电动汽车-无人机联合救援系统协调调度模型

doi:10.16183/j.cnki.jsjtu.2023.052

上海交通大学学报 ›› 2024, Vol. 58 ›› Issue (9): 1443-1453.doi: 10.16183/j.cnki.jsjtu.2023.052

• 新型电力系统与综合能源 • 上一篇下一篇

电动汽车-无人机联合救援系统协调调度模型

白文超¹, 班明飞¹(), 宋梦², 夏世威³, 李知艺⁴, 宋文龙¹

1.东北林业大学机电工程学院,哈尔滨 150040
2.东南大学电气工程学院,南京 210096
3.华北电力大学新能源电力系统国家重点实验室,北京 102206
4.浙江大学电气工程学院,杭州 310027

收稿日期:2023-02-17 修回日期:2023-03-24 接受日期:2023-04-13 出版日期:2024-09-28 发布日期:2024-10-11
通讯作者: 班明飞,副教授,博士生导师;E-mail:mban2@iit.edu.
作者简介:白文超(1998—),硕士生,从事电动汽车路径优化研究.
基金资助:
国家自然科学基金(52107075);黑龙江省自然科学基金(YQ2022E001);黑龙江省博士后基金(LBH-Z200002);新能源电力系统国家重点实验室开放课题(LAPS22014)

Coordinate Scheduling Model of Electric Vehicle-Unmanned Aerial Vehicle Joint Rescue System

BAI Wenchao¹, BAN Mingfei¹(), SONG Meng², XIA Shiwei³, LI Zhiyi⁴, SONG Wenlong¹

1. College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China
2. School of Electrical Engineering, Southeast University, Nanjing 210096, China
3. State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources, North China Electric Power University, Beijing 102206, China
4. College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China

Received:2023-02-17 Revised:2023-03-24 Accepted:2023-04-13 Online:2024-09-28 Published:2024-10-11

摘要/Abstract

摘要：

电动汽车(EV)和无人机(UAV)的迅速发展为紧急状态下的人员搜救与物资配送提供了新的技术手段.提出一种电动汽车-无人机(EV-UAV)联合救援系统.其中,无人机以电动汽车作为充电和维护基站,为待救援对象提供紧急救援服务,而电动汽车能够利用各类分布式电源获得多元化的电能补充,从而提高EV-UAV系统在紧急状态下的适应能力及续航水平.以混合整数线性规划形式建立该EV-UAV联合救援系统的协调调度模型,综合考虑电动汽车和无人机的电能消耗、电能补充、装载容量、配送路径以及配送时窗等因素.算例仿真验证了所建立模型的有效性,对比了EV-UAV型与地面车辆(GV)-UAV型联合救援系统,显示了EV-UAV联合救援系统在紧急求援中的技术特性和应用潜力.

关键词: 电动汽车, 无人机, 分布式电源, 路径规划, 紧急救援, 混合整数线性规划

Abstract:

The rapid development of electric vehicles (EVs) and unmanned aerial vehicles (UAVs) provides new ways for personnel search and material distribution during emergency periods. This paper proposes an EV-UAV joint rescue system, in which the UAVs use the EVs as charging and maintenance base stations to provide various services for the objects to be rescued, and the EVs can use distributed generations to obtain diversified electricity supply, which improves the adaptability and endurance level of the system in emergencies. The coordinated scheduling model of the EV-UAV system is established in the mixed-integer linear programming (MILP) formulation, which considers factors including electricity consumption, electricity replenishment, loading capacity, distribution route, and distribution time window of the EVs and the UAVs. Case studies verify the validity of the model proposed, compare the EV-UAV and ground vehicle (GV)-UAV rescue systems, and illustrate the technical characteristics and application potential of the EV-UAV system in emergency assistance.

Key words: electric vehicle (EV), unmanned aerial vehicle (UAV), distributed generation, vehicle routing problem, emergency rescue, mixed-integer linear programming (MILP)

中图分类号:

TM734

白文超, 班明飞, 宋梦, 夏世威, 李知艺, 宋文龙. 电动汽车-无人机联合救援系统协调调度模型[J]. 上海交通大学学报, 2024, 58(9): 1443-1453.

BAI Wenchao, BAN Mingfei, SONG Meng, XIA Shiwei, LI Zhiyi, SONG Wenlong. Coordinate Scheduling Model of Electric Vehicle-Unmanned Aerial Vehicle Joint Rescue System[J]. Journal of Shanghai Jiao Tong University, 2024, 58(9): 1443-1453.

图/表 10

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参数	数值	参数	数值
质量/kg	9.5	电池电量/(W·h)	200
负载/kg	6	悬停时间/min	32
水平悬停精度/m	±1.5	垂直悬停精度/m	±0.5
最大水平速度/(km·h^-1)	65	最大充电功率/W	180

参数	数值	参数	数值
最大里程/km	580	快充时间/min	42
电池电量(kW·h)	100	最大转矩/(N·m)	725
最大功率/kW	400	最高车速/(km·h^-1)	200

电动汽车-无人机联合救援系统协调调度模型

Coordinate Scheduling Model of Electric Vehicle-Unmanned Aerial Vehicle Joint Rescue System

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