自动化码头AGV电池备件与充电机配置联合决策

doi:10.12305/j.issn.1001-506X.2023.04.15

Abstract

Abstract:

Taking the battery swapping system of the automated guided vehicle (AGV) in automated container terminal as the research object, the double finite source closed cycle is used to describe the AGV battery swapping queue and the charging queue. To minimize the total cost under a certain working level, a joint optimization model of battery spare parts and charger configuration is established based on the Markov process. The optimal number of battery spare parts and charging devices can be obtained by the genetic algorithm. The results show that when the number of battery spare parts or charging devices is too small, the penalty cost and profit loss will be high. Compared with the traditional one spare part for one device strategy, the optimal strategy can significantly reduce the total operating cost.

Key words: automated container terminal, automated guided vehicle (AGV), swapping battery, battery spare parts, charger configuration

CLC Number:

O224

Mengya WANG, Yuqing LI, Linman LI, Wei WU, Ershun PAN, Ran LIU. Joint decision-making of AGV battery spare parts and charger configuration in automated terminal[J]. Systems Engineering and Electronics, 2023, 45(4): 1072-1081.

Figures/Tables 15

Fig.1

Table 1

Table 2

Fig.2

Fig.3

Fig.4

Table 3

Fig.5

Fig.6

Table 4

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

References 21

1	岳丽君. 自动化码头双小车岸桥与AGV配置及联合调度研究[D]. 大连: 大连海事大学, 2020.
	YUE L J. Research on configuration and scheduling of double-trolley quay crane and AGV in automated container terminal[D]. Dalian: Dalian Maritime University, 2020.
2	唐立辉, 张连钢. 自动化集装箱码头水平运输系统动力系统及充电方案[J]. 水运工程, 2020, (6): 74- 77.
	TANG L H , ZHANG L G . Power system and charging scheme of horizontal transportation system of automated container system[J]. Port & Waterway Engineering, 2020, (6): 74- 77.
3	SCHMIDT J , MEYER-BARLAG C , EISEL M , et al. Using battery-electric AGVs in container terminals-assessing the potential and optimizing the economic viability[J]. Research in Transportation Business & Management, 2015, 17, 99- 111.
4	杨磊, 郝彩霞, 唐瑞红. 基于电动物流车的充电和换电机选址模型[J]. 系统工程理论与实践, 2019, 39 (7): 1781- 1795.
	YANG L , HAO C X , TANG R H . Location models of charging and battery swapping facilitiesbased on electric vehicles[J]. Systems Engineering-Theory & Practice, 2019, 39 (7): 1781- 1795.
5	石楠路, 梁承姬. 考虑换电过程的自动化码头AGV调度优化[J]. 现代制造工程, 2019, (2): 6- 11.6-11, 139
	SHI N L , LIANG C J . Optimization of AGV operation scheduling for automated terminal considering replacement processes[J]. Modern Manufacturing Engineering, 2019, (2): 6- 11.6-11, 139
6	KABIR Q S , SUZUKI Y . Comparative analysis of different routing heuristics for the battery management of automated guided vehicles[J]. International Journal of Production Research, 2019, 57 (2): 624- 641. doi: 10.1080/00207543.2018.1475761
7	BOUNOU O , BARKANY A E , BIYAALI A E . Inventory models for spare parts management: a review[J]. International Journal of Engineering Research in Africa, 2017, 28, 182- 198. doi: 10.4028/www.scientific.net/JERA.28.182
8	HU Q W , BOYLAN J E , CHEN H J , et al. OR in spare parts management: a review[J]. European Journal of Operational Research, 2018, 266 (2): 395- 414. doi: 10.1016/j.ejor.2017.07.058
9	陈顶, 方志耕, 刘思峰. 可修排队系统备件灰色生灭预测模型[J]. 系统工程理论与实践, 2020, 40 (5): 1326- 1338.
	CHEN D , FANG Z G , LIU S F . Grey BD prediction model for spare parts of repairable queuing system[J]. Systems Engineering-Theory & Practice, 2020, 40 (5): 1326- 1338.
10	林名驰, 钟强晖, 李大伟. 不可修复产品的组合维修和备件供应策略[J]. 系统工程与电子技术, 2020, 42 (6): 1417- 1423.
	LIN M C , ZHONG Q H , LI D W . Combined maintenance and spare supply strategy of unrepairable product[J]. Systems Engineering and Electronics, 2020, 42 (6): 1417- 1423.
11	冯蕴雯, 路成, 薛小锋, 等. 考虑维修比例的民机备件多级库存配置研究[J]. 西北工业大学学报, 2018, 36 (3): 582- 589.
	FENG Y W , LU C , XUE X F , et al. Multi-echelon inventory allocation of civil aircraftspare parts considering maintenance ratio[J]. Journal of Northwestern Polytechnical University, 2018, 36 (3): 582- 589.
12	高赐威, 吴茜, 薛飞, 等. 换电模式下电动汽车电池组需求规划[J]. 电网技术, 2013, 37 (7): 1783- 1791.
	GAO C W , WU Q , XUE F , et al. Demand planning of electric vehicle battery pack under battery swapping mode[J]. Power System Technology, 2013, 37 (7): 1783- 1791.
13	田园园, 廖清芬, 徐雨田, 等. 基于有序充电策略的换电系统及分布式电源多场景协调规划方法[J]. 电力自动化设备, 2017, 37 (9): 62- 69.
	TIAN Y Y , LIAO Q F , XU Y T , et al. Multi-scenario coordinated planning method of EV battery-swappingstation and distributed generation based on coordinated charging strategy[J]. Electric Power Automation Equipment, 2017, 37 (9): 62- 69.
14	ASADI A , PINKLEY S N . A stochastic scheduling, allocation, and inventory replenishment problem for battery swap stations[J]. Transportation Research Part E: Logistics and Transportation Review, 2021, 146, 102212.
15	SUN H , YANG J , YANG C . A robust optimization approach to multi-interval location-inventory and recharging planning for electric vehicles[J]. Omega, 2019, 86, 59- 75.
16	谭洋洋, 杨洪耕, 徐方维, 等. 基于投资收益与用户效用耦合决策的电动汽车充电站优化配置[J]. 中国电机工程学报, 2017, 37 (20): 5951- 5960.
	TAN Y Y , YANG H G , XU F W , et al. Optimal allocation of charging station for electric vehicle based on coupled decision ofinvestment benefit and user utility[J]. Proceedings of the CSEE, 2017, 37 (20): 5951- 5960.
17	黄小庆, 杨夯, 陈颉, 等. 基于LCC和量子遗传算法的电动汽车充电站优化规划[J]. 电力系统自动化, 2015, 39 (17): 176- 182.
	HUANG X Q , YANG H , CHEN J , et al. Optimal planning of electric vehicle charging stations based on life cycle cost and quantum genetic algorithm[J]. Automation of Electric Power Systems, 2015, 39 (17): 176- 182.
18	LI K, WANG S. Electric vehicle charging station deployment for minimizing construction cost[C]//Proc. of the International Conference on Big Data Analytics and Knowledge Discovery, 2017: 471-485.
19	DENG Y T , GUPTA A , SHROFF N B . Fleet sizing and charger allocation in electric vehicle sharing systems[J]. IFAC Journal of Systems and Control, 2022, 22, 100210.
20	SHELDON M R . Introduction to probability models[M]. 10th ed Singapore: Elsevier, 2011.
21	TAN X Q, SUN B, TSANG D H K. Queueing network models for electric vehicle charging station with battery swapping[C]//Proc. of the IEEE International Conference on Smart Grid Communications, 2014.

