【摘要】 为提升纯电动汽车换电机器人续航能力，提出一种面向节能的换电机器人举升系统结构及控制参数集成优化方法。首先，对换电机器人举升系统结构参数进行初步匹配；其次，设计滑模变结构控制器，建立举升系统举升过程的能耗模型；然后，建立以举升系统能耗和角位移稳态误差为目标的优化模型，并利用多目标优化算法进行求解以获得举升能耗和角位移误差最优的结构和控制参数组合；最后，通过实验验证优化结果的可靠性。结果表明，经集成优化后稳态误差降低了53.68%,举升系统能耗降低了10.93%。更多还原

【Abstract】 To improve the battery life of the battery swap robot, an integrated optimization method of the battery swap robot lifting system structure and control parameters is proposed. Firstly, the preliminary parameter matching on the structure of the battery swap robot lifting system is performed. Secondly, a sliding mode variable structure controller is designed, and based on this, an energy consumption model is established for the lifting process of the lifting system. Then, an optimization model targeting the energy consumption of the lifting system and the steady-state error of angular displacement is established, and the multi-objective optimization algorithm is used to solve it to obtain the optimal combination of the structure and control parameters for the lifting energy consumption and angular displacement error. Finally, the reliability of the optimization results is verified through experiments. The optimization results show that the steady-state error is reduced by 53.68% and the energy consumption of the lifting system is reduced by 10.93% after the integrated optimization.更多还原