CN210027396U - Intelligent control device for heavy AGV frame transport vehicle - Google Patents
Intelligent control device for heavy AGV frame transport vehicle Download PDFInfo
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- CN210027396U CN210027396U CN201920703379.0U CN201920703379U CN210027396U CN 210027396 U CN210027396 U CN 210027396U CN 201920703379 U CN201920703379 U CN 201920703379U CN 210027396 U CN210027396 U CN 210027396U
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Abstract
The utility model discloses a heavy AGV frame transport vechicle intelligent control device specifically includes: the sensor unit is used for detecting the weight information of different positions of the AGV frame transport vehicle and the real-time position information of the AGV frame transport vehicle; receive the data information's of sensor unit conveying whole car control module, receive the actuating mechanism of the instruction information of whole car control module conveying, wherein actuating mechanism includes for power battery unit charge and for driving motor provides power compensation's diesel generating set, the power battery unit that storage and output electric energy provide power for the motor and the motor controller of driving walking wheel motor, the device furthest reduces the energy consumption and the emission of AGV frame transport vechicle under the prerequisite of guaranteeing heavy AGV frame transport vechicle power performance, increase duration, improve the availability factor of heavy AGV frame transport vechicle, fully reduced AGV frame transport vechicle full life cycle running cost.
Description
Technical Field
The utility model relates to a steel mill, port transport goods's AGV frame transport vechicle technical field especially relates to a heavy AGV frame transport vechicle intelligent control device.
Background
At present, in order to improve the energy saving performance and the environmental protection performance of the vehicle as much as possible, advanced control strategies are used in a control system of the vehicle. The advanced control strategies used on the current automobile mainly comprise model prediction control, fuzzy control, neural network control, sliding mode variable structure control and the like, the control strategies can reduce the oil consumption of the automobile, but due to the complexity and diversity of the running conditions of the automobile, the control strategies can only increase the economy of the automobile to a certain extent, if the ultimate economy potential of the automobile is required to be exerted, the global optimal control is the current optimal control method, but because the global optimal control needs to determine all the running conditions of the automobile in advance, the control is impossible for the common automobile. The heavy AGV frame transport vehicle is used for transporting cargos in a steel mill and a port, self-tracking running is carried out by means of magnetic nails on the ground, the AGV frame transport vehicle is regulated and controlled by the vehicle-mounted sensor and the controller, the current position of the AGV frame transport vehicle can be automatically identified, and the AGV frame transport vehicle can automatically speed up and down. The existing heavy frame transport vehicle is manually controlled by a driver, the speed of the transport vehicle is controlled by an accelerator pedal, the charging time is manually determined, or the 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 exist.
SUMMERY OF THE UTILITY MODEL
According to the problem that prior art exists, the utility model discloses a heavy AGV frame transport vechicle intelligent control device specifically includes:
the sensor unit is used for detecting the load information of different positions of the AGV frame transport vehicle and the real-time position information of the AGV frame transport vehicle;
receive the whole car control module of the data message of sensor unit conveying receives the actuating mechanism of the instruction message of whole car control module conveying, wherein actuating mechanism includes for power battery unit charge and for motor controller compensation electric energy's diesel generating set, the power battery unit of storage and output electric energy for the motor provides power and the motor controller of the wheel motor is walked in the drive for the motor controller when power battery output capacity is not enough, diesel generating set's output is connected with battery unit and motor controller.
Furthermore, the sensor unit at least comprises a weighing sensor for detecting the load information of different positions of the AGV frame transport vehicle and a magnetic nail detection antenna for detecting the real-time position information of the AGV frame transport vehicle.
Furthermore, the output end of the whole vehicle control module is connected with a hydraulic pump, a motor radiator, a battery radiator and a traveling brake.
Further, the motor radiator and the battery radiator adopt a cooling fan and a cooling pump for heat dissipation.
Since the technical scheme is used, the utility model provides a pair of heavy AGV frame transport vechicle intelligent control device, this controlling means purpose is under the prerequisite of guaranteeing heavy AGV frame transport vechicle power performance, through the application of the global optimal control strategy that whole car control module adopted, thereby furthest reduces the energy consumption and the emission of AGV frame transport vechicle, increase duration, fully reduce AGV frame transport vechicle life cycle running cost, its economic nature and the feature of environmental protection are improved to the at utmost, improve the competitiveness of product. Because the structure is simple, the production is convenient, the cost is very low, and the method is suitable for wide popularization.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of a control circuit of the device of the present invention.
Fig. 2 is a schematic diagram of a power circuit of the device of the present invention.
In the figure: 1. the device comprises a magnetic nail detection antenna, 2, a weighing sensor, 4, a whole vehicle control module, 5, a diesel generator set, 6, a power battery, 7 and a motor controller; 8. hydraulic pump, 9, motor radiator, 10, battery radiator, 11 running brake, 91, cooling fan, 92, cooling pump.
