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CN110806745B - An energy supply automation device and control method - Google Patents

An energy supply automation device and control method Download PDF

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CN110806745B
CN110806745B CN201911224315.3A CN201911224315A CN110806745B CN 110806745 B CN110806745 B CN 110806745B CN 201911224315 A CN201911224315 A CN 201911224315A CN 110806745 B CN110806745 B CN 110806745B
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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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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    • B60L53/60—Monitoring or controlling charging stations
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    • 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
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Abstract

本发明涉及一种能源供给自动化设备及控制方法，包括：上位控制设备、补给站控制设备、调控车；所述上位控制设备接收能源补给需求，发送控制命令到所述补给控制设备，所述补给控制设备根据所述控制命令进行补给策略计算，将补给策略反馈回所述上位控制设备，所述上位控制设备根据反馈的补给策略，选择最佳的补给策略，并将最佳的补给策略发送给适合的对应的补给控制设备，所述补给控制设备根据最佳的补给策略，控制所述调控车执行补给策略。本发明能够根据位置信息确定能源供给消耗的功率最低，针对能源补给进行自动控制，实现快速的进行自动补充能源，降低人工使用成本，节省能源。

Figure 201911224315

The present invention relates to an energy supply automation equipment and a control method, comprising: an upper control equipment, a supply station control equipment, and a control vehicle; the upper control equipment receives energy supply requirements, sends control commands to the supply control equipment, and the supply The control device calculates the replenishment strategy according to the control command, and feeds the replenishment strategy back to the upper control device, and the upper control device selects the best replenishment strategy according to the fed back replenishment strategy, and sends the best replenishment strategy to Suitable corresponding supply control equipment, the supply control equipment controls the control vehicle to implement the supply strategy according to the optimal supply strategy. The present invention can determine the lowest power consumption of energy supply according to the location information, automatically control energy supply, realize fast automatic energy supply, reduce labor cost, and save energy.

Figure 201911224315

Description

一种能源供给自动化设备及控制方法An energy supply automation device and control method

技术领域technical field

本发明属于自动化控制技术领域，特别涉及一种能源供给自动化设备及控制方法。The invention belongs to the technical field of automation control, and in particular relates to an energy supply automation equipment and a control method.

背景技术Background technique

现有技术中，进行能源补充时普遍是需要通过人工的方式，无法实现自动控制的方式进行快速的能源补充，随着自动化控制设备的不断发展，人们不断的将自动化设备应用到各种技术领域，特别是当人工智能的快速发展，工厂的自动化控制不断改进，不断的减少人工的使用，在一些服务领域，如能源补充等，是自动化控制的难点。很明显，随着车辆等不断改进发展，未来对于车辆的能源补充，亟需通过自动化的控制进行实现，尤其是随着电动车的发展，车辆在道路上行驶时，随时都有可能出现供电不足，无法行驶的情况，现有技术是通过拖车进行拖走，但是，这种方式无法进行自动控制，如何使车辆在没有能源的状态时，进行自动化的方式进行能源补充，并且在进行能源补充时，最大限度的节省能源，这是未来急需解决的难题。In the existing technology, it is generally necessary to manually replenish energy, and it is impossible to realize rapid energy replenishment by automatic control. With the continuous development of automation control equipment, people continue to apply automation equipment to various technical fields , especially with the rapid development of artificial intelligence, the continuous improvement of factory automation control, and the continuous reduction of manual use. In some service areas, such as energy supplementation, it is a difficult point for automation control. Obviously, with the continuous improvement and development of vehicles, the energy supplement of vehicles in the future needs to be realized through automatic control, especially with the development of electric vehicles, when vehicles are driving on the road, there may be insufficient power supply at any time , In the case of being unable to drive, the existing technology is towed away by a trailer, but this method cannot be automatically controlled. How to make the vehicle perform energy replenishment in an automated manner when there is no energy, and when performing energy replenishment , to save energy to the greatest extent, which is an urgent problem to be solved in the future.

申请内容application content

本申请一种能源供给自动化设备，包括：上位控制设备、补给站控制设备、调控车；所述上位控制设备接收能源补给需求，发送控制命令到所述补给控制设备，所述补给控制设备根据所述控制命令进行补给策略计算，将补给策略反馈回所述上位控制设备，所述上位控制设备根据反馈的补给策略，选择最佳的补给策略，并将最佳的补给策略发送给适合的对应的补给控制设备，所述补给控制设备根据最佳的补给策略，控制所述调控车执行补给策略。The present application relates to energy supply automation equipment, including: upper control equipment, supply station control equipment, and control vehicles; the upper control equipment receives energy supply requirements, and sends control commands to the supply control equipment. The above control command is used to calculate the supply strategy, and the supply strategy is fed back to the upper control device, and the upper control device selects the best supply strategy according to the fed back supply strategy, and sends the best supply strategy to the appropriate corresponding A supply control device, the supply control device controls the control vehicle to execute the supply strategy according to the optimal supply strategy.

所述的能源供给自动化设备，所述补给站控制设备包括多个，每个补给站控制设备对应多台调控车，所述上位控制设备分别与多个所述补给站控制设备进行通信。As for the energy supply automation equipment, the supply station control equipment includes multiple supply station control equipment, each supply station control equipment corresponds to multiple control vehicles, and the upper control equipment communicates with the multiple supply station control equipment respectively.

所述的能源供给自动化设备，所述补给站控制设备包括第一通信单元、第二通信单元、计算单元、充电臂、能源补充臂、换电臂、预测单元、驱动单元，所述第一通信单元和第二通信单元分别连接所述计算单元，所述计算单元通过所述驱动单元分别驱动充电臂、能源补充臂、换电臂；所述预测单元连接所述计算单元，用于将路况预测信息传输到所述计算单元，所述第一通信单元与所述上位控制设备进行通信，所述第二通信单元与所述调控车进行通信，所述充电臂接收所述计算单元发送的驱动信号，用于自动控制对车辆进行充电，所述能源补充臂接收所述计算单元发送的驱动信号，用于自动控制对车辆进行氢气或者燃油补充，所述换电臂接收所述计算单元发送的驱动信号，用于自动控制对车辆进行电池置换。In the energy supply automation device described above, the supply station control device includes a first communication unit, a second communication unit, a calculation unit, a charging arm, an energy supplementary 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 replenishment arm, and the battery replacement arm respectively through the drive unit; the prediction unit is connected to the calculation unit for predicting road conditions The information is transmitted to the calculation unit, the first communication unit communicates with the upper control device, the second communication unit communicates with the control vehicle, and the charging arm receives the driving signal sent by the calculation unit , used to automatically control the charging of the vehicle, the energy supplement arm receives the drive signal sent by the calculation unit, and is used to automatically control the hydrogen or fuel supplement to the vehicle, and the battery exchange arm receives the drive signal sent by the calculation unit The signal is used to automatically control the battery replacement of the vehicle.

所述的能源供给自动化设备，所述能源补充臂包括切换开关，通过所述切换开关的切换，能够切换输出氢气或者燃油。In the energy supply automation equipment, the energy supply arm includes a switch, and the output of hydrogen or fuel can be switched by switching the switch.

