AGV电池能量管理系统设计与实现
发布时间：2018-11-26 11:30
【摘要】：自动导引车(Automated Guided Vehicle,AGV)是一种以电池为动力源,具有自动导引系统的无人驾驶运输车。AGV以安全、灵活、高效、可靠等特点,广泛应用于柔性加工系统、柔性装配系统、自动化立体仓库以及邮局、港口码头、食品、化工、烟草行业的物流系统和其他危险场所。电池管理系统BMS(Battery Management System,BMS)是AGV的关键系统之一,对AGV安全、可靠、稳定地工作起着至关的作用。锂电池凭借其优良的性能,逐渐取代传统的铅酸蓄电池和镍氢电池,被广泛应用于AGV中,虽然电池能量管理系统在电动汽车、笔记本、相机等其他系统上已有大量的研究和应用,但是电池技术和材料的优化不可能解决锂电池使用过程中的所有问题,同时,由于AGV自身工作特点,电池管理系统中电池的充放电管理、电池荷电状态(State of Charge,SOC)估算、热管理、均衡控制策略等有其自生的特点,需要进行专门研究,以保证AGV系统安全高效的运行。本文即是根据AGV的特点,对AGV电池能量管理系统展开了研究与设计,其主要研究内容包括:(1)对AGV电池能量管理系统的功能需求与技术方案进行了分析论证。通过对常用锂电池的特性分析,确定电池组中锂电池的类型;对串联使用的单体电池电压的多种检测方法进行对比,确定了AGV电池能量管理系统中单体电压的检测方法;通过对常规电池均衡方法的梳理、比较,选择了合适的均衡方法;分析了常见的SOC估算方法,并比较其优缺点,为后续电池组SOC估算提供借鉴。(2)对电池组配置进行了研究。分析了电池不同连接方式对电池组性能的影响,确定先并联后串联的可靠性高于先串联后并联的可靠性;运用SPSS中的因子分析和系统聚类功能,对单体电池进行了主因子分选和总因子分选,并与传统分选方法进行对比分析,结果表明因子分选法在提高电池组一致性方面具有较好的效果。(3)对电池组的SOC估算进行了研究。建立基于开路电压法和安时积分法的SOC估算模型,并引入温度、放电倍率和循环寿命的修正参数,通过实验方法标定得到SOC估算模型中的各参数具体值。借助MATLAB/Simulink平台开展了模型仿真并进行了实验验证,结果表明SOC估算误差在±5%以内。(4)对AGV电池能量管理系统的硬件和软件进行了设计。采用模块化设计,将整个硬件系统划分为主控模块、电源模块、数据采集模块、通信模块、保护模块、均衡模块和存储模块,并对各模块进行了详细的设计。引入UCOSII操作系统,对下位机软件进行设计开发,满足了系统实时性的要求。采用Microsoft Visual Basic 6.0开发了上位机软件,实现了用户验证、数据显示、参数设置等功能。(5)对AGV电池能量管理系统进行了性能测试和现场运行试验,结果表明该系统工作稳定可靠,能够较为精确地采集电池组电流、电压和温度数据,估测SOC值较为准确,系统的各项性能指标都达到预期值。
[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 卤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.
【学位授予单位】：西南大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：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 卤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.
【学位授予单位】：西南大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U469.72
【参考文献】
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