CN110806745A - Energy supply automation equipment and control method - Google Patents

Energy supply automation equipment and control method Download PDF

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CN110806745A
CN110806745A CN201911224315.3A CN201911224315A CN110806745A CN 110806745 A CN110806745 A CN 110806745A CN 201911224315 A CN201911224315 A CN 201911224315A CN 110806745 A CN110806745 A CN 110806745A
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coefficient
calculation unit
replenishment
unit
vehicle
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CN110806745B (en
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徐汇
徐辉
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/02—Supplying fuel to vehicles; General disposition of plant in filling stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

Abstract

The invention relates to an energy supply automation device and a control method, comprising the following steps: the system comprises upper control equipment, supply station control equipment and a regulation and control vehicle; the upper control equipment receives an energy supply demand and sends a control command to the supply control equipment, the supply control equipment carries out supply strategy calculation according to the control command and feeds back the supply strategy to the upper control equipment, the upper control equipment selects the optimal supply strategy according to the fed back supply strategy and sends the optimal supply strategy to the appropriate corresponding supply control equipment, and the supply control equipment controls the regulating and controlling vehicle to execute the supply strategy according to the optimal supply strategy. The invention can determine the lowest power consumption of energy supply according to the position information, automatically control energy supply, realize rapid automatic energy supply, reduce the manual use cost and save energy.

Description

Energy supply automation equipment and control method
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to energy supply automation equipment and a control method.
Background
In the prior art, rapid energy supplement is generally carried out in a manual mode and cannot be realized in an automatic control mode, along with continuous development of automatic control equipment, people continuously apply the automatic equipment to various technical fields, particularly when artificial intelligence is rapidly developed, automatic control of a factory is continuously improved, manual use is continuously reduced, and the energy supplement and the like in some service fields are difficult points of automatic control. Obviously, with the continuous improvement and development of vehicles and the like, energy supplement to the vehicles in the future is urgently needed to be realized through automatic control, particularly with the development of electric vehicles, when the vehicles run on roads, the situations that power supply is insufficient and the vehicles cannot run can occur at any time, and in the prior art, dragging is carried out through a trailer.
Content of application
The application provides automation equipment for energy supply, includes: the system comprises upper control equipment, supply station control equipment and a regulation and control vehicle; the upper control equipment receives an energy supply demand and sends a control command to the supply control equipment, the supply control equipment carries out supply strategy calculation according to the control command and feeds back the supply strategy to the upper control equipment, the upper control equipment selects the optimal supply strategy according to the fed back supply strategy and sends the optimal supply strategy to the appropriate corresponding supply control equipment, and the supply control equipment controls the regulating and controlling vehicle to execute the supply strategy according to the optimal supply strategy.
The energy supply automation equipment comprises a plurality of supply station control equipment, each supply station control equipment corresponds to a plurality of regulating and controlling vehicles, and the upper control equipment is respectively communicated with the plurality of supply station control equipment.
The automatic energy supply equipment comprises a supply station control device, a charging station control device and a control device, wherein the supply station control device comprises a first communication unit, a second communication unit, a calculation unit, a charging arm, an energy supplementing arm, a battery replacement arm, a prediction unit and a driving unit, the first communication unit and the second communication unit are respectively connected with the calculation unit, and the calculation unit respectively drives the charging arm, the energy supplementing arm and the battery replacement arm through the driving unit; the prediction unit is connected with the calculation unit and used for transmitting road condition prediction information to the calculation unit, the first communication unit is communicated with the upper control equipment, the second communication unit is communicated with the regulation and control vehicle, the charging arm receives a driving signal sent by the calculation unit and is used for automatically controlling charging of the vehicle, the energy supplementing arm receives the driving signal sent by the calculation unit and is used for automatically controlling hydrogen or fuel oil supplementing of the vehicle, and the battery replacement arm receives the driving signal sent by the calculation unit and is used for automatically controlling battery replacement of the vehicle.
The energy supply automation equipment comprises an energy supply arm and a switching arm, wherein the energy supply arm comprises a switching switch, and hydrogen or fuel can be switched and output through switching of the switching switch.
The energy supply automation equipment comprises a computing unit, a power computing unit and a control unit, wherein the computing unit comprises a time computing unit, a quality computing unit, a speed computing unit, a coefficient distributing unit, a power computing unit and a selecting unit; the time calculation unit calculates replenishment time and respectively sends the replenishment time to a prediction unit and a speed calculation unit, the prediction unit predicts the congestion degree in the replenishment time after receiving the replenishment time and transmits the congestion degree to the coefficient distribution unit, the coefficient distribution unit calculates a congestion coefficient according to the received congestion degree, selects different distribution coefficients according to the configuration of the regulating cars and the configuration of different regulating cars and sends the different distribution coefficients to the quality calculation unit, the quality calculation unit sends the calculated quality to the power calculation unit, the speed calculation unit sends the calculated speed to the power calculation unit, and the coefficient distribution unit sends the congestion coefficient to the power calculation unit; the power calculation unit calculates power according to the received parameters, numbers and sequences different power corresponding to different control cars, and sends sequencing results to the selection unit for selection, wherein the number of the control car with the lowest power consumption at the selected position of the selection unit and the corresponding first power value are fed back and sent to the upper control equipment through the first communication unit.
