低碳自动化码头AGV物流调度和有序充电的联合经济优化

doi:10.16183/j.cnki.jsjtu.2023.027

上海交通大学学报 ›› 2024, Vol. 58 ›› Issue (9): 1370-1380.doi: 10.16183/j.cnki.jsjtu.2023.027

• 新型电力系统与综合能源 • 上一篇下一篇

低碳自动化码头AGV物流调度和有序充电的联合经济优化

王轩¹, 汪宝², 陈艳萍¹, 刘洪³(), 马晓慧³

1.天津港(集团)有限公司, 天津 300461
2.天津港电力有限公司,天津 300456
3.天津大学电气自动化与信息工程学院,天津 300072

收稿日期:2023-01-28 修回日期:2023-05-04 接受日期:2023-05-19 出版日期:2024-09-28 发布日期:2024-10-11
通讯作者: 刘洪,教授,博士生导师,电话(Tel.):022-27403315;E-mail:liuhong@tju.edu.cn.
作者简介:王轩(1973—),正高级工程师,从事港口设备管理、工程建设等.
基金资助:
天津港科技项目《智能微电网技术在零碳码头运营中的应用研究》(2022C1154)

Joint Economic Optimization of AGV Logistics Scheduling and Orderly Charging in a Low-Carbon Automated Terminal

WANG Xuan¹, WANG Bao², CHEN Yanping¹, LIU Hong³(), MA Xiaohui³

1. Tianjin Port (Group) Co., Ltd., Tianjin 300461, China
2. Tianjin Harbor Electric Power Co., Ltd., Tianjin 300456, China
3. School of Electrical Automation and Information Engineering, Tianjin University, Tianjin 300072, China

Received:2023-01-28 Revised:2023-05-04 Accepted:2023-05-19 Online:2024-09-28 Published:2024-10-11

摘要/Abstract

摘要：

针对现有自动化码头自动导航集卡(AGV)充电策略未能与分布式电源出力充分协同等问题,提出一种自动化码头AGV物流调度和有序充电联合经济优化方法.首先,解析AGV物流调度和充电调度之间的协同关系,构建联合优化框架;其次,针对AGV物流调度模块,提出考虑码头内外集卡道路隔离要求的AGV行驶距离计算方法;再次,针对AGV充电模块,定义AGV充电状态的判断条件和选桩方法;进而以码头购电费用最小为目标,考虑分时电价、风光上网电价、电量平衡约束、终止时刻的剩余电量约束、决策变量的上下限约束、物流调度约束,构建物流调度和有序充电联合优化模型,提出基于改进粒子群优化算法的快速求解方法;最后,通过某码头的实际案例,验证所提方法的有效性和经济性.

关键词: 自动导航集卡, 分布式电源, 港口物流, 有序充电, 协同调度

Abstract:

To improve the current automated guided vehicle (AGV) charging strategy at automated terminals, which is not fully coordinated with the distributed power supply, a joint optimization method of AGV logistics scheduling and orderly charging is proposed. First, the synergetic relationship between AGV logistics scheduling and charging scheduling is analyzed, and a joint optimization framework is built. Then, a method to calculate the distance traveled by AGVs while considering the segregation requirements of trucks inside and outside the terminal is proposed. Afterwards, for the AGV charging module, the judgment conditions of AGV charging status and the pile selection method are defined. Furthermore, to minimize the cost of purchasing electricity at the terminal, a joint optimization model of logistics scheduling and orderly charging is constructed by considering time-of-use tariff, distributed power feed-in tariff, power balance constraint, state of charge constraint at the termination moment, upper and lower bound constraints of decision variables, and logistics scheduling constraint. Finally, a fast solution method based on improved particle swarm optimization algorithm is proposed, of which the effectiveness and economic efficiency are verified by an actual case of a terminal.

Key words: automated guided vehicle (AGV), distributed power supply, port logistics, orderly charging, synergetic scheduling

中图分类号:

TM74
U691

王轩, 汪宝, 陈艳萍, 刘洪, 马晓慧. 低碳自动化码头AGV物流调度和有序充电的联合经济优化[J]. 上海交通大学学报, 2024, 58(9): 1370-1380.