Detailed Description
For making the technical solution and the advantages of the present invention clearer, the following combines the drawings in the embodiments of the present invention, to the technical solution in the embodiments of the present invention is clear and complete description:
the intelligent control device for the heavy AGV frame transport vehicle specifically comprises a sensor unit, wherein the sensor unit specifically comprises a magnetic nail detection antenna 1 for detecting the real-time position of the vehicle, a weighing sensor 2 for measuring the load 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 set 6 for storing and outputting electric energy to provide power for the motor, and a driving motor 7 for driving wheels. The whole vehicle control module 4 adopts off-line simulation to operate a whole vehicle model under the working condition of set state parameters: and obtaining a global optimal control strategy under different mass center positions, different cargo qualities and different track positions by calculating the mass center position and the cargo quality of the whole vehicle. The global optimal control strategy establishes a table look-up module through a table look-up function, wherein the table look-up module stores driving parameters of the motor and the generator under different mass center positions, different weights and different track positions of the vehicle, the X-axis coordinate of the table look-up module is the current position of the whole vehicle, the Y-axis coordinate of the table look-up module is the mass center position and the cargo quality of the whole vehicle, the Z-axis coordinate of the table look-up module is the optimal working state parameter of the diesel generator set and each driving motor at the next moment under different power battery pack electric quantities, and the dynamic and linear optimal control process of the heavy AGV frame transport vehicle is realized by operating.
Further, the output end of the vehicle control module 4 is connected with a hydraulic pump 8, a motor radiator 9, a battery radiator 10 and a traveling brake 11. The circuit structure of the control device is cooled by a motor radiator 9 and a battery radiator 10.
Further, the motor radiator 9 and the battery radiator 10 perform a heat radiation operation using a cooling fan 91 and a cooling pump 92.
As shown in fig. 2: a control method of an intelligent control device 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 the AGV frame transport vehicle through the weighing sensors 2 arranged on the wheels of the AGV frame transport vehicle, and obtaining the position information of the mass and the mass center of the whole AGV frame transport vehicle through data calculation;
s2, acquiring the current running track position information of the AGV frame transport vehicle through the magnetic nail detection antenna 1;
s3, acquiring the electric quantity information of the battery pack;
s4, adopting the global optimal control strategy to select the global optimal control strategy through the query of a table look-up function according to the data information collected in S1, S2 and S3;
and S5, executing control operation on the working states of the diesel generator, the power battery and the driving motors at the next moment of the AGV frame transport vehicle by adopting a global optimal control strategy.
According to the intelligent control device 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 a global optimal control strategy, the cruising ability is increased, the full life cycle operation cost of the AGV frame transport vehicle is fully reduced, the economy and the environmental protection performance of the AGV frame transport vehicle are improved to the maximum extent, and the commodity competitiveness of an enterprise is increased.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (4)
1. The utility model provides a heavy AGV frame transport vechicle intelligent control device which characterized in that includes:
the sensor unit is used for detecting the load information of different positions of the AGV frame transport vehicle and the real-time position information of the AGV frame transport vehicle;
receive whole car control module (4) of data information of sensor unit conveying receives the actuating mechanism of the instruction information of whole car control module (4) conveying, wherein actuating mechanism includes for power battery unit charge and for diesel generating set (5) of motor compensation electric energy, power battery unit (6) and motor controller (7) of drive wheel that storage and output electric energy provide power for the motor when power battery group output capacity is not enough, the output of diesel generating set (5) is connected with battery unit (6) and motor controller (7).
2. The intelligent control of a heavy AGV frame transport vehicle of claim 1 further characterized by: the sensor unit at least comprises a weighing sensor (2) for detecting the load information of different positions of the AGV frame transport vehicle and a magnetic nail detection antenna (1) for detecting the real-time position information of the AGV frame transport vehicle.
3. The intelligent control of a heavy AGV frame transport vehicle of claim 1 further characterized by: the output end of the whole vehicle control module (4) is connected with a hydraulic pump (8), a motor radiator (9), a battery radiator (10) and a walking brake (11).
4. The intelligent control of a heavy AGV frame transport vehicle of claim 3 further characterized by: the motor radiator (9) and the battery radiator (10) adopt a cooling fan (91) and a cooling pump (92) to perform heat dissipation work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920703379.0U CN210027396U (en) | 2019-05-15 | 2019-05-15 | Intelligent control device for heavy AGV frame transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920703379.0U CN210027396U (en) | 2019-05-15 | 2019-05-15 | Intelligent control device for heavy AGV frame transport vehicle |
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| Publication Number | Publication Date |
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| CN210027396U true CN210027396U (en) | 2020-02-07 |
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| CN201920703379.0U Active CN210027396U (en) | 2019-05-15 | 2019-05-15 | Intelligent control device for heavy AGV frame transport vehicle |
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- 2019-05-15 CN CN201920703379.0U patent/CN210027396U/en active Active
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