The energy supply automation device, the calculation unit calculates the first power value P1(t) is calculated specifically by:
Figure BDA0002301138460000021
v1for regulating the speed of the vehicle, m1(t) mass of the regulating vehicle as a function of time t, a1、b1、c1Weight coefficient, Fa(t) is the aerodynamic coefficient of friction, Fr(t) is the rolling coefficient, Fg(t) force due to gravity on inclined road surfaces; delta is a congestion coefficient, and the congestion coefficient is calculated through a coefficient distribution unit according to the congestion degree predicted by the prediction unit;
Figure BDA0002301138460000022
wherein, mu1The residual proportion of hydrogen in the fuel cell is between 0 and 1, and m11(t) is the mass of hydrogen in the fuel cell;the storage battery existence coefficient is taken as 0 or 1, the regulation and control vehicle takes 1 when being configured with the storage battery, and takes 0 and m when not being configured12(t) mass of the battery;
Figure BDA0002301138460000024
the value of the coefficient of existence of the super capacitor is 0 or 1, the value of the super capacitor is 1 when the regulation and control vehicle is configured, and the value of the coefficient of existence of the super capacitor is 0, m when the regulation and control vehicle is not configured13(t) mass of the supercapacitor; m is14(t) is the mass of the generator,
Figure BDA0002301138460000025
the value of the existing coefficient of the generator is 0 or 1, the value of the existing coefficient of the generator is 1 when the super capacitor is configured on the regulation and control vehicle, and the value of the existing coefficient of the generator is 0, mu when the super capacitor is not configured on the regulation and control vehicle2The residual proportion of the fuel of the generator is between 0 and 1 according to the proportion;
Figure BDA0002301138460000026
Fr(t)＝m1(t)Crgcos(α)
Fg(t)＝m1(t)gsin(α)
where ρ is the air density, A is the front surface area of the vehicle, g is the acceleration of gravity, CxIs the coefficient of air resistance, CrIs aerodynamic resistance, v1α is the road surface inclination angle for regulating the vehicle speed;
the energy supply automation equipment is configured according to the types of different control cars, the coefficient calculation unit of the receiving calculation unit carries out automatic control, the calculation unit receives the environment monitored by the environment monitoring equipment, and a is carried out according to the current wind speed, humidity and temperature1、b1、c1Arrangement of the weighting coefficients, a1、b1、c1Is between 0.9 and 1.1.
The energy supply automation device may further include: the upper control device determines a first position of an energy replenishment demand after receiving an energy replenishment demand request, searches for at least two replenishment station control devices located closest to the first position according to the first position, and sends replenishment control commands to the two replenishment station control devices, the two replenishment station control devices perform replenishment power calculation according to the replenishment control commands and aiming at the configuration state of respective regulating and controlling vehicles, and feeds back the lowest value of the respective replenishment power consumption to the upper control device, the upper control device compares the two received replenishment power consumption values, determines the lowest value of the power consumption, and then sends the replenishment command to perform energy replenishment.
A control method of an energy supply automation device as described in any one of the above, comprising the steps of:
1) the upper control equipment receives a first request of energy supply of a user and determines a first position sent by the first request;
2) according to the first position, searching a first replenishment station control device and a second replenishment station control device which are located closest to the first position, and sending a first replenishment control command to the first replenishment station control device and the second replenishment station control device;
3) a first replenishment station control device and a second replenishment station control device calculate replenishment power according to the first replenishment control command and aiming at the configuration state of each regulating and controlling vehicle, wherein the first replenishment station control device calculates a first minimum power consumption value, and the second replenishment station control device calculates a second minimum power consumption value; respectively feeding back and sending the first minimum power consumption value and the second minimum power consumption value to the upper control equipment;
4) and the upper control equipment compares the first minimum power consumption value with the second minimum power consumption value, determines the lowest power consumption value, then sends a second replenishment command, and determines the lowest power consumption regulation vehicle to replenish the energy for the user.
