CN112421707A - Electric energy scheduling method for underwater power supply system - Google Patents
Electric energy scheduling method for underwater power supply system Download PDFInfo
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- CN112421707A CN112421707A CN202011136102.8A CN202011136102A CN112421707A CN 112421707 A CN112421707 A CN 112421707A CN 202011136102 A CN202011136102 A CN 202011136102A CN 112421707 A CN112421707 A CN 112421707A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0068—Battery or charger load switching, e.g. concurrent charging and load supply
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
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Abstract
The invention belongs to the field of underwater charging, and provides an electric energy scheduling method of an underwater power supply system. An electric energy scheduling method of an underwater power supply system comprises a shore station and power supply nodes; the shore station is an underwater power supply control center, and the power supply node supplies power to the cable-free underwater robot; the electric energy scheduling method of the underwater power supply system continuously charges the underwater power supply system, ensures that only one power supply node is in a charging stage at any time, and solves the conflict of charging and discharging of the power supply nodes.
Description
Technical Field
The invention relates to the field of underwater charging, in particular to an electric energy scheduling method of an underwater power supply system.
Background
In order to simplify the system, a strategy of using and supplementing is adopted in a general underwater power supply system, when a power supply node is not full and an underwater robot does not visit, a power supply node battery pack is supplemented, although the method is simple, the conflict of charging and discharging of the power supply node is not solved, the average turnover time of the system is greatly increased by a blocking type charging mode, and the electric quantity configuration of each node of the underwater power supply system cannot be managed. Particularly, one underwater power supply system serves a plurality of cableless underwater robots, once the plurality of underwater robots access a plurality of underwater power supply nodes in parallel and leave, the nodes enter a charging blocking state and cannot supply power outwards, so that usable nodes of the subsequent cableless underwater robots needing to be charged are greatly reduced, the time spent on searching the usable underwater power supply nodes is increased, and the efficiency of the underwater power supply system is reduced.
Disclosure of Invention
In order to solve the problems in the technical background, the invention provides an electric energy scheduling method of an underwater power supply system.
The technical scheme of the invention is as follows:
an electric energy scheduling method of an underwater power supply system comprises a shore station and power supply nodes; the shore station is an underwater power supply control center, and the power supply node supplies power to the cable-free underwater robot;
the power supply node is internally provided with a battery pack for storing energy, and the node battery pack is used for charging the cable-free underwater robot, so that the quick and high-power output can be realized, and the problem of limited cable transmission energy is solved;
the power supply weight w exists in the power supply nodeiRecording the numerical value of the charging electric quantity required by the battery pack of the power supply node, and providing that the battery pack of the power supply node discharges to supply power to the cableless underwater robot by unit discharging electric quantity e, and the full-charge state of the cableless underwater robot consumes the electric quantity of the battery pack of the power supply node as integral multiple of the unit discharging electric quantity e, so that the power supply weight wiIs an integer, the electric quantity is E when the power supply node is fully charged, and the initialization is carried out
wiIs an integer; for better battery life and charge speed, the battery is charged and discharged between 20% -80% of the charge, so wiIn the range of
The method comprises the following steps:
the method comprises the following steps: the underwater power supply system is assumed to be composed of a shore station and N power supply nodes; all power supply nodes are full of electricity under the initial condition, and the power supply weight w of the power supply nodesiIs 0; all power supply nodes use the power supply weight w of the power supply nodesiTransmitting the shore station, and obtaining the power supply weight w of the power supply node by the shore stationiGroup (d); the shore station records the nodes needing to be charged by using the maximum stack according to the power supply weight w of the power supply nodesiDetermining the node ordering of the maximum heap, wiNo storage is done at 0, so the shore station maximum stack start case is empty;
step two: when the coverage area of an underwater power supply system of the cableless underwater robot works to low electric quantity, the cableless underwater robot is close to a nearest power supply node i, the power supply node i supplies power to the cableless underwater robot by unit power supply quantity e, the cableless underwater robot achieves a full-charge state and consumes the battery ke electric quantity of the power supply node i, and the power supply weight w of the nodeiK, the cable-free underwater robot leaves the power supply node i in a full state;