所述的能源供给自动化设备，所述计算单元包括时间计算单元、质量计算单元、速度计算单元、系数分配单元、功率计算单元、选择单元；所述时间计算单元计算补给时间，并将补给时间分别发送给预测单元和速度计算单元，所述预测单元接收所述补给时间后，预测在所述补给时间中的拥堵程度，并将拥堵程度传输给所述系数分配单元，所述系数分配单元根据接收的拥堵程度计算拥堵系数，并根据调控车的配置，根据不同调控车的配置，选择不同的分配系数，发送给质量计算单元，所述质量计算单元将计算的质量发送给所述功率计算单元，所述速度计算单元将计算的速度发送给所述功率计算单元，所述系数分配单元并将拥堵系数发送给所述功率计算单元；所述功率计算单元根据接收的参数，进行功率计算，并将不同功率对应匹配不同的调控车进行编号排序，将排序结果发送给所述选择单元进行选择，所述选择单元选择处消耗功率最小的调控车的编号及其对应的第一功率值通过第一通信单元反馈发送给所述上位控制设备。In the energy supply automation equipment described above, the calculation unit includes 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 the replenishment time, and the replenishment time is respectively After receiving the replenishment time, the prediction unit predicts the degree of congestion in the replenishment time, and transmits the degree of congestion to the coefficient distribution unit, and the coefficient distribution unit according to the received Calculate the congestion coefficient according to the degree of congestion, and according to the configuration of the control vehicle, select different distribution coefficients according to the configuration of different control vehicles, and send it to the quality calculation unit, and 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 allocation unit sends the congestion coefficient to the power calculation unit; the power calculation unit performs power calculation according to the received parameters, and Different powers are correspondingly matched with different control vehicles for numbering sorting, and the sorting results are sent to the selection unit for selection, and the selection unit selects the number of the control vehicle with the smallest power consumption and its corresponding first power value through the first communication The unit feedback is sent to the upper control device.

所述的能源供给自动化设备，所述计算单元计算所述第一功率值P1(t)具体通过下述方式进行计算：In the energy supply automation equipment, the calculating unit calculates the first power value P 1 (t) in the following manner:

Figure BDA0002301138460000021
Figure BDA0002301138460000021

v1为调控车的行车速度，m1(t)为调控车随时间t变化的质量，a1、b1、c1权重系数，Fa(t)为空气动力摩擦系数，Fr(t)为滚动系数，Fg(t)倾斜路面重力产生的力；δ为拥堵系数，依据所述预测单元预测的拥堵程度，通过系数分配单元进行计算；v 1 is the driving speed of the control car, m 1 (t) is the quality of the control car changing with time t, a 1 , b 1 , c 1 weight coefficients, F a (t) is the aerodynamic friction coefficient, F r (t ) is the rolling coefficient, and F g (t) is the force that the gravity of the inclined road surface produces; δ is the congestion coefficient, according to the degree of congestion predicted by the prediction unit, it is calculated by the coefficient distribution unit;

Figure BDA0002301138460000022
Figure BDA0002301138460000022

其中，μ1为燃料电池中氢气的剩余比例，取值为0-1之间，m11(t)为燃料电池中氢气的质量；

Figure BDA0002301138460000023
为蓄电池存在系数，取值为0或者1，调控车配置了蓄电池则取1，未配置则取0，m12(t)为蓄电池的质量；
Figure BDA0002301138460000024
为超级电容存在系数，取值为0或者1，调控车配置了超级电容器则取1，未配置则取0，m13(t)为超级电容的质量；m14(t)为发电机的质量，
Figure BDA0002301138460000025
为发电机存在系数，取值为0或者1，调控车配置了超级电容器则取1，未配置则取0，μ2为发电机燃料的剩余比例，按比例取值0-1之间；Wherein, μ 1 is the remaining proportion of hydrogen in the fuel cell, and the value is between 0-1, and m 11 (t) is the mass of hydrogen in the fuel cell;
Figure BDA0002301138460000023
is the existence coefficient of the battery, which takes a value of 0 or 1. If the control car is equipped with a battery, it takes 1, and if it is not equipped, it takes 0. m 12 (t) is the mass of the battery;
Figure BDA0002301138460000024
is the existence coefficient of the supercapacitor, which takes a value of 0 or 1. If the control car is equipped with a supercapacitor, it takes 1, and if it is not configured, it takes 0. m 13 (t) is the mass of the supercapacitor; m 14 (t) is the mass of the generator ,
Figure BDA0002301138460000025
is the existence coefficient of the generator, which takes a value of 0 or 1. If the control car is equipped with a super capacitor, it takes 1, and if it is not configured, it takes 0. μ 2 is the remaining ratio of generator fuel, and takes a value between 0 and 1 in proportion;

Figure BDA0002301138460000026
Figure BDA0002301138460000026

Fr(t)＝m1(t)Crgcos(α)F r (t)=m 1 (t)C r gcos(α)

Fg(t)＝m1(t)gsin(α)F g (t) = m 1 (t) gsin (α)

其中，ρ为空气密度，A为车的前表面面积，g为重力加速度，Cx为空气阻力系数，Cr为空气动力阻力，v1为调控车的车辆速度，α为路面倾斜角；Among them, ρ is the air density, A is the front surface area of the car, g is the acceleration of gravity, C x is the air resistance coefficient, C r is the aerodynamic resistance, v 1 is the vehicle speed of the control car, and α is the road surface inclination angle;

所述的能源供给自动化设备，根据不同的调控车的车型进行配置，接收计算单元的系数计算单元进行自动控制，所述计算单元接收环境监测设备监测的环境，根据当前风速、湿度、温度进行a1、b1、c1权重系数的配置，a1、b1、c1为0.9-1.1之间。The energy supply automation equipment is configured according to the vehicle type of the control vehicle, and the coefficient calculation unit of the receiving calculation unit performs automatic control. The calculation unit receives the environment monitored by the environmental monitoring equipment, and performs a according to the current wind speed, humidity and temperature 1 , b 1 , c 1 configuration of weight coefficients, a 1 , b 1 , c 1 are between 0.9-1.1.

所述的能源供给自动化设备，所述最佳的补给策略具体包括：所述上位控制设备接收能源补给需求请求后，确定所述能量补给需求的第一位置，根据所述第一位置，查找位于所述第一位置最近的至少两个补给站控制设备，并给所述两个补给站控制设备发送补给控制命令，所述两个补给站控制设备根据所述补给控制命令，针对各自的调控车的配置状态进行补给功率计算，并将各自补给功率消耗的最低值反馈发送给所述上位控制设备，所述上位控制设备根据接收的两个补给功率消耗值进行比较，确定功率消耗最低的那个后，发送给补给命令，进行能源补给。According to the energy supply automation equipment, the optimal supply strategy specifically includes: after the upper control device receives the energy supply demand request, it determines the first position of the energy supply demand, and according to the first position, searches for the The at least two supply station control devices closest to the first position send supply control commands to the two supply station control devices, and the two supply station control devices target their respective control vehicles according to the supply control commands The configuration state of the configuration state is used to calculate the supply power, and feed back the lowest value of the respective supply power consumption to the upper control device. The upper control device compares the two received supply power consumption values and determines the one with the lowest power consumption. , send to the supply command for energy supply.