According to the control method, the first replenishment station control device and the second replenishment station control device respectively comprise a calculation unit, power calculation is carried out through the calculation unit, and the calculation unit comprises a time calculation unit, a quality calculation unit, a speed calculation unit, a coefficient distribution unit, a power calculation unit and a selection unit; the time calculation unit calculates replenishment time and respectively sends the replenishment time to a prediction unit and a speed calculation unit, the prediction unit predicts the congestion degree in the replenishment time after receiving the replenishment time and transmits the congestion degree to the coefficient distribution unit, the coefficient distribution unit calculates a congestion coefficient according to the received congestion degree, selects different distribution coefficients according to the configuration of the regulating cars and the configuration of different regulating cars and sends the different distribution coefficients to the quality calculation unit, the quality calculation unit sends the calculated quality to the power calculation unit, the speed calculation unit sends the calculated speed to the power calculation unit, and the coefficient distribution unit sends the congestion coefficient to the power calculation unit; the power calculation unit calculates power according to the received parameters, numbers and sequences different power corresponding to different regulating and controlling vehicles, and sends sequencing results to the selection unit for selection, wherein the number of the regulating and controlling vehicle with the minimum power consumption at the selected position of the selection unit and a corresponding first power value are fed back and sent to the upper control equipment through the first communication unit;
the calculation unit performs power calculation by:
Figure BDA0002301138460000041
v1for regulating the speed of the vehicle, m1(t) mass of the regulating vehicle as a function of time t, a1、b1、c1Weight coefficient, Fa(t) is the aerodynamic coefficient of friction, Fr(t) is the rolling coefficient, Fg(t) force due to gravity on inclined road surfaces; delta is a congestion coefficient, and the congestion coefficient is calculated through a coefficient distribution unit according to the congestion degree predicted by the prediction unit;
Figure BDA0002301138460000042
wherein, mu1The residual proportion of hydrogen in the fuel cell is between 0 and 1, and m11(t) is the mass of hydrogen in the fuel cell;
Figure BDA0002301138460000043
the storage battery existence coefficient is taken as 0 or 1, the regulation and control vehicle takes 1 when being configured with the storage battery, and takes 0 and m when not being configured12(t) mass of the battery;
Figure BDA0002301138460000044
the value of the coefficient of existence of the super capacitor is 0 or 1, the value of the super capacitor is 1 when the regulation and control vehicle is configured, and the value of the coefficient of existence of the super capacitor is 0, m when the regulation and control vehicle is not configured13(t) mass of the supercapacitor; m is14(t) is the mass of the generator,
Figure BDA0002301138460000045
the value of the existing coefficient of the generator is 0 or 1, the value of the existing coefficient of the generator is 1 when the super capacitor is configured on the regulation and control vehicle, and the value of the existing coefficient of the generator is 0, mu when the super capacitor is not configured on the regulation and control vehicle2The residual proportion of the fuel of the generator is between 0 and 1 according to the proportion;
Figure BDA0002301138460000046
Fr(t)＝m1(t)Crgcos(α)
Fg(t)＝m1(t)gsin(α)
where ρ is the air density, A is the front surface area of the vehicle, g is the acceleration of gravity, CxIs the coefficient of air resistance, CrIs aerodynamic resistance, v1α is the road surface inclination angle for regulating the vehicle speed;
configuring according to the models of different control cars, receiving the coefficient calculation unit of the calculation unit for automatic control, receiving the environment monitored by the environment monitoring equipment by the calculation unit, and performing a according to the current wind speed, humidity and temperature1、b1、c1Arrangement of the weighting coefficients, a1、b1、c1Is between 0.9 and 1.1.
In order to solve the technical problems: the application provides an automatic control device and method for energy supply, which can determine the specific position of a user by determining the request information of energy supply provided by the user, determine the optimal regulation and control vehicle for energy supply by combining congestion, time and weather states, determine the optimal regulation and control vehicle in a single supply control device, search the optimal regulation and control vehicle in an adjacent supply control device, optimally select the optimal regulation and control vehicle and realize automatic control of energy supply. The main improvement point of the invention is that when the power is calculated, the congestion coefficient is considered, an energy model consumed in the operation of the regulating vehicle is established, the congestion coefficient, the operation speed and the environmental resistance are considered in the model, and the corresponding weight coefficient is set when the environmental resistance is considered, so that the weight allocation can be carried out according to the environmental state, and the accurate power calculation is realized; the invention has another improvement point that the accurate quality state is determined through the weight or the operation coefficient according to different types in different regulating vehicles, so that the power with different qualities can be conveniently and accurately matched, and the invention can be used as a further improvement point in the field that the optimal regulating and supplying scheme can be determined through the optimization comparison between different regulating vehicles and supplying control equipment, and the optimal parameters can be conveniently selected through the calculation of different parameters of the calculating unit equipment.
Drawings
Fig. 1 is a schematic view of an energy supply automation apparatus according to the present invention.
FIG. 2 is a schematic diagram of the inventive replenishment station control apparatus.
FIG. 3 is a schematic diagram of a computing unit according to the present invention.
FIG. 4 is a schematic diagram of the control method of the present invention.
Detailed Description
The present application will now be described in further detail with reference to the drawings, it should be noted that the following detailed description is given for illustrative purposes only and is not to be construed as limiting the scope of the present application, as those skilled in the art will be able to make numerous insubstantial modifications and adaptations to the present application based on the above disclosure.
