AGV電池能量管理系統(tǒng)設(shè)計(jì)與實(shí)現(xiàn)
發(fā)布時(shí)間：2018-11-26 11:30
【摘要】：自動(dòng)導(dǎo)引車(Automated Guided Vehicle,AGV)是一種以電池為動(dòng)力源,具有自動(dòng)導(dǎo)引系統(tǒng)的無人駕駛運(yùn)輸車。AGV以安全、靈活、高效、可靠等特點(diǎn),廣泛應(yīng)用于柔性加工系統(tǒng)、柔性裝配系統(tǒng)、自動(dòng)化立體倉庫以及郵局、港口碼頭、食品、化工、煙草行業(yè)的物流系統(tǒng)和其他危險(xiǎn)場所。電池管理系統(tǒng)BMS(Battery Management System,BMS)是AGV的關(guān)鍵系統(tǒng)之一,對AGV安全、可靠、穩(wěn)定地工作起著至關(guān)的作用。鋰電池憑借其優(yōu)良的性能,逐漸取代傳統(tǒng)的鉛酸蓄電池和鎳氫電池,被廣泛應(yīng)用于AGV中,雖然電池能量管理系統(tǒng)在電動(dòng)汽車、筆記本、相機(jī)等其他系統(tǒng)上已有大量的研究和應(yīng)用,但是電池技術(shù)和材料的優(yōu)化不可能解決鋰電池使用過程中的所有問題,同時(shí),由于AGV自身工作特點(diǎn),電池管理系統(tǒng)中電池的充放電管理、電池荷電狀態(tài)(State of Charge,SOC)估算、熱管理、均衡控制策略等有其自生的特點(diǎn),需要進(jìn)行專門研究,以保證AGV系統(tǒng)安全高效的運(yùn)行。本文即是根據(jù)AGV的特點(diǎn),對AGV電池能量管理系統(tǒng)展開了研究與設(shè)計(jì),其主要研究內(nèi)容包括:(1)對AGV電池能量管理系統(tǒng)的功能需求與技術(shù)方案進(jìn)行了分析論證。通過對常用鋰電池的特性分析,確定電池組中鋰電池的類型;對串聯(lián)使用的單體電池電壓的多種檢測方法進(jìn)行對比,確定了AGV電池能量管理系統(tǒng)中單體電壓的檢測方法;通過對常規(guī)電池均衡方法的梳理、比較,選擇了合適的均衡方法;分析了常見的SOC估算方法,并比較其優(yōu)缺點(diǎn),為后續(xù)電池組SOC估算提供借鑒。(2)對電池組配置進(jìn)行了研究。分析了電池不同連接方式對電池組性能的影響,確定先并聯(lián)后串聯(lián)的可靠性高于先串聯(lián)后并聯(lián)的可靠性;運(yùn)用SPSS中的因子分析和系統(tǒng)聚類功能,對單體電池進(jìn)行了主因子分選和總因子分選,并與傳統(tǒng)分選方法進(jìn)行對比分析,結(jié)果表明因子分選法在提高電池組一致性方面具有較好的效果。(3)對電池組的SOC估算進(jìn)行了研究。建立基于開路電壓法和安時(shí)積分法的SOC估算模型,并引入溫度、放電倍率和循環(huán)壽命的修正參數(shù),通過實(shí)驗(yàn)方法標(biāo)定得到SOC估算模型中的各參數(shù)具體值。借助MATLAB/Simulink平臺開展了模型仿真并進(jìn)行了實(shí)驗(yàn)驗(yàn)證,結(jié)果表明SOC估算誤差在±5%以內(nèi)。(4)對AGV電池能量管理系統(tǒng)的硬件和軟件進(jìn)行了設(shè)計(jì)。采用模塊化設(shè)計(jì),將整個(gè)硬件系統(tǒng)劃分為主控模塊、電源模塊、數(shù)據(jù)采集模塊、通信模塊、保護(hù)模塊、均衡模塊和存儲模塊,并對各模塊進(jìn)行了詳細(xì)的設(shè)計(jì)。引入U(xiǎn)COSII操作系統(tǒng),對下位機(jī)軟件進(jìn)行設(shè)計(jì)開發(fā),滿足了系統(tǒng)實(shí)時(shí)性的要求。采用Microsoft Visual Basic 6.0開發(fā)了上位機(jī)軟件,實(shí)現(xiàn)了用戶驗(yàn)證、數(shù)據(jù)顯示、參數(shù)設(shè)置等功能。(5)對AGV電池能量管理系統(tǒng)進(jìn)行了性能測試和現(xiàn)場運(yùn)行試驗(yàn),結(jié)果表明該系統(tǒng)工作穩(wěn)定可靠,能夠較為精確地采集電池組電流、電壓和溫度數(shù)據(jù),估測SOC值較為準(zhǔn)確,系統(tǒng)的各項(xiàng)性能指標(biāo)都達(dá)到預(yù)期值。
[Abstract]:Automatic guidance vehicle (Automated Guided Vehicle,AGV) is a kind of driverless transport vehicle with battery as power source and automatic guidance system. AGV is widely used in flexible machining system and flexible assembly system because of its safety, flexibility, efficiency and reliability. Automated warehouse and post office, port terminal, food, chemical, tobacco industry logistics systems and other hazardous sites. Battery Management system (BMS (Battery Management System,BMS) is one of the key systems of AGV, which plays an important role in the safe, reliable and stable operation of AGV. Lithium battery, with its excellent performance, has gradually replaced the traditional lead-acid battery and Ni-MH battery, and has been widely used in AGV, although battery energy management system in electric vehicles, notebooks, Cameras and other systems have been a lot of research and applications, but battery technology and material optimization can not solve all the problems in the use of lithium batteries, at the same time, because of the characteristics of AGV itself, Battery charge and discharge management, battery charge and discharge (State of Charge,SOC) estimation, heat management and equalization control strategy in battery management system have their own characteristics, which need special research to ensure the safe and efficient operation of AGV system. According to the characteristics of AGV, this paper studies and designs the AGV battery energy management system. The main research contents are as follows: (1) the functional requirements and technical scheme of the AGV battery energy management system are analyzed and demonstrated. By analyzing the characteristics of commonly used lithium batteries, the types of lithium batteries in battery pack are determined, and the detection methods of single cell voltage in AGV battery energy management system are determined by comparing various methods of measuring the voltage of single cell used in series. Through combing and comparing the conventional battery equalization method, the suitable equalization method is selected. The common SOC estimation methods are analyzed, and their advantages and disadvantages are compared to provide a reference for the subsequent battery SOC estimation. (2) the battery pack configuration is studied. The effect of different connection modes on the performance of battery pack is analyzed. It is determined that the reliability of the first parallel connection and then the series is higher than that of the first series and then the parallel connection. Using the function of factor analysis and systematic clustering in SPSS, the main factor sorting and total factor sorting of single cell battery are carried out, and compared with the traditional separation method, The results show that the factor sorting method can improve the consistency of the battery pack. (3) the SOC estimation of the battery pack is studied. The SOC estimation model based on open circuit voltage method and an hour integration method is established, and the modified parameters of temperature, discharge rate and cycle life are introduced, and the specific values of each parameter in the SOC estimation model are obtained by experimental calibration. The model simulation is carried out with MATLAB/Simulink platform and the experimental results show that the estimation error of SOC is less than 鹵5%. (4) the hardware and software of AGV battery energy