一种如上述任意一项所述能源供给自动化设备的控制方法，包括如下步骤：A control method for energy supply automation equipment as described in any one of the above, comprising the following steps:

1)上位控制设备接收用户的能源补给的第一请求，确定所述第一请求发出的第一位置；1) The upper control device receives the user's first request for energy supply, and determines the first location where the first request is sent;

2)根据所述第一位置，查找位于所述第一位置最近的第一补给站控制设备和第二补给站控制设备，并给所述第一补给站控制设备和第二补给站控制设备发送第一补给控制命令；2) According to the first position, search for the first supply station control device and the second supply station control device closest to the first position, and send a message to the first supply station control device and the second supply station control device First Supply Control Order;

3)第一补给站控制设备和第二补给站控制设备根据所述第一补给控制命令，针对各自的调控车的配置状态进行补给功率计算，所述第一补给站控制设备计算第一最低消耗功率值，所述第二补给站控制设备计算第二最低消耗功率值；并分别将所述第一最低消耗功率值和所述第二最低消耗功率值反馈发送给所述上位控制设备；3) The first supply station control device and the second supply station control device calculate the supply power according to the first supply control command according to the configuration status of the respective control vehicles, and the first supply station control device calculates the first minimum consumption power value, the second supply station control device calculates a second minimum power consumption value; and feeds back and sends the first minimum power consumption value and the second minimum power consumption value to the upper control device;

4)所述上位控制设备比较所述第一最低消耗功率值和所述第二最低消耗功率值，确定功率消耗最低的那个后，发送给第二补给命令，确定功率消耗最低的那个调控车对用户进行能源补给。4) The upper control device compares the first minimum power consumption value and the second minimum power consumption value, and after determining the one with the lowest power consumption, sends it to the second supply command to determine the control vehicle pair with the lowest power consumption The user performs energy replenishment.

所述的控制方法，所述第一补给站控制设备和第二补给站控制设备均包括计算单元，通过所述计算单元进行功率计算，所述计算单元包括时间计算单元、质量计算单元、速度计算单元、系数分配单元、功率计算单元、选择单元；所述时间计算单元计算补给时间，并将补给时间分别发送给预测单元和速度计算单元，所述预测单元接收所述补给时间后，预测在所述补给时间中的拥堵程度，并将拥堵程度传输给所述系数分配单元，所述系数分配单元根据接收的拥堵程度计算拥堵系数，并根据调控车的配置，根据不同调控车的配置，选择不同的分配系数，发送给质量计算单元，所述质量计算单元将计算的质量发送给所述功率计算单元，所述速度计算单元将计算的速度发送给所述功率计算单元，所述系数分配单元并将拥堵系数发送给所述功率计算单元；所述功率计算单元根据接收的参数，进行功率计算，并将不同功率对应匹配不同的调控车进行编号排序，将排序结果发送给所述选择单元进行选择，所述选择单元选择处消耗功率最小的调控车的编号及其对应的第一功率值通过第一通信单元反馈发送给所述上位控制设备；In the control method, the first supply station control device and the second supply station control device both include a calculation unit, and the power calculation is performed through the calculation unit, and the calculation unit includes a time calculation unit, a mass calculation unit, a speed calculation unit, and a speed calculation unit. unit, a coefficient distribution unit, a power calculation unit, and a selection unit; the time calculation unit calculates the replenishment time, and sends the replenishment time to the prediction unit and the speed calculation unit respectively, and after the prediction unit receives the replenishment time, it predicts that the The congestion degree in the replenishment time is described, and the congestion degree is transmitted to the coefficient distribution unit, and the coefficient distribution unit calculates the congestion coefficient according to the received congestion degree, and selects different The distribution coefficient is sent 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 and The congestion coefficient is sent to the power calculation unit; the power calculation unit performs power calculation according to the received parameters, and performs numbering and sorting of different control vehicles corresponding to different powers, and sends the sorting results to the selection unit for selection The selection unit selects the serial number of the regulating vehicle with the smallest power consumption and its corresponding first power value and sends it to the upper control device through the first communication unit;

所述计算单元通过下述方式进行功率计算：The calculation unit performs power calculation in the following manner:

Figure BDA0002301138460000041
Figure BDA0002301138460000041

v1为调控车的行车速度，m1(t)为调控车随时间t变化的质量，a1、b1、c1权重系数，Fa(t)为空气动力摩擦系数，Fr(t)为滚动系数，Fg(t)倾斜路面重力产生的力；δ为拥堵系数，依据所述预测单元预测的拥堵程度，通过系数分配单元进行计算；v 1 is the driving speed of the control car, m 1 (t) is the quality of the control car changing with time t, a 1 , b 1 , c 1 weight coefficients, F a (t) is the aerodynamic friction coefficient, F r (t ) is the rolling coefficient, and F g (t) is the force that the gravity of the inclined road surface produces; δ is the congestion coefficient, according to the degree of congestion predicted by the prediction unit, it is calculated by the coefficient distribution unit;

Figure BDA0002301138460000042
Figure BDA0002301138460000042

其中，μ1为燃料电池中氢气的剩余比例，取值为0-1之间，m11(t)为燃料电池中氢气的质量；

Figure BDA0002301138460000043
为蓄电池存在系数，取值为0或者1，调控车配置了蓄电池则取1，未配置则取0，m12(t)为蓄电池的质量；
Figure BDA0002301138460000044
为超级电容存在系数，取值为0或者1，调控车配置了超级电容器则取1，未配置则取0，m13(t)为超级电容的质量；m14(t)为发电机的质量，
Figure BDA0002301138460000045
为发电机存在系数，取值为0或者1，调控车配置了超级电容器则取1，未配置则取0，μ2为发电机燃料的剩余比例，按比例取值0-1之间；Wherein, μ 1 is the remaining proportion of hydrogen in the fuel cell, and the value is between 0-1, and m 11 (t) is the mass of hydrogen in the fuel cell;
Figure BDA0002301138460000043
is the existence coefficient of the battery, which takes a value of 0 or 1. If the control car is equipped with a battery, it takes 1, and if it is not equipped, it takes 0. m 12 (t) is the mass of the battery;
Figure BDA0002301138460000044
is the existence coefficient of the supercapacitor, which takes a value of 0 or 1. If the control car is equipped with a supercapacitor, it takes 1, and if it is not configured, it takes 0. m 13 (t) is the mass of the supercapacitor; m 14 (t) is the mass of the generator ,
Figure BDA0002301138460000045
is the existence coefficient of the generator, which takes a value of 0 or 1. If the control car is equipped with a super capacitor, it takes 1, and if it is not configured, it takes 0. μ 2 is the remaining ratio of generator fuel, and takes a value between 0 and 1 in proportion;

Figure BDA0002301138460000046
Figure BDA0002301138460000046

Fr(t)＝m1(t)Crgcos(α)F r (t)=m 1 (t)C r gcos(α)

Fg(t)＝m1(t)gsin(α)F g (t) = m 1 (t) gsin (α)

其中，ρ为空气密度，A为车的前表面面积，g为重力加速度，Cx为空气阻力系数，Cr为空气动力阻力，v1为调控车的车辆速度，α为路面倾斜角；Among them, ρ is the air density, A is the front surface area of the car, g is the acceleration of gravity, C x is the air resistance coefficient, C r is the aerodynamic resistance, v 1 is the vehicle speed of the control car, and α is the road surface inclination angle;

根据不同的调控车的车型进行配置，接收计算单元的系数计算单元进行自动控制，所述计算单元接收环境监测设备监测的环境，根据当前风速、湿度、温度进行a1、b1、c1权重系数的配置，a1、b1、c1为0.9-1.1之间。Configure according to different models of control vehicles, receive the coefficient calculation unit of the calculation unit for automatic control, the calculation unit receives the environment monitored by the environmental monitoring equipment, and calculates the weights of a 1 , b 1 , and c 1 according to the current wind speed, humidity, and temperature The configuration of coefficients, a 1 , b 1 , and c 1 are between 0.9-1.1.