Fig. 1 is a schematic diagram of an energy supply automation device according to the present invention.
The application provides automation equipment for energy supply, includes: the system comprises upper control equipment, supply station control equipment and a regulation and control vehicle; the upper control equipment receives an energy supply demand and sends a control command to the supply control equipment, the supply control equipment carries out supply strategy calculation according to the control command and feeds back the supply strategy to the upper control equipment, the upper control equipment selects the optimal supply strategy according to the fed back supply strategy and sends the optimal supply strategy to the appropriate corresponding supply control equipment, and the supply control equipment controls the regulating and controlling vehicle to execute the supply strategy according to the optimal supply strategy.
The energy supply automation equipment comprises a plurality of supply station control equipment, each supply station control equipment corresponds to a plurality of regulating and controlling vehicles, and the upper control equipment is respectively communicated with the plurality of supply station control equipment.
Fig. 2 is a schematic diagram of the control device of the replenishment station.
The automatic energy supply equipment comprises a supply station control device, a charging station control device and a control device, wherein the supply station control device comprises a first communication unit, a second communication unit, a calculation unit, a charging arm, an energy supplementing arm, a battery replacement arm, a prediction unit and a driving unit, the first communication unit and the second communication unit are respectively connected with the calculation unit, and the calculation unit respectively drives the charging arm, the energy supplementing arm and the battery replacement arm through the driving unit; the prediction unit is connected with the calculation unit and used for transmitting road condition prediction information to the calculation unit, the first communication unit is communicated with the upper control equipment, the second communication unit is communicated with the regulation and control vehicle, the charging arm receives a driving signal sent by the calculation unit and is used for automatically controlling charging of the vehicle, the energy supplementing arm receives the driving signal sent by the calculation unit and is used for automatically controlling hydrogen or fuel oil supplementing of the vehicle, and the battery replacement arm receives the driving signal sent by the calculation unit and is used for automatically controlling battery replacement of the vehicle.
Preferably, the configuration of each control device of the replenishment station is the same, the control device of the replenishment station can comprise a plurality of energy supplement strategies, the first strategy is to directly allocate the regulating and controlling vehicle to the position of the vehicle lack of electricity and supplement the energy of the vehicle lack of electricity, the second strategy is to directly allocate the regulating and controlling vehicle to the position of the vehicle lack of electricity and supplement the energy of the vehicle lack of electricity to the position enough to start and reach the fixed charging for charging, and preferably, the control device of the replenishment station can also charge while walking after the vehicle can start, and in this way, the vehicle is required to be provided with wireless charging. When the vehicle reaches a fixed charging position, the charging pile is connected for automatic charging, preferably, the charging arm can be controlled by the control equipment of the supply station to automatically align with a charging port of the vehicle for charging, the energy source supplementing arm can also be automatically controlled to supplement hydrogen for the vehicle, or the operation of replacing the storage battery or the super capacitor in the vehicle by the battery replacing arm is controlled according to the requirements of a user.
Preferably, the first communication unit can directly communicate with the adjacent replenishment station control devices, the communication is performed on the premise that the upper control device clearly informs the currently determined two replenishment station control devices through the communication unit of the upper control device, and sends corresponding shared communication codes, and the adjacent replenishment station control devices perform mutual communication after mutually verifying through the shared communication codes.
The energy supply automation equipment comprises an energy supply arm and a switching arm, wherein the energy supply arm comprises a switching switch, and hydrogen or fuel can be switched and output through switching of the switching switch.
FIG. 3 is a schematic diagram of a computing unit according to the present invention. The energy supply automation equipment comprises a computing unit, a power computing unit and a control unit, wherein the computing unit comprises a time computing unit, a quality computing unit, a speed computing unit, a coefficient distributing unit, a power computing unit and a selecting unit; the time calculation unit calculates replenishment time and respectively sends the replenishment time to a prediction unit and a speed calculation unit, the prediction unit predicts the congestion degree in the replenishment time after receiving the replenishment time and transmits the congestion degree to the coefficient distribution unit, the coefficient distribution unit calculates a congestion coefficient according to the received congestion degree, selects different distribution coefficients according to the configuration of the regulating cars and the configuration of different regulating cars and sends the different distribution coefficients to the quality calculation unit, the quality calculation unit sends the calculated quality to the power calculation unit, the speed calculation unit sends the calculated speed to the power calculation unit, and the coefficient distribution unit sends the congestion coefficient to the power calculation unit; the power calculation unit calculates power according to the received parameters, numbers and sequences different power corresponding to different control cars, and sends sequencing results to the selection unit for selection, wherein the number of the control car with the lowest power consumption at the selected position of the selection unit and the corresponding first power value are fed back and sent to the upper control equipment through the first communication unit.