WANG Xuan, WANG Bao, CHEN Yanping, LIU Hong, MA Xiaohui. Joint Economic Optimization of AGV Logistics Scheduling and Orderly Charging in a Low-Carbon Automated Terminal[J]. Journal of Shanghai Jiao Tong University, 2024, 58(9): 1370-1380.

图/表 12

图1

图2

图3

表1

表2

图4

表3

调度模型参数

参数	取值	参数	取值
n/辆	76	$E m i n m i n$ , $E m i n m a x$ /%	20, 60
n_pile/桩	13	$E m a x m i n$ , $E m a x m a x$ /%	60, 100
σ	7	t₂/min	4
P_loss/(kW·h·km^-1)	3.7	(x_{A, left}, x_{A, right})/m	(0, 296)
P_total/(kW·h)	282	(x_{B, left}, x_{B, right})/m	(355, 652)
v/(m·s^-1)	4	(x_{C, left}, x_{C, right})/m	(711, 1 008)
t₁/min	1	p_char,1, p_char,2/kW	234, 109

表3

图5

表4

表5

图6

图7

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船舶号	靠泊时间	离泊时间	可配岸桥数/号	各岸桥各类集装箱数
船舶号	靠泊时间	离泊时间	可配岸桥数/号	20英尺	40英尺
1	00:00	08:15	1~8	79	172
2	03:30	10:30	1~8	82	164
3	11:30	20:15	1~8	90	145

船号	参数名称	坐标
1	岸桥1~8	(1, 562), (40, 562), (60, 562), (86, 562), (95, 562), (123, 562), (134, 562), (150, 562)
	堆场1~8	(258, 108), (258, 216), (258, 350), (258, 108), (258, 226), (258, 330), (825, 216), (258, 400)
2	岸桥1~8	(400, 562), (435, 562), (455, 562), (475, 562), (500, 562), (525, 562), (545, 562), (555, 562)
	堆场1~8	(360, 216), (270, 92), (324, 92), (375, 216), (450, 270), (554, 324), (639, 270), (580, 324)
3	岸桥1~8	(830, 562), (850, 562), (860, 562), (880, 562), (900, 562), (915, 562), (920, 562), (940, 562)
	堆场1~8	(378, 92), (430, 92), (900, 400), (378, 92), (430, 92), (900, 400), (216, 79), (258, 405)

调度时间	岸桥1 AGV序列	岸桥2 AGV序列	岸桥3 AGV序列
00:15	76/72/59/60/43/64/45	51/73/70/39/57/74/55	55/63/41/47/68/54/48
00:45	41/47/48/52/54/63/68	40/44/49/62/66/69/75	39/43/45/51/55/57/59
01:15	39/43/45/51/55/57/59	41/47/48/52/54/60/63	40/44/49/62/66/68/64
01:45	40/44/49/62/64/66/68	1/2/3/4/6/10/39	7/8/12/41/43/45/47

调度时间	充电桩序列	对应AGV序列	充电量/ (kW·h)	平均充电时长/min	AGV 平均 SOC/%	各辆AGV的E_c/%
调度时间	充电桩序列	对应AGV序列	充电量/ (kW·h)	平均充电时长/min	AGV 平均 SOC/%	1号	2号	3号	4号
0:15	8/7/9/6/5/10/11/4/12/13/3/2/1	6/1/9/2/10/5/3/4/7/13/8/12/11	608.40	12.0	52	39	37	37	37
0:45	8/7/9/6/5/10/11/4/12/13/3/2/1	6/1/9/2/10/5/3/4/7/13/8/12/11	760.50	15.0	59	81	79	79	79
1:15	8/7/9/6/5/10/11/4/12/13/3/2/1	6/1/9/2/10/5/3/4/7/13/8/12/11	354.25	15.0	61	100	99	99	99
1:45	8/4/5/7/9/11/6/10/3/1/2/12/13	16/15/21/19/20/17/18/14/26/23/ 24/22/25	694.40	13.7	66	99	97	97	97

低碳自动化码头AGV物流调度和有序充电的联合经济优化

Joint Economic Optimization of AGV Logistics Scheduling and Orderly Charging in a Low-Carbon Automated Terminal

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