考虑能量回收的露天矿新能源卡车路径规划  

New Energy Truck Path Planning for Open-pit Mine Considering Energy Recovery

作　　者：顾清华[1,2] 刘绒绒 李学现 高松 GU Qinghua;LIU Rongrong;LI Xuexian;GAO Song(School of Resources Engineering,Xi′an University of Architecture&Technology,Xi′an 710055,China;Xi′an Key Laboratory for Intelligent Industrial Perception,Calculation and Decision,Xi′an 710055,China;School of Management,Xi′an University of Architecture&Technology,Xi′an 710055,China)

机构地区：[1]西安建筑科技大学资源工程学院,陕西西安710055 [2]西安市智慧工业感知计算与决策重点实验室,陕西西安710055 [3]西安建筑科技大学管理学院,陕西西安710055

出　　处：《金属矿山》2023年第2期182-188,共7页Metal Mine

基　　金：国家自然科学基金项目(编号:52074205);陕西省自然科学基础研究计划项目(编号:2020JC-44)。

摘　　要：随着我国能源结构的调整和低碳政策的实施,新能源卡车已成为露天矿运输的装备之一。但新能源卡车的电池能耗大,合理规划路径从而减少能耗始终是露天矿运输中的问题所在。通过对卡车行驶中电池能耗与回收的分析,综合考虑卡车速度、卡车载重、坡度和道路等级4个影响因素,建立以能耗最小为目标的露天矿能量优化模型;同时为减少里程焦虑问题,将车载剩余能量、充电站位置因素纳入到问题模型中。然后提出了一种基于角度的双向搜索策略改进A^(*)算法(IA^(*))。最后通过仿真实验证明,建立的能量优化模型针对里程焦虑问题,得到了能耗最小的可行路径,更能反映真实露天矿环境下新能源卡车的运输情况,验证了所提方法的实用性。With the development of China′s energy structure and the implementation of low-carbon policies,new energy trucks become the future trend of open-pit mine transportation. However,the battery energy consumption of new energy trucks accounts for a large proportion of energy consumption. Rational planning of routes to reduce energy consumption has always been the problem in open-pit mine transportation. In order to solve this problem,an energy optimization model of open-pit mine was established by analyzing the process of battery energy consumption and recycling in truck driving. The model considers four factors including truck speed,truck load,slope and road grade. And the remaining energy on the vehicle and the location of the charging station are embedded into the model to reduce the range anxiety problem. Then,an improved A^(*)algorithm(IA^(*))based on angle-based bidirectional search strategy is proposed to solve the model. Finally,the simulation experiment proves that the established energy optimization model can find the feasible path with the lowest energy consumption for the problem of range anxiety. And it can better reflect the transportation situation of new energy trucks in the real open-pit mine environment,which verifies the practicability of the proposed method.

关 键 词：露天矿运输 新能源卡车 路径规划 能量优化 IA*算法 

分 类 号：TD56[矿业工程—矿山机电]