Optimal Design of Energy Sources for a Photovoltaic/Fuel Cell Extended-Range Agricultural Mobile Robot
Powertrain electrification in the agricultural vehicles is still in the initial stages. This article analyzes the energy behavior of a Photovoltaic/Fuel Cell Agricultural Mobile Robot (PV/FCAMR) as the preliminary step before development. This concept incorporates three energy storage sources for th...
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MDPI AG
2023-01-01
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Series: | Robotics |
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Online Access: | https://www.mdpi.com/2218-6581/12/1/13 |
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author | Amin Ghobadpour Alben Cardenas German Monsalve Hossein Mousazadeh |
author_facet | Amin Ghobadpour Alben Cardenas German Monsalve Hossein Mousazadeh |
author_sort | Amin Ghobadpour |
collection | DOAJ |
description | Powertrain electrification in the agricultural vehicles is still in the initial stages. This article analyzes the energy behavior of a Photovoltaic/Fuel Cell Agricultural Mobile Robot (PV/FCAMR) as the preliminary step before development. This concept incorporates three energy storage sources for the powertrain: a battery pack, a Fuel Cell (FC) system, and a Photovoltaic (PV) system. This paper proposes an approach based on the Grey Wolf Optimization (GWO) and Particle Swarm Optimization (PSO) algorithms to determine the sizes of the FC and battery of an FCAMR. A differential drive mobile robot was used as a case study to extract the typical working cycles of farming applications. The FCAMR vehicle model was developed in MATLAB/Simulink to evaluate vehicle energy consumption and performance. For the energy analysis and evaluation, the FCAMR was tested based on two realistic working cycles comprising circular and rectangular moving patterns. The results showed that the proposed arrangement could extend the FCAMR autonomy by 350% as opposed to the pure electric system. This allows for at least 8 h of work with a tank filled with 150 g hydrogen and a PV system with a 0.5 m<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mn>2</mn></msup></semantics></math></inline-formula> monocrystalline solar panel. The simulation results have demonstrated the relevance and robustness of this approach in relation to various working cycles. The cost comparison between the theoretical and optimization sizing methods showed at least an 8% decrease for the FCAMR. Furthermore, adding the PV system extended the vehicle’s range by up to 5%. This study provides an optimal solution for energy sources sizing of mobile robots as futuristic agricultural vehicles. |
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language | English |
last_indexed | 2024-03-11T08:11:42Z |
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series | Robotics |
spelling | doaj.art-4a836f8c76be41feb81faeaa70a44d9c2023-11-16T23:05:20ZengMDPI AGRobotics2218-65812023-01-011211310.3390/robotics12010013Optimal Design of Energy Sources for a Photovoltaic/Fuel Cell Extended-Range Agricultural Mobile RobotAmin Ghobadpour0Alben Cardenas1German Monsalve2Hossein Mousazadeh3Research Group on Industrial Electronics (GREI), Electrical and Computer Engineering Department, Hydrogen Research Institute, University of Quebec at Trois-Rivieres, 3351, Boulevard des Forges, Trois-Rivieres, QC G8Z 4M3, CanadaResearch Group on Industrial Electronics (GREI), Electrical and Computer Engineering Department, Hydrogen Research Institute, University of Quebec at Trois-Rivieres, 3351, Boulevard des Forges, Trois-Rivieres, QC G8Z 4M3, CanadaResearch Group on Industrial Electronics (GREI), Electrical and Computer Engineering Department, Hydrogen Research Institute, University of Quebec at Trois-Rivieres, 3351, Boulevard des Forges, Trois-Rivieres, QC G8Z 4M3, CanadaDepartment of Mechanical Engineering of Biosystems, University of Tehran, Karaj 77871-31587, IranPowertrain electrification in the agricultural vehicles is still in the initial stages. This article analyzes the energy behavior of a Photovoltaic/Fuel Cell Agricultural Mobile Robot (PV/FCAMR) as the preliminary step before development. This concept incorporates three energy storage sources for the powertrain: a battery pack, a Fuel Cell (FC) system, and a Photovoltaic (PV) system. This paper proposes an approach based on the Grey Wolf Optimization (GWO) and Particle Swarm Optimization (PSO) algorithms to determine the sizes of the FC and battery of an FCAMR. A differential drive mobile robot was used as a case study to extract the typical working cycles of farming applications. The FCAMR vehicle model was developed in MATLAB/Simulink to evaluate vehicle energy consumption and performance. For the energy analysis and evaluation, the FCAMR was tested based on two realistic working cycles comprising circular and rectangular moving patterns. The results showed that the proposed arrangement could extend the FCAMR autonomy by 350% as opposed to the pure electric system. This allows for at least 8 h of work with a tank filled with 150 g hydrogen and a PV system with a 0.5 m<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mn>2</mn></msup></semantics></math></inline-formula> monocrystalline solar panel. The simulation results have demonstrated the relevance and robustness of this approach in relation to various working cycles. The cost comparison between the theoretical and optimization sizing methods showed at least an 8% decrease for the FCAMR. Furthermore, adding the PV system extended the vehicle’s range by up to 5%. This study provides an optimal solution for energy sources sizing of mobile robots as futuristic agricultural vehicles.https://www.mdpi.com/2218-6581/12/1/13agricultural mobile robotnon-road hybrid electric vehiclesparticle swarm optimizationgrey wolf optimizerphotovoltaicfuel cell |
spellingShingle | Amin Ghobadpour Alben Cardenas German Monsalve Hossein Mousazadeh Optimal Design of Energy Sources for a Photovoltaic/Fuel Cell Extended-Range Agricultural Mobile Robot Robotics agricultural mobile robot non-road hybrid electric vehicles particle swarm optimization grey wolf optimizer photovoltaic fuel cell |
title | Optimal Design of Energy Sources for a Photovoltaic/Fuel Cell Extended-Range Agricultural Mobile Robot |
title_full | Optimal Design of Energy Sources for a Photovoltaic/Fuel Cell Extended-Range Agricultural Mobile Robot |
title_fullStr | Optimal Design of Energy Sources for a Photovoltaic/Fuel Cell Extended-Range Agricultural Mobile Robot |
title_full_unstemmed | Optimal Design of Energy Sources for a Photovoltaic/Fuel Cell Extended-Range Agricultural Mobile Robot |
title_short | Optimal Design of Energy Sources for a Photovoltaic/Fuel Cell Extended-Range Agricultural Mobile Robot |
title_sort | optimal design of energy sources for a photovoltaic fuel cell extended range agricultural mobile robot |
topic | agricultural mobile robot non-road hybrid electric vehicles particle swarm optimization grey wolf optimizer photovoltaic fuel cell |
url | https://www.mdpi.com/2218-6581/12/1/13 |
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