符号	符号描述
N	AGV数量
M	换电系统内所有电池
s	换电设备总数
c	充电机总数
s=(i, b)	系统状态, i∈[0, N]为换电与换电排队的AGV数量, b∈[0, M－N]为换电系统中满电电池数量

参数符号	符号描述	随机分布性质
λ	换电系统AGV到达数量	泊松分布
T_s	换电设备的一次换电操作时间	常数
T_c	假设充电时间T_c服从, 对应充电服务率μ_c=1/T_c	指数分布

参数	参数实际意义	取值
d	换电机个数/个	10
λ	AGV到达率/(辆/小时)	1/8
T_c	充电时间均值/h	3
T_s	换电操作时间/min	6
ε	最低工作水平	0.9
a_bat	投资年值化系数	0.1
c_bat	电池购买单价/(万元/个)	4
a_con	折旧年值化系数	0.05
f_con	充电桩建设费用/(万元/个)	20
r_loss	利润损失系数/(万元/(辆·年))	7 000
c_pen	惩罚成本/(万元/(辆·天))	1
c_cha	充电单价/(元/千瓦时)	0.4
P_cha	充电功率/kW	5
η_cha	充电效率/%	90
a_year	年值化系数	365
p_c	交叉概率	0.8
p_m	变异概率	0.2
p_e	精英保留比率	0.2
p_ls	邻域搜索概率	0.6
popsize	种群大小	20

算例	MaxGA/万元	MeanGA/万元	OPT/万元	MaxDev/%	MeanDev/%
1	77.52	76.77	76.53	1.29	0.31
2	45.01	44.21	43.11	4.41	2.55
3	61.39	61.39	61.35	0.07	0.07
4	79.61	79.47	79.45	0.20	0.03
5	99.12	98.37	97.34	1.83	1.06

[1]	Shihui WU, Zhengxin LI, Xiaodong LIU, Yu ZHOU, Bo HE. Discrete variable optimization design algorithm based on improved marginal optimization [J]. Systems Engineering and Electronics, 2021, 43(2): 410-419.
[2]	XI Fei, ZHOU Yong-wu. Optimal policy of inventory routing problem based on fixed partition [J]. Journal of Systems Engineering and Electronics, 2009, 31(10): 2389-2393,2463.
[3]	GUO Jian-bin, ZENG Sheng-kui. Research on adaptive collaborative optimization method [J]. Journal of Systems Engineering and Electronics, 2009, 31(5): 1108-1112.

Joint decision-making of AGV battery spare parts and charger configuration in automated terminal

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 15

References 21

Related Articles 3

Recommended Articles

Metrics

Comments