为解决上述技术问题：本申请提出一种能源补给自动控制设备及方法，通过确定用户提出能源补充的请求信息，确定其具体位置，结合拥堵，时间，以及天气状态，确定最佳的能源补充的调控车，不仅能够在单个补给控制设备中的确定出最佳的调控车，还能够在相邻的补给控制设备中查找最佳的调控车，做到最优选择，实现能源补给的自动化控制。作为本发明的主要改进点在于，在进行功率计算时，考虑拥堵系数，建立调控车运行中消耗的能量模型，在模型中考虑拥堵系数，运行速度以及环境阻力，在考虑环境阻力的时候设置相应的权重系数，能够根据环境状态进行权重调配，实现准确的功率计算；作为本发明的另一改进点是，根据不同调控车中不同类型，通过权重或运行系数，确定准确的质量状态，方便能够准确的匹配不同质量的功率，作为本领域的又一个改进点是，能够进行不同调控车和补给控制设备之间的优化对比，确定最优的调控补给方案，通过计算单元设备不同的参数计算，方便选择出最佳的参数。In order to solve the above technical problems: this application proposes an energy supply automatic control device and method, by determining the user’s request information for energy supply, determining its specific location, combined with congestion, time, and weather conditions, to determine the best energy supply. The control vehicle can not only determine the best control vehicle in a single supply control device, but also find the best control vehicle in adjacent supply control equipment, so as to achieve the optimal choice and realize the automatic control of energy supply. As the main improvement of the present invention, when calculating the power, the congestion coefficient is considered, and the energy model consumed in the operation of the control car is established. The congestion coefficient, running speed and environmental resistance are considered in the model, and the corresponding parameters are set when considering the environmental resistance. The weight coefficient can be adjusted according to the environmental state to realize accurate power calculation; as another improvement point of the present invention, according to the different types of different control vehicles, the accurate quality state can be determined through the weight or operating coefficient, which is convenient and can be Accurately matching power of different qualities, as another improvement point in this field, can carry out optimization comparison between different control vehicles and supply control equipment, determine the optimal control supply scheme, and calculate through different parameters of the calculation unit equipment, It is convenient to choose the best parameters.

附图说明Description of drawings

图1为本发明一种能源供给自动化设备的示意图。Fig. 1 is a schematic diagram of an energy supply automation device according to the present invention.

图2为发明补给站控制设备的示意图。Fig. 2 is a schematic diagram of the inventive supply station control device.

图3为本发明计算单元的示意图。Fig. 3 is a schematic diagram of the computing unit of the present invention.

图4为本发明控制方法的示意图。Fig. 4 is a schematic diagram of the control method of the present invention.

具体实施方式Detailed ways

下面结合附图对本申请作进一步详细描述，有必要在此指出的是，以下具体实施方式只用于对本申请进行进一步的说明，不能理解为对本申请保护范围的限制，该领域的技术人员可以根据上述申请内容对本申请作出一些非本质的改进和调整。The application will be described in further detail below in conjunction with the accompanying drawings. It is necessary to point out that the following specific embodiments are only used to further illustrate the application, and cannot be interpreted as limiting the protection scope of the application. The above application content makes some non-essential improvements and adjustments to this application.

如图1所示，为本发明一种能源供给自动化设备的示意图。As shown in FIG. 1 , it is a schematic diagram of an energy supply automation equipment of the present invention.

本申请一种能源供给自动化设备，包括：上位控制设备、补给站控制设备、调控车；所述上位控制设备接收能源补给需求，发送控制命令到所述补给控制设备，所述补给控制设备根据所述控制命令进行补给策略计算，将补给策略反馈回所述上位控制设备，所述上位控制设备根据反馈的补给策略，选择最佳的补给策略，并将最佳的补给策略发送给适合的对应的补给控制设备，所述补给控制设备根据最佳的补给策略，控制所述调控车执行补给策略。The present application relates to energy supply automation equipment, including: upper control equipment, supply station control equipment, and control vehicles; the upper control equipment receives energy supply requirements, and sends control commands to the supply control equipment. The above control command is used to calculate the supply strategy, and the supply strategy is fed back to the upper control device, and the upper control device selects the best supply strategy according to the fed back supply strategy, and sends the best supply strategy to the appropriate corresponding A supply control device, the supply control device controls the control vehicle to execute the supply strategy according to the optimal supply strategy.

所述的能源供给自动化设备，所述补给站控制设备包括多个，每个补给站控制设备对应多台调控车，所述上位控制设备分别与多个所述补给站控制设备进行通信。As for the energy supply automation equipment, the supply station control equipment includes multiple supply station control equipment, each supply station control equipment corresponds to multiple control vehicles, and the upper control equipment communicates with the multiple supply station control equipment respectively.

如图2所示，为发明补给站控制设备的示意图。As shown in FIG. 2 , it is a schematic diagram of the inventive supply station control equipment.

所述的能源供给自动化设备，所述补给站控制设备包括第一通信单元、第二通信单元、计算单元、充电臂、能源补充臂、换电臂、预测单元、驱动单元，所述第一通信单元和第二通信单元分别连接所述计算单元，所述计算单元通过所述驱动单元分别驱动充电臂、能源补充臂、换电臂；所述预测单元连接所述计算单元，用于将路况预测信息传输到所述计算单元，所述第一通信单元与所述上位控制设备进行通信，所述第二通信单元与所述调控车进行通信，所述充电臂接收所述计算单元发送的驱动信号，用于自动控制对车辆进行充电，所述能源补充臂接收所述计算单元发送的驱动信号，用于自动控制对车辆进行氢气或者燃油补充，所述换电臂接收所述计算单元发送的驱动信号，用于自动控制对车辆进行电池置换。In the energy supply automation device described above, the supply station control device includes a first communication unit, a second communication unit, a calculation unit, a charging arm, an energy supplementary 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 replenishment arm, and the battery replacement arm respectively through the drive unit; the prediction unit is connected to the calculation unit for predicting road conditions The information is transmitted to the calculation unit, the first communication unit communicates with the upper control device, the second communication unit communicates with the control vehicle, and the charging arm receives the driving signal sent by the calculation unit , used to automatically control the charging of the vehicle, the energy supplement arm receives the drive signal sent by the calculation unit, and is used to automatically control the hydrogen or fuel supplement to the vehicle, and the battery exchange arm receives the drive signal sent by the calculation unit The signal is used to automatically control the battery replacement of the vehicle.

优选的是，每个补给站控制设备的配置相同，补给站控制设备可以包括多种能源补充策略，第一种是直接调配调控车到达缺电车辆的位置，并将缺电车辆的能源补充完，第二种是直接调配调控车到达缺电车辆的位置，并将缺电车辆的能源补充到足以启动达到固定充电的位置进行充电，优选的是，也可以在车辆能够启动后，边行走边充电，该方式下，需要车辆设置有无线充电。所述车辆到达固定充电位置时，连接充电桩进行自动充电，优选的是，可以通过补给站控制设备控制充电臂自动对准车辆的充电口进行充电，也可以自动控制能源补充臂对车辆进行氢气补充，或者根据用户的需求，控制换电臂对车内的蓄电池或者超级电容器进行置换的操作。Preferably, each replenishment station control device has the same configuration, and the replenishment station control device can include a variety of energy replenishment strategies. The first is to directly deploy the control vehicle to reach the position of the vehicle that is short of power, and replenish the energy of the vehicle short of power. , the second is to directly deploy the control vehicle to reach the position of the vehicle that is short of electricity, and replenish the energy of the vehicle that is short of electricity enough to start charging at a position that is fixed. Charging, in this mode, the vehicle needs to be equipped with wireless charging. When the vehicle arrives at a fixed charging position, it is connected to a charging pile for automatic charging. Preferably, the charging station control device can be used to control the charging arm to automatically align with the charging port of the vehicle for charging, or the energy replenishing arm can be automatically controlled to charge the vehicle with hydrogen. Supplement, or according to the user's needs, control the battery swap arm to replace the battery or supercapacitor in the car.