management system are designed. The whole hardware system is divided into main control module, power supply module, data acquisition module, communication module, protection module, equalization module and storage module. The UCOSII operating system is introduced to design and develop the lower computer software, which meets the real-time requirement of the system. The upper computer software is developed with Microsoft Visual Basic 6.0, which realizes the functions of user verification, data display, parameter setting and so on. (5) the performance test and field operation test of AGV battery energy management system are carried out. The results show that the system is stable and reliable, it can collect battery current, voltage and temperature data accurately, estimate the SOC value more accurately, and all the performance indexes of the system reach the expected value.
【學(xué)位授予單位】：西南大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：U469.72
[Abstract]:Automatic guidance vehicle (Automated Guided Vehicle,AGV) is a kind of driverless transport vehicle with battery as power source and automatic guidance system. AGV is widely used in flexible machining system and flexible assembly system because of its safety, flexibility, efficiency and reliability. Automated warehouse and post office, port terminal, food, chemical, tobacco industry logistics systems and other hazardous sites. Battery Management system (BMS (Battery Management System,BMS) is one of the key systems of AGV, which plays an important role in the safe, reliable and stable operation of AGV. Lithium battery, with its excellent performance, has gradually replaced the traditional lead-acid battery and Ni-MH battery, and has been widely used in AGV, although battery energy management system in electric vehicles, notebooks, Cameras and other systems have been a lot of research and applications, but battery technology and material optimization can not solve all the problems in the use of lithium batteries, at the same time, because of the characteristics of AGV itself, Battery charge and discharge management, battery charge and discharge (State of Charge,SOC) estimation, heat management and equalization control strategy in battery management system have their own characteristics, which need special research to ensure the safe and efficient operation of AGV system. According to the characteristics of AGV, this paper studies and designs the AGV battery energy management system. The main research contents are as follows: (1) the functional requirements and technical scheme of the AGV battery energy management system are analyzed and demonstrated. By analyzing the characteristics of commonly used lithium batteries, the types of lithium batteries in battery pack are determined, and the detection methods of single cell voltage in AGV battery energy management system are determined by comparing various methods of measuring the voltage of single cell used in series. Through combing and comparing the conventional battery equalization method, the suitable equalization method is selected. The common SOC estimation methods are analyzed, and their advantages and disadvantages are compared to provide a reference for the subsequent battery SOC estimation. (2) the battery pack configuration is studied. The effect of different connection modes on the performance of battery pack is analyzed. It is determined that the reliability of the first parallel connection and then the series is higher than that of the first series and then the parallel connection. Using the function of factor analysis and systematic clustering in SPSS, the main factor sorting and total factor sorting of single cell battery are carried out, and compared with the traditional separation method, The results show that the factor sorting method can improve the consistency of the battery pack. (3) the SOC estimation of the battery pack is studied. The SOC estimation model based on open circuit voltage method and an hour integration method is established, and the modified parameters of temperature, discharge rate and cycle life are introduced, and the specific values of each parameter in the SOC estimation model are obtained by experimental calibration. The model simulation is carried out with MATLAB/Simulink platform and the experimental results show that the estimation error of SOC is less than 鹵5%. (4) the hardware and software of AGV battery energy management system are designed. The whole hardware system is divided into main control module, power supply module, data acquisition module, communication module, protection module, equalization module and storage module. The UCOSII operating system is introduced to design and develop the lower computer software, which meets the real-time requirement of the system. The upper computer software is developed with Microsoft Visual Basic 6.0, which realizes the functions of user verification, data display, parameter setting and so on. (5) the performance test and field operation test of AGV battery energy management system are carried out. The results show that the system is stable and reliable, it can collect battery current, voltage and temperature data accurately, estimate the SOC value more accurately, and all the performance indexes of the system reach the expected value.
【學(xué)位授予單位】：西南大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：U469.72
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