The energy supply automation device, the calculation unit calculates the first power value P1(t) is calculated specifically by:
v1for regulating the speed of the vehicle, m1(t) mass of the regulating vehicle as a function of time t, a1、b1、c1Weight coefficient, Fa(t) is the aerodynamic coefficient of friction, Fr(t) is the rolling coefficient, Fg(t) force due to gravity on inclined road surfaces; delta is a congestion coefficient, and the congestion coefficient is calculated through a coefficient distribution unit according to the congestion degree predicted by the prediction unit;
Figure BDA0002301138460000072
wherein, mu1The residual proportion of hydrogen is 0-1, m11(t) is the mass of hydrogen;
Figure BDA0002301138460000073
the storage battery existence coefficient is taken as 0 or 1, the regulation and control vehicle takes 1 when being configured with the storage battery, and takes 0 and m when not being configured12(t) mass of the battery;
Figure BDA0002301138460000074
the value of the coefficient of existence of the super capacitor is 0 or 1, the value of the super capacitor is 1 when the regulation and control vehicle is configured, and the value of the coefficient of existence of the super capacitor is 0, m when the regulation and control vehicle is not configured13(t) mass of the supercapacitor; m is14(t) is the mass of the generator,
Figure BDA0002301138460000075
the value of the existing coefficient of the generator is 0 or 1, the value of the existing coefficient of the generator is 1 when the super capacitor is configured on the regulation and control vehicle, and the value of the existing coefficient of the generator is 0, mu when the super capacitor is not configured on the regulation and control vehicle2The residual proportion of the fuel of the generator is between 0 and 1 according to the proportion;
Figure BDA0002301138460000076
Fr(t)＝m1(t)Crgcos(α)
Fg(t)＝m1(t)gsin(α)
where ρ is the air density, A is the front surface area of the vehicle, g is the acceleration of gravity, CxIs the coefficient of air resistance, CrIs aerodynamic resistance, v1α is the road surface inclination angle for regulating the vehicle speed;
the energy supply automation equipment is configured according to the types of different control cars, the coefficient calculation unit of the receiving calculation unit carries out automatic control, the calculation unit receives the environment monitored by the environment monitoring equipment, and a is carried out according to the current wind speed, humidity and temperature1、b1、c1Arrangement of the weighting coefficients, a1、b1、c1Is between 0.9 and 1.1.
The energy supply automation device may further include: the upper control device determines a first position of an energy replenishment demand after receiving an energy replenishment demand request, searches for at least two replenishment station control devices located closest to the first position according to the first position, and sends replenishment control commands to the two replenishment station control devices, the two replenishment station control devices perform replenishment power calculation according to the replenishment control commands and aiming at the configuration state of respective regulating and controlling vehicles, and feeds back the lowest value of the respective replenishment power consumption to the upper control device, the upper control device compares the two received replenishment power consumption values, determines the lowest value of the power consumption, and then sends the replenishment command to perform energy replenishment.
Fig. 4 is a schematic diagram of the control method of the present invention. A control method of an energy supply automation device as described in any one of the above, comprising the steps of:
1) the upper control equipment receives a first request of energy supply of a user and determines a first position sent by the first request;
2) according to the first position, searching a first replenishment station control device and a second replenishment station control device which are located closest to the first position, and sending a first replenishment control command to the first replenishment station control device and the second replenishment station control device;
3) a first replenishment station control device and a second replenishment station control device calculate replenishment power according to the first replenishment control command and aiming at the configuration state of each regulating and controlling vehicle, wherein the first replenishment station control device calculates a first minimum power consumption value, and the second replenishment station control device calculates a second minimum power consumption value; respectively feeding back and sending the first minimum power consumption value and the second minimum power consumption value to the upper control equipment;
4) and the upper control equipment compares the first minimum power consumption value with the second minimum power consumption value, determines the lowest power consumption value, then sends a second replenishment command, and determines the lowest power consumption regulation vehicle to replenish the energy for the user.
Preferably, the control vehicle with the lowest next power consumption can be selected according to the congestion coefficient, and after the vehicle is supplemented to the extent that the vehicle can reach the nearest energy supplement station, energy supplement is directly performed through the energy supplement station.