优选的是，可通过第一通信单元直接与相邻的补给站控制设备进行通信，通信的前提是上位控制设备已明确通过自身的通信单元告知当前确定的是哪两个补给站控制设备，并且发送相应的共享通信码，相邻的补给站控制设备通过所述共享通信码相互验证后进行相互通信。Preferably, the first communication unit can directly communicate with the adjacent supply station control equipment, and the premise of the communication is that the upper control equipment has clearly notified which two supply station control equipments are currently determined through its own communication unit, and The corresponding shared communication code is sent, and the adjacent supply station control devices communicate with each other after mutual authentication through the shared communication code.

所述的能源供给自动化设备，所述能源补充臂包括切换开关，通过所述切换开关的切换，能够切换输出氢气或者燃油。In the energy supply automation equipment, the energy supply arm includes a switch, and the output of hydrogen or fuel can be switched by switching the switch.

如图3所示，为本发明计算单元的示意图。所述的能源供给自动化设备，所述计算单元包括时间计算单元、质量计算单元、速度计算单元、系数分配单元、功率计算单元、选择单元；所述时间计算单元计算补给时间，并将补给时间分别发送给预测单元和速度计算单元，所述预测单元接收所述补给时间后，预测在所述补给时间中的拥堵程度，并将拥堵程度传输给所述系数分配单元，所述系数分配单元根据接收的拥堵程度计算拥堵系数，并根据调控车的配置，根据不同调控车的配置，选择不同的分配系数，发送给质量计算单元，所述质量计算单元将计算的质量发送给所述功率计算单元，所述速度计算单元将计算的速度发送给所述功率计算单元，所述系数分配单元并将拥堵系数发送给所述功率计算单元；所述功率计算单元根据接收的参数，进行功率计算，并将不同功率对应匹配不同的调控车进行编号排序，将排序结果发送给所述选择单元进行选择，所述选择单元选择处消耗功率最小的调控车的编号及其对应的第一功率值通过第一通信单元反馈发送给所述上位控制设备。As shown in FIG. 3 , it is a schematic diagram of the calculation unit of the present invention. In the energy supply automation equipment described above, the calculation unit includes 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 the replenishment time, and the replenishment time is respectively After receiving the replenishment time, the prediction unit predicts the degree of congestion in the replenishment time, and transmits the degree of congestion to the coefficient distribution unit, and the coefficient distribution unit according to the received Calculate the congestion coefficient according to the degree of congestion, and according to the configuration of the control vehicle, select different distribution coefficients according to the configuration of different control vehicles, and send it to the quality calculation unit, and 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 allocation unit sends the congestion coefficient to the power calculation unit; the power calculation unit performs power calculation according to the received parameters, and Different powers are correspondingly matched with different control vehicles for numbering sorting, and the sorting results are sent to the selection unit for selection, and the selection unit selects the number of the control vehicle with the smallest power consumption and its corresponding first power value through the first communication The unit feedback is sent to the upper control device.

所述的能源供给自动化设备，所述计算单元计算所述第一功率值P1(t)具体通过下述方式进行计算：In the energy supply automation equipment, the calculating unit calculates the first power value P 1 (t) in the following manner:

Figure BDA0002301138460000071
Figure BDA0002301138460000071

v1为调控车的行车速度，m1(t)为调控车随时间t变化的质量，a1、b1、c1权重系数，Fa(t)为空气动力摩擦系数，Fr(t)为滚动系数，Fg(t)倾斜路面重力产生的力；δ为拥堵系数，依据所述预测单元预测的拥堵程度，通过系数分配单元进行计算；v 1 is the driving speed of the control car, m 1 (t) is the quality of the control car changing with time t, a 1 , b 1 , c 1 weight coefficients, F a (t) is the aerodynamic friction coefficient, F r (t ) is the rolling coefficient, and F g (t) is the force that the gravity of the inclined road surface produces; δ is the congestion coefficient, according to the degree of congestion predicted by the prediction unit, it is calculated by the coefficient distribution unit;

Figure BDA0002301138460000072
Figure BDA0002301138460000072

其中，μ1为氢气的剩余比例，取值为0-1之间，m11(t)为氢气的质量；

Figure BDA0002301138460000073
为蓄电池存在系数，取值为0或者1，调控车配置了蓄电池则取1，未配置则取0，m12(t)为蓄电池的质量；
Figure BDA0002301138460000074
为超级电容存在系数，取值为0或者1，调控车配置了超级电容器则取1，未配置则取0，m13(t)为超级电容的质量；m14(t)为发电机的质量，
Figure BDA0002301138460000075
为发电机存在系数，取值为0或者1，调控车配置了超级电容器则取1，未配置则取0，μ2为发电机燃料的剩余比例，按比例取值0-1之间；Wherein, μ 1 is the remaining proportion of hydrogen, and the value is between 0-1, and m 11 (t) is the quality of hydrogen;
Figure BDA0002301138460000073
is the existence coefficient of the battery, which takes a value of 0 or 1. If the control car is equipped with a battery, it takes 1, and if it is not equipped, it takes 0. m 12 (t) is the mass of the battery;
Figure BDA0002301138460000074
is the existence coefficient of the supercapacitor, which takes a value of 0 or 1. If the control car is equipped with a supercapacitor, it takes 1, and if it is not configured, it takes 0. m 13 (t) is the mass of the supercapacitor; m 14 (t) is the mass of the generator ,
Figure BDA0002301138460000075
is the existence coefficient of the generator, which takes a value of 0 or 1. If the control car is equipped with a super capacitor, it takes 1, and if it is not configured, it takes 0. μ 2 is the remaining ratio of generator fuel, and takes a value between 0 and 1 in proportion;

Figure BDA0002301138460000076
Figure BDA0002301138460000076

Fr(t)＝m1(t)Crgcos(α)F r (t)=m 1 (t)C r gcos(α)

Fg(t)＝m1(t)gsin(α)F g (t) = m 1 (t) gsin (α)

其中，ρ为空气密度，A为车的前表面面积，g为重力加速度，Cx为空气阻力系数，Cr为空气动力阻力，v1为调控车的车辆速度，α为路面倾斜角；Among them, ρ is the air density, A is the front surface area of the car, g is the acceleration of gravity, C x is the air resistance coefficient, C r is the aerodynamic resistance, v 1 is the vehicle speed of the control car, and α is the road surface inclination angle;

所述的能源供给自动化设备，根据不同的调控车的车型进行配置，接收计算单元的系数计算单元进行自动控制，所述计算单元接收环境监测设备监测的环境，根据当前风速、湿度、温度进行a1、b1、c1权重系数的配置，a1、b1、c1为0.9-1.1之间。The energy supply automation equipment is configured according to the vehicle type of the control vehicle, and the coefficient calculation unit of the receiving calculation unit performs automatic control. The calculation unit receives the environment monitored by the environmental monitoring equipment, and performs a according to the current wind speed, humidity and temperature 1 , b 1 , c 1 configuration of weight coefficients, a 1 , b 1 , c 1 are between 0.9-1.1.

