CAJ | 학술논문

为减少两轮移动小车在运动平衡控制过程中的能量消耗，文章设计了一种基于粒子群优化算法的能量优化策略。针对两轮移动小车运动学模型和电机模型系统，建立了系统的能量消耗模型；针对系统运行速度设计了优化策略，结合其能耗模型和电机限制条件得出系统的能量消耗约束方程，由于该方程很难获取最优解，通过粒子群优化算法对能量函数进行寻优，得出系统运行的最优速度区间，实现系统的能耗最优控制；仿真结果说明了该方法的有效性。
위감소량륜이동소차재운동평형공제과정중적능량소모，문장설계료일충기우입자군우화산법적능량우화책략。침대량륜이동소차운동학모형화전궤모형계통，건립료계통적능량소모모형；침대계통운행속도설계료우화책략，결합기능모모형화전궤한제조건득출계통적능량소모약속방정，유우해방정흔난획취최우해，통과입자군우화산법대능량함수진행심우，득출계통운행적최우속도구간，실현계통적능모최우공제；방진결과설명료해방법적유효성。
In order to reduce the energy consumption of two-wheeled car in movement ,the energy opti-mization strategy based on particle swarm optimization (PSO) algorithm is proposed .Based on the ki-nematic model of two-wheeled car and motor model ,the energy consumption model is built .The speed strategy is optimized .T he final energy consumption constraint equations are proposed by means of energy consumption model and motor limitations .As the optimal solution of energy equations is difficult to obtain ,the PSO algorithm is used to optimize the energy function to achieve the system’s optimal velocity range and keep system achieve energy optimal control .Simulation results show that this method is effective .