According to the control method, the first replenishment station control device and the second replenishment station control device respectively comprise a calculation unit, power calculation is carried out through the calculation unit, and the calculation unit comprises a time calculation unit, a quality calculation unit, a speed calculation unit, a coefficient distribution unit, a power calculation unit and a selection unit; the time calculation unit calculates replenishment time and respectively sends the replenishment time to a prediction unit and a speed calculation unit, the prediction unit predicts the congestion degree in the replenishment time after receiving the replenishment time and transmits the congestion degree to the coefficient distribution unit, the coefficient distribution unit calculates a congestion coefficient according to the received congestion degree, selects different distribution coefficients according to the configuration of the regulating cars and the configuration of different regulating cars and sends the different distribution coefficients to the quality calculation unit, the quality calculation unit sends the calculated quality to the power calculation unit, the speed calculation unit sends the calculated speed to the power calculation unit, and the coefficient distribution unit sends the congestion coefficient to the power calculation unit; the power calculation unit calculates power according to the received parameters, numbers and sequences different power corresponding to different regulating and controlling vehicles, and sends sequencing results to the selection unit for selection, wherein the number of the regulating and controlling vehicle with the minimum power consumption at the selected position of the selection unit and a corresponding first power value are fed back and sent to the upper control equipment through the first communication unit;
the calculation unit performs power calculation by:
Figure BDA0002301138460000081
v1for regulating the speed of the vehicle, m1(t) mass of the regulating vehicle as a function of time t, a1、b1、c1Weight coefficient, Fa(t) is the aerodynamic coefficient of friction, Fr(t) is the rolling coefficient, Fg(t) force due to gravity on inclined road surfaces; delta is a congestion coefficient, and the congestion coefficient is calculated through a coefficient distribution unit according to the congestion degree predicted by the prediction unit;
wherein, mu1The residual proportion of hydrogen is 0-1, m11(t) is the mass of hydrogen;
Figure BDA0002301138460000092
the storage battery existence coefficient is taken as 0 or 1, the regulation and control vehicle takes 1 when being configured with the storage battery, and takes 0 and m when not being configured12(t) mass of the battery;the value of the coefficient of existence of the super capacitor is 0 or 1, the value of the super capacitor is 1 when the regulation and control vehicle is configured, and the value of the coefficient of existence of the super capacitor is 0, m when the regulation and control vehicle is not configured13(t) mass of the supercapacitor; m is14(t) is the mass of the generator,
Figure BDA0002301138460000094
the value of the existing coefficient of the generator is 0 or 1, the value of the existing coefficient of the generator is 1 when the super capacitor is configured on the regulation and control vehicle, and the value of the existing coefficient of the generator is 0, mu when the super capacitor is not configured on the regulation and control vehicle2The residual proportion of the fuel of the generator is between 0 and 1 according to the proportion;
Figure BDA0002301138460000095
Fr(t)＝m1(t)Crgcos(α)
Fg(t)＝m1(t)gsin(α)
where ρ is the air density, A is the front surface area of the vehicle, g is the acceleration of gravity, CxIs the coefficient of air resistance, CrIs aerodynamic resistance, v1α is the road surface inclination angle for regulating the vehicle speed;
configuring according to the models of different control cars, receiving the coefficient calculation unit of the calculation unit for automatic control, receiving the environment monitored by the environment monitoring equipment by the calculation unit, and performing a according to the current wind speed, humidity and temperature1、b1、c1Arrangement of the weighting coefficients, a1、b1、c1Is between 0.9 and 1.1.
In order to solve the technical problems: the application provides an automatic control device and method for energy supply, which can determine the specific position of a user by determining the request information of energy supply provided by the user, determine the optimal regulation and control vehicle for energy supply by combining congestion, time and weather states, determine the optimal regulation and control vehicle in a single supply control device, search the optimal regulation and control vehicle in an adjacent supply control device, optimally select the optimal regulation and control vehicle and realize automatic control of energy supply. The main improvement point of the invention is that when the power is calculated, the congestion coefficient is considered, an energy model consumed in the operation of the regulating vehicle is established, the congestion coefficient, the operation speed and the environmental resistance are considered in the model, and the corresponding weight coefficient is set when the environmental resistance is considered, so that the weight allocation can be carried out according to the environmental state, and the accurate power calculation is realized; the invention has another improvement point that the accurate quality state is determined through the weight or the operation coefficient according to different types in different regulating vehicles, so that the power with different qualities can be conveniently and accurately matched, and the invention can be used as a further improvement point in the field that the optimal regulating and supplying scheme can be determined through the optimization comparison between different regulating vehicles and supplying control equipment, and the optimal parameters can be conveniently selected through the calculation of different parameters of the calculating unit equipment.

Claims (10)

1. An energy supply automation device, characterized by comprising: the system comprises upper control equipment, supply station control equipment and a regulation and control vehicle; the upper control equipment receives an energy supply demand and sends a control command to the supply control equipment, the supply control equipment carries out supply strategy calculation according to the control command and feeds back the supply strategy to the upper control equipment, the upper control equipment selects the optimal supply strategy according to the fed back supply strategy and sends the optimal supply strategy to the appropriate corresponding supply control equipment, and the supply control equipment controls the regulating and controlling vehicle to execute the supply strategy according to the optimal supply strategy.
2. The energy supply automation device according to claim 1, wherein the replenishment station control device includes a plurality of replenishment station control devices, each replenishment station control device corresponds to a plurality of control cars, and the upper control device communicates with the plurality of replenishment station control devices, respectively.