所述的能源供给自动化设备，所述最佳的补给策略具体包括：所述上位控制设备接收能源补给需求请求后，确定所述能量补给需求的第一位置，根据所述第一位置，查找位于所述第一位置最近的至少两个补给站控制设备，并给所述两个补给站控制设备发送补给控制命令，所述两个补给站控制设备根据所述补给控制命令，针对各自的调控车的配置状态进行补给功率计算，并将各自补给功率消耗的最低值反馈发送给所述上位控制设备，所述上位控制设备根据接收的两个补给功率消耗值进行比较，确定功率消耗最低的那个后，发送给补给命令，进行能源补给。According to the energy supply automation equipment, the optimal supply strategy specifically includes: after the upper control device receives the energy supply demand request, it determines the first position of the energy supply demand, and according to the first position, searches for the The at least two supply station control devices closest to the first position send supply control commands to the two supply station control devices, and the two supply station control devices target their respective control vehicles according to the supply control commands The configuration state of the configuration state is used to calculate the supply power, and feed back the lowest value of the respective supply power consumption to the upper control device. The upper control device compares the two received supply power consumption values and determines the one with the lowest power consumption. , send to the supply command for energy supply.

如图4所示，为本发明控制方法的示意图。一种如上述任意一项所述能源供给自动化设备的控制方法，包括如下步骤：As shown in Fig. 4, it is a schematic diagram of the control method of the present invention. A control method for energy supply automation equipment as described in any one of the above, comprising the following steps:

1)上位控制设备接收用户的能源补给的第一请求，确定所述第一请求发出的第一位置；1) The upper control device receives the user's first request for energy supply, and determines the first location where the first request is sent;

2)根据所述第一位置，查找位于所述第一位置最近的第一补给站控制设备和第二补给站控制设备，并给所述第一补给站控制设备和第二补给站控制设备发送第一补给控制命令；2) According to the first position, search for the first supply station control device and the second supply station control device closest to the first position, and send a message to the first supply station control device and the second supply station control device First Supply Control Order;

3)第一补给站控制设备和第二补给站控制设备根据所述第一补给控制命令，针对各自的调控车的配置状态进行补给功率计算，所述第一补给站控制设备计算第一最低消耗功率值，所述第二补给站控制设备计算第二最低消耗功率值；并分别将所述第一最低消耗功率值和所述第二最低消耗功率值反馈发送给所述上位控制设备；3) The first supply station control device and the second supply station control device calculate the supply power according to the first supply control command according to the configuration status of the respective control vehicles, and the first supply station control device calculates the first minimum consumption power value, the second supply station control device calculates a second minimum power consumption value; and feeds back and sends the first minimum power consumption value and the second minimum power consumption value to the upper control device;

4)所述上位控制设备比较所述第一最低消耗功率值和所述第二最低消耗功率值，确定功率消耗最低的那个后，发送给第二补给命令，确定功率消耗最低的那个调控车对用户进行能源补给。4) The upper control device compares the first minimum power consumption value and the second minimum power consumption value, and after determining the one with the lowest power consumption, sends it to the second supply command to determine the control vehicle pair with the lowest power consumption The user performs energy replenishment.

优选的是，也能够根据拥堵系数，进行选择次最低消耗功率的调控车，将车辆补充到可以到达最近的能源补充站的程度后，通过能源补充站直接进行能源补充，如此的话，能够减少调控车载路面上进行能源补充的时间，同时，在补给站控制设备中的自动控制的准确性更好，能够减少调控车的能源补充次数，以作为紧急备用。Preferably, it is also possible to select the regulated vehicle with the second lowest power consumption according to the congestion coefficient, replenish the vehicle to the extent that it can reach the nearest energy replenishment station, and then directly perform energy replenishment through the energy replenishment station. In this case, the regulation and control can be reduced. At the same time, the accuracy of the automatic control in the control equipment of the supply station is better, which can reduce the number of energy supplements for the control vehicle and serve as an emergency backup.

所述的控制方法，所述第一补给站控制设备和第二补给站控制设备均包括计算单元，通过所述计算单元进行功率计算，所述计算单元包括时间计算单元、质量计算单元、速度计算单元、系数分配单元、功率计算单元、选择单元；所述时间计算单元计算补给时间，并将补给时间分别发送给预测单元和速度计算单元，所述预测单元接收所述补给时间后，预测在所述补给时间中的拥堵程度，并将拥堵程度传输给所述系数分配单元，所述系数分配单元根据接收的拥堵程度计算拥堵系数，并根据调控车的配置，根据不同调控车的配置，选择不同的分配系数，发送给质量计算单元，所述质量计算单元将计算的质量发送给所述功率计算单元，所述速度计算单元将计算的速度发送给所述功率计算单元，所述系数分配单元并将拥堵系数发送给所述功率计算单元；所述功率计算单元根据接收的参数，进行功率计算，并将不同功率对应匹配不同的调控车进行编号排序，将排序结果发送给所述选择单元进行选择，所述选择单元选择处消耗功率最小的调控车的编号及其对应的第一功率值通过第一通信单元反馈发送给所述上位控制设备；In the control method, the first supply station control device and the second supply station control device both include a calculation unit, and the power calculation is performed through the calculation unit, and the calculation unit includes a time calculation unit, a mass calculation unit, a speed calculation unit, and a speed calculation unit. unit, a coefficient distribution unit, a power calculation unit, and a selection unit; the time calculation unit calculates the replenishment time, and sends the replenishment time to the prediction unit and the speed calculation unit respectively, and after the prediction unit receives the replenishment time, it predicts that the The congestion degree in the replenishment time is described, and the congestion degree is transmitted to the coefficient distribution unit, and the coefficient distribution unit calculates the congestion coefficient according to the received congestion degree, and selects different The distribution coefficient is sent 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 and The congestion coefficient is sent to the power calculation unit; the power calculation unit performs power calculation according to the received parameters, and performs numbering and sorting of different control vehicles corresponding to different powers, and sends the sorting results to the selection unit for selection The selection unit selects the serial number of the regulating vehicle with the smallest power consumption and its corresponding first power value and sends it to the upper control device through the first communication unit;

所述计算单元通过下述方式进行功率计算：The calculation unit performs power calculation in the following manner:

Figure BDA0002301138460000081
Figure BDA0002301138460000081

v1为调控车的行车速度，m1(t)为调控车随时间t变化的质量，a1、b1、c1权重系数，Fa(t)为空气动力摩擦系数，Fr(t)为滚动系数，Fg(t)倾斜路面重力产生的力；δ为拥堵系数，依据所述预测单元预测的拥堵程度，通过系数分配单元进行计算；v 1 is the driving speed of the control car, m 1 (t) is the quality of the control car changing with time t, a 1 , b 1 , c 1 weight coefficients, F a (t) is the aerodynamic friction coefficient, F r (t ) is the rolling coefficient, and F g (t) is the force that the gravity of the inclined road surface produces; δ is the congestion coefficient, according to the degree of congestion predicted by the prediction unit, it is calculated by the coefficient distribution unit;

