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

doi:10.16183/j.cnki.jsjtu.2023.027

Abstract

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

CLC Number:

TM74
U691

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.

Figures/Tables 12

Fig.1

Fig.2

Fig.3

Tab.1

Tab.2

Fig.4

Tab.3

Parameters of scheduling model

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

Tab.3

Fig.5

Tab.4

Tab.5

Fig.6

Fig.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