3. The energy supply automation device according to claim 2, wherein the replenishment station control device includes a first communication unit, a second communication unit, a calculation unit, a charging arm, an energy supply arm, a battery replacement arm, a prediction unit, and a drive unit, the first communication unit and the second communication unit are respectively connected to the calculation unit, and the calculation unit drives the charging arm, the energy supply arm, and the battery replacement arm through the drive unit; the prediction unit is connected with the calculation unit and used for transmitting road condition prediction information to the calculation unit, the first communication unit is communicated with the upper control equipment, the second communication unit is communicated with the regulation and control vehicle, the charging arm receives a driving signal sent by the calculation unit and is used for automatically controlling charging of the vehicle, the energy supplementing arm receives the driving signal sent by the calculation unit and is used for automatically controlling hydrogen or fuel oil supplementing of the vehicle, and the battery replacement arm receives the driving signal sent by the calculation unit and is used for automatically controlling battery replacement of the vehicle.
4. The energy supply automation device according to claim 3, wherein the energy supply arm includes a changeover switch, and by switching of the changeover switch, hydrogen gas or fuel oil can be switched to be output.
5. The energy supply automation device according to claim 3, wherein the calculation unit includes a time calculation unit, a mass calculation unit, a speed calculation unit, a coefficient distribution unit, a power calculation unit, a selection unit; the time calculation unit calculates replenishment time and respectively sends the replenishment time to a prediction unit and a speed calculation unit, the prediction unit predicts the congestion degree in the replenishment time after receiving the replenishment time and transmits the congestion degree to the coefficient distribution unit, the coefficient distribution unit calculates a congestion coefficient according to the received congestion degree, selects different distribution coefficients according to the configuration of the regulating cars and the configuration of different regulating cars and sends the different distribution coefficients to the quality calculation unit, the quality calculation unit sends the calculated quality to the power calculation unit, the speed calculation unit sends the calculated speed to the power calculation unit, and the coefficient distribution unit sends the congestion coefficient to the power calculation unit; the power calculation unit calculates power according to the received parameters, numbers and sequences different power corresponding to different control cars, and sends sequencing results to the selection unit for selection, wherein the number of the control car with the lowest power consumption at the selected position of the selection unit and the corresponding first power value are fed back and sent to the upper control equipment through the first communication unit.
6. The automatic energy supply apparatus according to claim 4, wherein the calculation unit calculates the first power value P1(t) is calculated specifically by:
Figure FDA0002301138450000021
v1for regulating the speed of the vehicle, m1(t) mass of the regulating vehicle as a function of time t, a1、b1、c1Weight coefficient, Fa(t) is the aerodynamic coefficient of friction, Fr(t) is the rolling coefficient, Fg(t) force due to gravity on inclined road surfaces; delta is a congestion coefficient, and the congestion coefficient is calculated through a coefficient distribution unit according to the congestion degree predicted by the prediction unit;
Figure FDA0002301138450000022
wherein, mu1The residual proportion of hydrogen is 0-1, m11(t) is the mass of hydrogen;
Figure FDA0002301138450000023
the storage battery existence coefficient is taken as 0 or 1, the regulation and control vehicle takes 1 when being configured with the storage battery, and takes 0 and m when not being configured12(t) mass of the battery;
Figure FDA0002301138450000024
the value of the coefficient of existence of the super capacitor is 0 or 1, the value of the super capacitor is 1 when the regulation and control vehicle is configured, and the value of the coefficient of existence of the super capacitor is 0, m when the regulation and control vehicle is not configured13(t) mass of the supercapacitor; m is14(t) is the mass of the generator,the value of the existing coefficient of the generator is 0 or 1, the value of the existing coefficient of the generator is 1 when the super capacitor is configured on the regulation and control vehicle, and the value of the existing coefficient of the generator is 0, mu when the super capacitor is not configured on the regulation and control vehicle2The residual proportion of the fuel of the generator is between 0 and 1 according to the proportion;
Figure FDA0002301138450000026
Fr(t)＝m1(t)Crgcos(α)
Fg(t)＝m1(t)gsin(α)
where ρ is the air density, A is the front surface area of the vehicle, g is the acceleration of gravity, CxIs the coefficient of air resistance, CrIs aerodynamic resistance, v1To regulate the vehicle speed of the vehicle, α is the road inclination angle.
7. The automatic power supply equipment according to claim 6, wherein the coefficient calculating unit of the receiving calculating unit is configured according to models of different control cars, and the coefficient calculating unit is automatically controlled, and the calculating unit receives the environment monitored by the environment monitoring equipment, and performs a according to the current wind speed, humidity and temperature1、b1、c1Arrangement of the weighting coefficients, a1、b1、c1Is 0.9-1.1.
8. The energy supply automation device of claim 1 wherein the optimal replenishment strategy specifically comprises: the upper control device determines a first position of an energy replenishment demand after receiving an energy replenishment demand request, searches for at least two replenishment station control devices located closest to the first position according to the first position, and sends replenishment control commands to the two replenishment station control devices, the two replenishment station control devices perform replenishment power calculation according to the replenishment control commands and aiming at the configuration state of respective regulating and controlling vehicles, and feeds back the lowest value of the respective replenishment power consumption to the upper control device, the upper control device compares the two received replenishment power consumption values, determines the lowest value of the power consumption, and then sends the replenishment command to perform energy replenishment.