Figure BDA0002301138460000091
Figure BDA0002301138460000091

其中，μ1为氢气的剩余比例，取值为0-1之间，m11(t)为氢气的质量；

Figure BDA0002301138460000092
为蓄电池存在系数，取值为0或者1，调控车配置了蓄电池则取1，未配置则取0，m12(t)为蓄电池的质量；
Figure BDA0002301138460000093
为超级电容存在系数，取值为0或者1，调控车配置了超级电容器则取1，未配置则取0，m13(t)为超级电容的质量；m14(t)为发电机的质量，
Figure BDA0002301138460000094
为发电机存在系数，取值为0或者1，调控车配置了超级电容器则取1，未配置则取0，μ2为发电机燃料的剩余比例，按比例取值0-1之间；Wherein, μ 1 is the remaining proportion of hydrogen, and the value is between 0-1, and m 11 (t) is the quality of hydrogen;
Figure BDA0002301138460000092
is the existence coefficient of the battery, which takes a value of 0 or 1. If the control car is equipped with a battery, it takes 1, and if it is not equipped, it takes 0. m 12 (t) is the mass of the battery;
Figure BDA0002301138460000093
is the existence coefficient of the supercapacitor, which takes a value of 0 or 1. If the control car is equipped with a supercapacitor, it takes 1, and if it is not configured, it takes 0. m 13 (t) is the mass of the supercapacitor; m 14 (t) is the mass of the generator ,
Figure BDA0002301138460000094
is the existence coefficient of the generator, which takes a value of 0 or 1. If the control car is equipped with a super capacitor, it takes 1, and if it is not configured, it takes 0. μ 2 is the remaining ratio of generator fuel, and takes a value between 0 and 1 in proportion;

Figure BDA0002301138460000095
Figure BDA0002301138460000095

Fr(t)＝m1(t)Crgcos(α)F r (t)=m 1 (t)C r gcos(α)

Fg(t)＝m1(t)gsin(α)F g (t) = m 1 (t) gsin (α)

其中，ρ为空气密度，A为车的前表面面积，g为重力加速度，Cx为空气阻力系数，Cr为空气动力阻力，v1为调控车的车辆速度，α为路面倾斜角；Among them, ρ is the air density, A is the front surface area of the car, g is the acceleration of gravity, C x is the air resistance coefficient, C r is the aerodynamic resistance, v 1 is the vehicle speed of the control car, and α is the road surface inclination angle;

根据不同的调控车的车型进行配置，接收计算单元的系数计算单元进行自动控制，所述计算单元接收环境监测设备监测的环境，根据当前风速、湿度、温度进行a1、b1、c1权重系数的配置，a1、b1、c1为0.9-1.1之间。Configure according to different models of control vehicles, receive the coefficient calculation unit of the calculation unit for automatic control, the calculation unit receives the environment monitored by the environmental monitoring equipment, and calculates the weights of a 1 , b 1 , and c 1 according to the current wind speed, humidity, and temperature The configuration of coefficients, a 1 , b 1 , and c 1 are between 0.9-1.1.

为解决上述技术问题：本申请提出一种能源补给自动控制设备及方法，通过确定用户提出能源补充的请求信息，确定其具体位置，结合拥堵，时间，以及天气状态，确定最佳的能源补充的调控车，不仅能够在单个补给控制设备中的确定出最佳的调控车，还能够在相邻的补给控制设备中查找最佳的调控车，做到最优选择，实现能源补给的自动化控制。作为本发明的主要改进点在于，在进行功率计算时，考虑拥堵系数，建立调控车运行中消耗的能量模型，在模型中考虑拥堵系数，运行速度以及环境阻力，在考虑环境阻力的时候设置相应的权重系数，能够根据环境状态进行权重调配，实现准确的功率计算；作为本发明的另一改进点是，根据不同调控车中不同类型，通过权重或运行系数，确定准确的质量状态，方便能够准确的匹配不同质量的功率，作为本领域的又一个改进点是，能够进行不同调控车和补给控制设备之间的优化对比，确定最优的调控补给方案，通过计算单元设备不同的参数计算，方便选择出最佳的参数。In order to solve the above technical problems: this application proposes an energy supply automatic control device and method, by determining the user’s request information for energy supply, determining its specific location, combined with congestion, time, and weather conditions, to determine the best energy supply. The control vehicle can not only determine the best control vehicle in a single supply control device, but also find the best control vehicle in adjacent supply control equipment, so as to achieve the optimal choice and realize the automatic control of energy supply. As the main improvement of the present invention, when calculating the power, the congestion coefficient is considered, and the energy model consumed in the operation of the control car is established. The congestion coefficient, running speed and environmental resistance are considered in the model, and the corresponding parameters are set when considering the environmental resistance. The weight coefficient can be adjusted according to the environmental state to realize accurate power calculation; as another improvement point of the present invention, according to the different types of different control vehicles, the accurate quality state can be determined through the weight or operating coefficient, which is convenient and can be Accurately matching power of different qualities, as another improvement point in this field, can carry out optimization comparison between different control vehicles and supply control equipment, determine the optimal control supply scheme, and calculate through different parameters of the calculation unit equipment, It is convenient to choose the best parameters.

Claims (5)

