An Energy Consumption Model for Designing an AGV Energy Storage System with a PEMFC Stack
Abstract
:1. Introduction
2. State-of-the-Art
2.1. Modeling of the Fuel Cell Stack
2.2. Modeling of the System Using a Fuel Cell Stack
3. Model of Energy Transfer in the System
3.1. A Generic Model for Instantaneous Power Demand
- Variant I: Data which describe the full dynamic model of the AGV are available. In this case, the developed model allows one to implement any scenario of AGV operation and estimate the instantaneous power demand. The data includes all the dynamic parameters of the vehicle including the mechanical system of the vehicle transmission system, the model of the control system, as well as the electric power supply system. It should be noted this is a seldom case and is a time-consuming modeling activity that requires a lot of information about the considered object, i.e., access to information about the dynamic parameters of the vehicle, information about how the vehicle is controlled, including the operation of supervised control system, etc. Unfortunately, some sections of this information are often unavailable due to companies protecting their intellectual property.
- Variant II: Only data with selected operating conditions are available, such as the speed of individual main drives that accompany the measurements of the instantaneous power demand of the vehicle. It should be noted that the use of this variant is purposeful, especially for AGV which has a limited number of possible settings of selected operating conditions, e.g., rotation speed of drives as well as acceleration and braking ramps. In such a case, it is not necessary to identify the entire domain defined by the space of possible values under the parameters of the operating conditions but only selected characteristic parameters.
- A speed parameter v of a vehicle or rotational speed of drive or drives. Under stationary conditions, this parameter should be measured at typical velocities for the type vehicle. For instance, 0.3 or 1.2 m/s are used as standard velocities [52] and some values are set by the manufacturer, e.g., 0.5 m/s (according to safety requirements [52]), and the maximum speed adjusted to the maximum permissible load. In this work, the safe velocity value for the maximum load of 1.2 t is 0.8 m/s. Measurements of velocities under transient conditions also allow identification of the acceleration and deceleration ramps;
- A carried load L with respect to the maximum limit load;
- Description of the characteristic route and driving direction, e.g., straight route ahead, straight route reverse, right turn, left turn, rotation around the AGV normal axis;
- Information about the inclination of the route (maximum 3% for AGVs according to the standard [52] on a technical floor); in this study this value has been omitted.
- Represent expected values and variance of the instantaneous power demand under selected operating conditions;
- Reflect the dynamics of changes in the instantaneous power demand and their frequency amplitude characteristics.
3.1.1. Models for Stationary Conditions
3.1.2. Models for Nonstationary Conditions
3.1.3. Model Validation
- Using a training data set to develop the model and validation data , the following measures of model compliance can be determined:
- The second measures (as a functional feature) of model compliance are executed with the use of relative error of power in the frequency domain:
3.1.4. Combining Models
3.2. Hybrid Power Supply System Model for the AGV
- For the fuel cell stack: A minimum voltage, maximum load current, maximum load power, and the conditions of long-term power overload;
- For the auxiliary supercapacitor: The maximum charging or discharging current;
- For the DC/DC converter: A minimum supply voltage, maximum load power, and the conditions of long-term power overload;
- For the main energy storage: The maximum charging and discharging current, and the conditions of long-term overload during charging and discharging;
- For the main power busbars load model (i.e., the AGV power demand model): A minimum voltage, maximum voltage, and the maximum difference between the achieved power and the required power.
4. Optimization Process Use Case
4.1. Automated Guided Vehicle (AGV)
4.2. Instantaneous Power Demand Model—Route Scenario
4.2.1. Identification Experiment
4.2.2. Instantaneous Power Demand Model for a Selected Scenario
- Increasing speed models from the stationary vehicle to 1 m/s velocity;
- Models for a constant speed of 1 m/s for where the expected value of instantaneous power demand was read from the average power demand for the assumed speed;
- Models for decreasing speed from 1 m/s to vehicle stop;
- Models for 90 degrees left turns.
4.3. An Example of Using the Model to Optimize the Hybrid Power Supply System
5. Discussion
6. Conclusions
- The proposed generic model allows for the determination of the instantaneous electric power for any route without the need to identify the dynamic drive system parameters;
- The model enables the determination of both stationary and nonstationary operating conditions using a simple approach with autoregressive models from signals with additional elements used for modeling the first-order and second-order nonstationarity with the application of additional linear, quadratic, or autoregressive models;
- Building a generic model for instantaneous power demand is possible since the AGV object is a system with constant control settings and operating conditions, and the AGV usually moves along an unchanged route for a long period. For more complex objects, the proposed approach may not be cost-effective as it would require more identification experiments.
- The model seems to correctly imitate the energy transfer in the hybrid power system. The waveforms calculated by the model are reliable and all the phenomena visible are correct and explainable. The effectiveness of the model, however, must be confirmed by measurements of real cases with the design and optimization of the hybrid power supply system, which will be the subject of future research;
- The methodology used to model the components of the hybrid power supply system, using a few original ideas, means that the results of computer simulations are calculated relatively quickly, even for long routes taken by the AGV.
Supplementary Materials
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
References
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No. | Operating Conditions Related to Routes | Other Operating Conditions |
---|---|---|
Ex 1–4 | Straight route ahead (start, driving with constant speed, stop) | V = 0.3m/s, L = 100% V = 0.5m/s, L = 100% V = 0.8m/s, L = 100% V = 1.0m/s, L = 0% |
Ex 5–8 | Straight route reverse (start, driving with constant speed, stop) | V = 0.3m/s, L = 100% V = 0.5m/s, L = 100% V = 0.8m/s, L = 100% V = 1.0m/s, L = 0% |
Ex 9–12 | Slalom route (making three turns by 180 deg) | V = 1.0m/s, L = 0% CW V = 1.0m/s, L = 0%, CCW V = 1.0m/s, L = 100% CW V = 1.0m/s, L = 100% CCW |
Ex 13–14 | Rotation around its axis | V = 0.2m/s, L = 100% CCW, CW |
Ex 14 | Emergency stop | not applicable |
Model Name | |
---|---|
Model for increasing speed | 3.3% |
Model with constant speed | 0.51% |
Model for decreasing speed | 3.1% |
Model for turning left | 15.2% |
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Niestrój, R.; Rogala, T.; Skarka, W. An Energy Consumption Model for Designing an AGV Energy Storage System with a PEMFC Stack. Energies 2020, 13, 3435. https://doi.org/10.3390/en13133435
Niestrój R, Rogala T, Skarka W. An Energy Consumption Model for Designing an AGV Energy Storage System with a PEMFC Stack. Energies. 2020; 13(13):3435. https://doi.org/10.3390/en13133435
Chicago/Turabian StyleNiestrój, Roman, Tomasz Rogala, and Wojciech Skarka. 2020. "An Energy Consumption Model for Designing an AGV Energy Storage System with a PEMFC Stack" Energies 13, no. 13: 3435. https://doi.org/10.3390/en13133435