheme in the embodiment of the present invention is clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention:
an intelligent control system for a heavy AGV frame transport vehicle as shown in FIG. 1 specifically includes: the sensor unit specifically comprises a magnetic nail detection antenna 1 for detecting the real-time position of a vehicle, a weighing sensor 2 for measuring the weight of the whole vehicle, a whole vehicle control module 4 for controlling the whole vehicle, a diesel generator set 5 for charging a power battery set and providing power compensation for a driving motor, a power battery 6 for storing residual electric energy and outputting electric energy when required, and a driving motor 7 for driving wheels. The whole vehicle control module 4 operates the whole vehicle model under the working condition of setting state parameters by adopting off-line simulation: and obtaining global optimal control strategies at different mass center positions, different cargo masses and different track positions by calculating the mass center positions and the cargo masses of the whole vehicle. The overall optimal control strategy establishes a table lookup module through a table lookup function, wherein driving parameters of a motor and a generator under different mass center positions, different weights and different track positions of the vehicle are stored in the table lookup module, X-axis coordinates of the table lookup module are the current position of the whole vehicle, Y-axis coordinates are the mass center position of the whole vehicle and the cargo mass, Z-axis coordinates are the optimal working state parameters of a diesel generator set and each driving motor at the next moment under different electric quantity of a power battery pack, and the dynamic and linear optimal control process of the heavy AGV frame transport vehicle is realized by running the control system.
As shown in fig. 2: a control method of an intelligent control system of a heavy AGV frame transport vehicle comprises the following steps: the method comprises the following steps:
s1, detecting the weights of different positions of an AGV frame transport vehicle through weighing sensors 2 arranged on wheels of the AGV frame transport vehicle, and obtaining the position information of the mass and the mass center of the whole vehicle through data calculation;
s2, acquiring current running track position information of the AGV frame transport vehicle through the magnetic nail detection antenna 1;
s3, acquiring electric quantity information of a battery pack;
s4, adopting a global optimal control strategy to inquire and select the global optimal control strategy through a table look-up function according to the data information acquired by the S1, the S2 and the S3;
and S5, executing control operation on the working states of the diesel generator, the power battery and each driving motor at the next moment of the AGV frame transport vehicle by adopting a global optimal control strategy.
According to the intelligent control system and the control method for the heavy AGV frame transport vehicle, disclosed by the invention, on the premise of ensuring the power performance of the heavy AGV frame transport vehicle, the energy consumption and the emission of the AGV frame transport vehicle are reduced to the maximum extent through the application of the global optimal control strategy, the endurance capacity is increased, the running cost of the AGV frame transport vehicle in the whole life cycle is fully reduced, the economical efficiency and the environmental friendliness of the AGV frame transport vehicle are improved to the maximum extent, and the competitiveness of commodities of enterprises is increased.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (3)
1. An intelligent control system for a heavy AGV frame transport vehicle, comprising:
the sensor unit is used for detecting weight information of different positions of the AGV frame transport vehicle and real-time position information of the AGV frame transport vehicle;
the vehicle control module (4) is used for receiving the data information transmitted by the sensor unit, and the vehicle control module (4) operates the vehicle model under the working condition of setting the state parameters by adopting off-line simulation: the global optimal control strategy under different mass center positions, different cargo masses and different track positions is obtained by calculating the mass center positions and the cargo masses of the whole vehicle, and the whole vehicle control module (4) carries out dynamic and linear optimal control on the AGV frame transport vehicle according to the obtained global optimal control strategy;
the executing mechanism receives a global optimal control strategy transmitted by the whole vehicle control module (4), wherein the executing mechanism comprises a diesel generator set (5), a power battery set (6) for storing residual electric energy and outputting electric energy when required and a driving motor (7) for driving wheels, and the diesel generator set (5) charges the power battery set (6) and provides power compensation for the driving motor (7);
the whole vehicle control module (4) reads data information in a table lookup module stored in the whole vehicle control module to obtain a global optimal control strategy, wherein driving parameters of a motor and a generator under different center positions, different weights and different track positions of a vehicle are stored in the table lookup module, X-axis coordinates of the table lookup module are the current position of the whole vehicle, Y-axis coordinates are the center of mass position and the cargo quality of the whole vehicle, and Z-axis coordinates are optimal working state parameters of a diesel generator set and each driving motor at the next moment under different electric quantity of a power battery pack.
2. The intelligent control system for a heavy AGV frame transport of claim 1 further characterized by: the sensor unit at least comprises weighing sensors (2) for detecting weight information of different positions of the AGV frame transport vehicle and magnetic nail detection antennas (1) for detecting real-time position information of the AGV frame transport vehicle.
3. A control method of a control system according to any one of claims 1-2, characterized by comprising the steps of:
s1, detecting weights of different positions of an AGV frame transport vehicle through weighing sensors (2) arranged on wheels of the AGV frame transport vehicle, and obtaining position information of the mass and the mass center of the whole vehicle through data calculation;
s2, acquiring current running track position information of the AGV frame transport vehicle through a magnetic nail detection antenna (1);
s3, acquiring electric quantity information of a battery pack;
s4, adopting a global optimal control strategy to inquire and select the global optimal control strategy through a table look-up function according to the data information acquired by the S1, the S2 and the S3;
and S5, executing control operation on the working states of the diesel generator, the power battery and each driving motor at the next moment of the AGV frame transport vehicle by adopting a global optimal control strategy.
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| CN201910408131.6A CN110065488B (en) | 2019-05-15 | 2019-05-15 | Intelligent control system and control method for heavy AGV frame transport vehicle |
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| CN201910408131.6A CN110065488B (en) | 2019-05-15 | 2019-05-15 | Intelligent control system and control method for heavy AGV frame transport vehicle |
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