step three: the power supply node i supplies power to the power supply node i by weight wiSending to a shore station control system; the shore station control system is based on the received power supply weight wiThe power supply nodes corresponding to the largest heap are stored by using the largest heap in a sequence from large to small, when the largest heap is not empty, the bank station carries out round-robin charging on the power supply node well recorded by the largest heap, and the charging power is P (P is the maximum charging power which can be provided by the bank station); after all power supply nodes in the stack are charged with the electric quantity e in sequence, the shore station acquires the power supply weight w from the power supply nodes againi，wiWhen the maximum stack is 0, the maximum stack is not stored, and the power supply node in the stack is newly accessed after a new maximum stack is obtainedPerforming the round-robin charging operation until the maximum stack is empty;
the invention has the beneficial effects that: the electric energy scheduling method of the underwater power supply system continuously charges the underwater power supply system, ensures that only one power supply node is in a charging stage at any time, and the other power supply nodes are in a power supply stage, solves the conflict of charging and discharging of the power supply nodes, greatly reduces the average turnover time of the cable-free underwater robot, and improves the working efficiency of the underwater power supply system.
Drawings
FIG. 1 is an architectural diagram of the present invention;
FIG. 2 is a flow chart of the present invention.
Detailed Description
An electric energy scheduling method of an underwater power supply system comprises a shore station and power supply nodes; the shore station is an underwater power supply control center, and the power supply node supplies power to the cable-free underwater robot; the power supply node is internally provided with a battery pack for storing energy, and the node battery pack is used for charging the cable-free underwater robot, so that the quick and high-power output can be realized, and the problem of limited cable transmission energy is solved;
for better explanation, the underwater power supply system is explained by combining with an example of practical application of the invention, and the underwater power supply system consists of a shore station and three power supply nodes, wherein the three power supply nodes are respectively numbered as 1, 2 and 3;
the power supply nodes are arranged according to the design positions, all the power supply nodes are full of electricity under the initial condition, and the power supply weights w of the three nodes1＝w2＝w3When 0, power supply node 1, power supply node 2, and power supply node 3 transmit their own power supply weights w togetheriFor the shore station, the shore station control system obtains the power supply weight w of the power supply nodeiGroup (d); due to w1＝w2＝w3When the stack is 0, the maximum stack established by the shore station is empty;
supposing that when the coverage area of the underwater power supply system of the cable-free underwater robot works to low electric quantity, the cable-free underwater robot is close to the nearest power supply node 3, the electric energy of the battery pack of the power supply node 3 supplies power to the cable-free underwater robot by unit power supply quantity e, and supposing that the cable-free underwater robot works to low electric quantityThe untethered underwater robot reaches a full-charge state to consume the electric quantity of the battery 3e of the power supply node 3, and the power supply weight w of the node33, the cable-free underwater robot leaves the power supply node 3 when reaching a full state;
the power supply node 3 supplies power to the power supply node3Transmitting to a shore station control system, and the shore station according to the power supply weight wiSorting the power supply nodes from large to small by using the maximum heap storage; the maximum pile constructed is only provided with a power supply node 3; the shore station control system charges the maximum pile top power supply node (namely the power supply node 3), and the node charges power P, wherein P is the maximum charging power which can be provided by the shore station. When the power supply node 3 is charged with a unit power supply amount e, the power supply weight w of the power supply node 331 is reduced, then the shore station traverses the next power supply node of the maximum stack backwards, and as the maximum stack only has one power supply node 3, the traversal of the maximum stack is finished, and the shore station acquires the power supply weights w of all the power supply nodes againi(ii) a Supply weight w of a supply nodeiWill send to the shore station again, the shore station control system obtains with new power supply weight wiThen the recalculation builds the maximum heap where w1＝w2＝0，w32, the maximum stack established still only has a power supply node 3; then, the charging operation is carried out in a round-robin manner until the maximum pile established by the shore station is empty;
similarly, it is assumed that in the working stage, the power supply node 2 and the power supply node 3 are charged to respectively charge a cable-free underwater robot, and the power supply weights w of the power supply node 2 and the power supply node 3 are given after the batteries consume power2＝1，w33, the largest pile top established by the shore station is a power supply node 3, and the next node is a power supply node 2; the shore station firstly charges the power supply node 3 at the top of the pile, when the power supply node 3 is charged with a unit power supply amount e, the next power supply node at the bottom of the pile is charged, namely the power supply node 2 is charged, the power supply node 2 is charged with the unit power supply amount e, the largest pile goes through the tail of the pile, and the shore station reappears to obtain the power supply weight w of the power supply nodei(ii) a Since supply node 2 and supply node 3 are each charged with a unit supply e, w2＝0，w32; the shore station reestablishes the maximum heap according to the received power supply weight, at which timeOnly a power supply node 3 is arranged in the stack; and circularly patrolling the operation until the established maximum stack is empty, and fully charging all the power supply nodes.