9. A control method of an energy supply automation device according to any one of claims 1 to 8, characterized by comprising the steps of:
1) the upper control equipment receives a first request of energy supply of a user and determines a first position sent by the first request;
2) according to the first position, searching a first replenishment station control device and a second replenishment station control device which are located closest to the first position, and sending a first replenishment control command to the first replenishment station control device and the second replenishment station control device;
3) a first replenishment station control device and a second replenishment station control device calculate replenishment power according to the first replenishment control command and aiming at the configuration state of each regulating and controlling vehicle, wherein the first replenishment station control device calculates a first minimum power consumption value, and the second replenishment station control device calculates a second minimum power consumption value; respectively feeding back and sending the first minimum power consumption value and the second minimum power consumption value to the upper control equipment;
4) and the upper control equipment compares the first minimum power consumption value with the second minimum power consumption value, determines the lowest power consumption value, then sends a second replenishment command, and determines the lowest power consumption regulation vehicle to replenish the energy for the user.
10. The control method according to claim 9, wherein each of the first replenishment station control apparatus and the second replenishment station control apparatus includes a calculation unit by which power calculation is performed, the calculation unit including a time calculation unit, a mass calculation unit, a speed calculation unit, a coefficient distribution unit, a power calculation unit, a selection unit; the time calculation unit calculates replenishment time and respectively sends the replenishment time to a prediction unit and a speed calculation unit, the prediction unit predicts the congestion degree in the replenishment time after receiving the replenishment time and transmits the congestion degree to the coefficient distribution unit, the coefficient distribution unit calculates a congestion coefficient according to the received congestion degree, selects different distribution coefficients according to the configuration of the regulating cars and the configuration of different regulating cars and sends the different distribution coefficients to the quality calculation unit, the quality calculation unit sends the calculated quality to the power calculation unit, the speed calculation unit sends the calculated speed to the power calculation unit, and the coefficient distribution unit sends the congestion coefficient to the power calculation unit; the power calculation unit calculates power according to the received parameters, numbers and sequences different power corresponding to different regulating and controlling vehicles, and sends sequencing results to the selection unit for selection, wherein the number of the regulating and controlling vehicle with the minimum power consumption at the selected position of the selection unit and a corresponding first power value are fed back and sent to the upper control equipment through the first communication unit;
the calculation unit performs power calculation by:
Figure FDA0002301138450000031
v1for regulating the speed of the vehicle, m1(t) for regulating the variation of the vehicle with time tMass, a1、b1、c1Weight coefficient, Fa(t) is the aerodynamic coefficient of friction, Fr(t) is the rolling coefficient, Fg(t) force due to gravity on inclined road surfaces; delta is a congestion coefficient, and the congestion coefficient is calculated through a coefficient distribution unit according to the congestion degree predicted by the prediction unit;
Figure FDA0002301138450000041
wherein, mu1The residual proportion of hydrogen in the fuel cell is between 0 and 1, and m11(t) is the mass of hydrogen in the fuel cell;
Figure FDA0002301138450000042
the storage battery existence coefficient is taken as 0 or 1, the regulation and control vehicle takes 1 when being configured with the storage battery, and takes 0 and m when not being configured12(t) mass of the battery;
Figure FDA0002301138450000043
the value of the coefficient of existence of the super capacitor is 0 or 1, the value of the super capacitor is 1 when the regulation and control vehicle is configured, and the value of the coefficient of existence of the super capacitor is 0, m when the regulation and control vehicle is not configured13(t) mass of the supercapacitor; m is14(t) is the mass of the generator,
Figure FDA0002301138450000044
the value of the existing coefficient of the generator is 0 or 1, the value of the existing coefficient of the generator is 1 when the super capacitor is configured on the regulation and control vehicle, and the value of the existing coefficient of the generator is 0, mu when the super capacitor is not configured on the regulation and control vehicle2The residual proportion of the fuel of the generator is between 0 and 1 according to the proportion;
Figure FDA0002301138450000045
Fr(t)＝m1(t)Crgcos(α)
Fg(t)＝m1(t)gsin(α)
where ρ is the air density, A is the front surface area of the vehicle,g is the acceleration of gravity, CxIs the coefficient of air resistance, CrIs aerodynamic resistance, v1α is the road surface inclination angle for regulating the vehicle speed;
configuring according to the models of different control cars, receiving the coefficient calculation unit of the calculation unit for automatic control, receiving the environment monitored by the environment monitoring equipment by the calculation unit, and performing a according to the current wind speed, humidity and temperature1、b1、c1Arrangement of the weighting coefficients, a1、b1、c1Is between 0.9 and 1.1.
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