1. An energy supply automation device, comprising: the system comprises upper control equipment, supply station control equipment and a regulation and control vehicle; the upper control equipment receives an energy replenishment demand and sends a control command to the replenishment control equipment, the replenishment control equipment calculates a replenishment strategy according to the control command and feeds the replenishment strategy back to the upper control equipment, the upper control equipment selects an optimal replenishment strategy according to the fed-back replenishment strategy and sends the optimal replenishment strategy to the appropriate corresponding replenishment control equipment, and the replenishment control equipment controls the regulating and controlling vehicle to execute the replenishment strategy according to the optimal replenishment strategy; each supply station control device corresponds to a plurality of regulating and controlling vehicles, and the upper control device is communicated with the plurality of supply station control devices respectively; the control equipment of the supply station comprises a first communication unit, a second communication unit, a calculating unit, a charging arm, an energy supplementing arm, a battery replacing arm, a predicting unit and a driving unit, wherein the first communication unit and the second communication unit are respectively connected with the calculating unit, and the calculating unit respectively drives the charging arm, the energy supplementing arm and the battery replacing 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, and the second communication unit is communicated with the control vehicleThe charging arm receives the driving signal sent by the computing unit and is used for automatically controlling charging of the vehicle, the energy supplementing arm receives the driving signal sent by the computing unit and is used for automatically controlling hydrogen or fuel oil supplementation of the vehicle, and the battery replacing arm receives the driving signal sent by the computing unit and is used for automatically controlling battery replacement of the vehicle; the energy supplementing arm comprises a change-over switch, and hydrogen or fuel can be switched and output through the change-over of the change-over switch; the calculating unit comprises a time calculating unit, a quality calculating unit, a speed calculating unit, a coefficient distributing unit, a power calculating 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 selection 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 calculation unit calculates a first power value
Figure 790587DEST_PATH_IMAGE002
Specifically, the calculation is performed in the following manner:
Figure 543517DEST_PATH_IMAGE004
Figure 672010DEST_PATH_IMAGE006
in order to regulate the driving speed of the vehicle,
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in order to regulate the quality of the vehicle as a function of time t,
Figure 636496DEST_PATH_IMAGE010
、
Figure 61792DEST_PATH_IMAGE012
、
Figure 677581DEST_PATH_IMAGE014
the weight coefficient is a function of the weight,
Figure 643263DEST_PATH_IMAGE016
in order to be the aerodynamic friction coefficient,
Figure 995485DEST_PATH_IMAGE018
in order to be a coefficient of scrolling,
Figure 388420DEST_PATH_IMAGE020
the force generated by gravity on an inclined road surface;
Figure 960347DEST_PATH_IMAGE022
calculating the congestion coefficient through a coefficient distribution unit according to the congestion degree predicted by the prediction unit;
Figure 464140DEST_PATH_IMAGE024
wherein,
Figure 202027DEST_PATH_IMAGE026
is the residual proportion of hydrogen, the value is between 0 and 1,
Figure 500284DEST_PATH_IMAGE028
mass of hydrogen;
Figure 825086DEST_PATH_IMAGE030
the coefficient of the storage battery is 0 or 1, the regulation and control vehicle takes 1 if the storage battery is configured and takes 0 if the storage battery is not configured,
Figure 929309DEST_PATH_IMAGE032
is the mass of the battery;
Figure 256123DEST_PATH_IMAGE034
the coefficient of the super capacitor is 0 or 1, the super capacitor is 1 if the regulation and control vehicle is configured, the super capacitor is 0 if the regulation and control vehicle is not configured,
Figure 725281DEST_PATH_IMAGE036
mass of the super capacitor;
Figure 271800DEST_PATH_IMAGE038
is the mass of the generator and is,
Figure 179713DEST_PATH_IMAGE040
the value of the coefficient existing in the generator is 0 or 1, the value of the super capacitor is 1 when the regulation and control vehicle is configured, the value of the super capacitor is 0 when the regulation and control vehicle is not configured,
Figure 128078DEST_PATH_IMAGE042
the residual proportion of the fuel of the generator is between 0 and 1 according to the proportion;
Figure 266673DEST_PATH_IMAGE044
Figure 566067DEST_PATH_IMAGE046
Figure 418617DEST_PATH_IMAGE048
wherein,
Figure 18225DEST_PATH_IMAGE050
air density, A is the front surface area of the vehicle, g is the acceleration of gravity,
Figure 593301DEST_PATH_IMAGE052
in order to be the air resistance coefficient,
Figure 114412DEST_PATH_IMAGE054
in order to provide aerodynamic resistance, the air flow is controlled by a control system,
Figure DEST_PATH_IMAGE056
in order to regulate the vehicle speed of the vehicle,
Figure 973915DEST_PATH_IMAGE058
is the road surface inclination angle.
2. The automatic power supply system according to claim 1, wherein the system is configured according to models of different control vehicles, and the coefficient calculation unit of the reception calculation unit is automatically controlled, and the calculation unit receives the environment monitored by the environment monitoring device, and performs control according to the current wind speed, humidity, and temperature
Figure 395406DEST_PATH_IMAGE010
、
Figure 439586DEST_PATH_IMAGE012
、
Figure 979152DEST_PATH_IMAGE014
The configuration of the weight coefficient is such that,
Figure 704662DEST_PATH_IMAGE010
、
Figure 13284DEST_PATH_IMAGE012
、
Figure 962785DEST_PATH_IMAGE014
is between 0.9 and 1.1.
3. The energy supply automation device according to claim 1 wherein the optimal replenishment strategy specifically comprises: the upper control device determines a first position of an energy supply demand after receiving an energy supply demand request, searches for at least two supply station control devices located closest to the first position according to the first position, and sends a supply control command to the two supply station control devices, the two supply station control devices perform supply power calculation according to the supply control command and aiming at the configuration state of respective regulating and controlling vehicles, and feeds back the lowest value of the consumption of respective supply power to the upper control device, the upper control device compares the received two supply power consumption values, and sends the supply command after determining the lowest value of the consumption of power, so as to supply energy.
4. A control method of an energy supply automation device according to any one of claims 1 to 3, 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.
5. The control method according to claim 4, 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 488182DEST_PATH_IMAGE059
Figure 282963DEST_PATH_IMAGE006
in order to regulate the driving speed of the vehicle,
Figure 649353DEST_PATH_IMAGE008
in order to regulate the quality of the vehicle as a function of time t,
Figure 769756DEST_PATH_IMAGE010
、
Figure 549493DEST_PATH_IMAGE012
、
Figure 413544DEST_PATH_IMAGE014
the weight coefficient is a function of the weight,
Figure 929714DEST_PATH_IMAGE061
in order to have a coefficient of aerodynamic friction,
Figure 955438DEST_PATH_IMAGE063
in order to be a rolling factor, the rolling factor,
Figure DEST_PATH_IMAGE065
the force generated by gravity on an inclined road surface;
Figure 832259DEST_PATH_IMAGE022
calculating the congestion coefficient through a coefficient distribution unit according to the congestion degree predicted by the prediction unit;
Figure DEST_PATH_IMAGE066
wherein,
Figure 936219DEST_PATH_IMAGE026
is the residual proportion of hydrogen in the fuel cell, takes a value between 0 and 1,
Figure 808360DEST_PATH_IMAGE028
mass of hydrogen in the fuel cell;
Figure 536144DEST_PATH_IMAGE030
the value of the coefficient of the storage battery is 0 or 1, the value of the storage battery is 1 when the regulation and control vehicle is configured, the value of the storage battery is 0 when the regulation and control vehicle is not configured,
Figure 759315DEST_PATH_IMAGE032
is the mass of the battery;
Figure 965169DEST_PATH_IMAGE034
the coefficient of the super capacitor is 0 or 1, the super capacitor is configured on the regulation vehicle, the value is 1, the value is 0 if the super capacitor is not configured,
Figure 222975DEST_PATH_IMAGE036
mass of the super capacitor;
Figure 121661DEST_PATH_IMAGE038
is the mass of the generator and is,
Figure 65084DEST_PATH_IMAGE040
the value of the coefficient existing in the generator is 0 or 1, the value of the super capacitor is 1 when the regulation and control vehicle is configured, the value of the super capacitor is 0 when the regulation and control vehicle is not configured,
Figure 74628DEST_PATH_IMAGE042
for combustion of electric generatorsThe rest proportion of the materials is between 0 and 1 according to the proportion;
Figure DEST_PATH_IMAGE067
Figure DEST_PATH_IMAGE068
Figure DEST_PATH_IMAGE069
wherein,
Figure 232946DEST_PATH_IMAGE050
air density, A the front surface area of the vehicle, g the acceleration of gravity,
Figure 36954DEST_PATH_IMAGE052
in order to be the air resistance coefficient,
Figure 234717DEST_PATH_IMAGE054
in order to provide aerodynamic resistance, the air flow is controlled by a control system,
Figure 782373DEST_PATH_IMAGE056
in order to regulate the vehicle speed of the vehicle,
Figure 14771DEST_PATH_IMAGE058
is the road surface inclination angle;
the system is configured according to the models of different control vehicles, the coefficient calculation unit of the receiving calculation unit performs automatic control, the calculation unit receives the environment monitored by the environment monitoring equipment and performs control according to the current wind speed, humidity and temperature
Figure 989680DEST_PATH_IMAGE010
、
Figure DEST_PATH_IMAGE071
、
Figure DEST_PATH_IMAGE073
The configuration of the weight coefficient is such that,
Figure 783062DEST_PATH_IMAGE010
、
Figure DEST_PATH_IMAGE075
、
Figure DEST_PATH_IMAGE077
is between 0.9 and 1.1.
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