Claims (2)
1. An electric energy scheduling method of an underwater power supply system is characterized in that the underwater power supply system mainly comprises a shore station and a power supply node; the shore station is an underwater power supply control center, and the power supply node supplies power to the cableless underwater robot;
the power supply node is internally provided with a battery pack for storing energy, and the node battery pack is used for charging the cable-free underwater robot, so that the quick and high-power output is realized, and the problem of limited cable transmission energy is solved;
the power supply weight w exists in the power supply nodeiRecording the numerical value of the charging electric quantity required by the battery pack of the power supply node, and providing that the battery pack of the power supply node discharges to supply power to the cableless underwater robot by unit discharging electric quantity e, and the full-charge state of the cableless underwater robot consumes the electric quantity of the battery pack of the power supply node as integral multiple of the unit discharging electric quantity e, so that the power supply weight wiIs an integer, the electric quantity is E when the power supply node is fully charged, and the initialization is carried out
wiIs an integer; for better battery life and charge speed, the battery is charged and discharged between 20% -80% of the charge, so wiIn the range of
2. The electric energy scheduling method of the underwater power supply system according to claim 1, characterized by comprising the steps of:
the method comprises the following steps: the underwater power supply system is assumed to be composed of a shore station and N power supply nodes; all power supply nodes are full of electricity under the initial condition, and the power supply weight w of the power supply nodesiIs 0; all power supply nodes use the power supply weight w of the power supply nodesiTransmitting the shore station, and obtaining the power supply weight w of the power supply node by the shore stationiGroup (d); bankThe station records the node needing charging according to the maximum stack, and the power supply weight w of the power supply nodeiDetermining the node ordering of the maximum heap, wiNo storage is done at 0, so the shore station maximum stack start case is empty;
step two: when the coverage area of an underwater power supply system of the cableless underwater robot works to low electric quantity, the cableless underwater robot is close to a nearest power supply node i, the power supply node i supplies power to the cableless underwater robot by unit power supply quantity e, the cableless underwater robot achieves a full-charge state and consumes the battery ke electric quantity of the power supply node i, and the power supply weight w of the nodeiK, the cable-free underwater robot leaves the power supply node i in a full state;
step three: the power supply node i supplies power to the power supply node i by weight wiSending to a shore station control system; the shore station control system is based on the received power supply weight wiThe power supply nodes corresponding to the largest stacks are stored by using the largest stacks in sequence from large to small, when the largest stacks are not empty, the shore stations carry out round-robin charging on the power supply nodes recorded by the largest stacks, the charging power is P, and P is the maximum charging power which can be provided by the shore stations; after all power supply nodes in the stack are charged with the electric quantity e in sequence, the shore station acquires the power supply weight w from the power supply nodes againi，wiAnd when the maximum pile is 0, the maximum pile is not stored, and the round-robin charging operation is carried out on the power supply nodes in the pile again after a new maximum pile is obtained until the maximum pile is empty.
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