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1.上海交通大学 电子信息与电气工程学院,上海 200240
2.上海交通大学 医疗机器人研究院,上海 200240
[ "费 倩(1995-),女,江苏常州人,硕士研究生,2017年于南京理工大学获得学士学位,主要从事胃肠道微型机器人和无线能量传输等方面的研究。E-mail:feiqian@sjtu.edu.cn" ]
[ "王志武(1969-),男,湖北黄冈人,博士,副教授,2002年于上海交通大学获得博士学位,主要从事微机电设计与控制方面的研究。E-mail:zwwang@sjtu.edu.cn" ]
收稿日期:2020-12-29,
修回日期:2021-02-24,
纸质出版日期:2021-07-15
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费倩,王志武,颜国正等.胃肠道机器人的无线能量传输系统的优化[J].光学精密工程,2021,29(07):1598-1608.
FEI Qian,WANG Zhi-wu,YAN Guo-zheng,et al.Optimization of wireless power transmission system of gastrointestinal robot[J].Optics and Precision Engineering,2021,29(07):1598-1608.
费倩,王志武,颜国正等.胃肠道机器人的无线能量传输系统的优化[J].光学精密工程,2021,29(07):1598-1608. DOI: 10.37188/OPE.20212907.1598.
FEI Qian,WANG Zhi-wu,YAN Guo-zheng,et al.Optimization of wireless power transmission system of gastrointestinal robot[J].Optics and Precision Engineering,2021,29(07):1598-1608. DOI: 10.37188/OPE.20212907.1598.
胃肠道机器人的无线能量传输(WPT)系统的性能易受到尺寸、安全性等诸多因素的影响。为使胃肠道机器人在这些限制下依然能够安全稳定地接收能量,本文建立了系统的数学模型,并用智能优化算法对其进行优化。采用平板螺旋线圈作为系统的发射线圈,建立能量传输系统优化的数学模型。接着,根据安全性、功率要求等限制分析系统的约束条件,并以效能积作为优化函数。对粒子群优化算法进行改进,并引入布谷鸟搜索策略。最后,用改进的粒子群算法对系统进行优化,并对优化后的参数进行了实验验证。实验结果表明:系统传输效率为10.2%,接收功率为637 mW,达到预期结果。优化后的WPT系统基本满足了胃肠道机器人能量传输的要求。
The performance of the wireless energy transmission (WPT) system of gastrointestinal robots is easily affected by many factors such as size and safety. In order to make gastrointestinal robots able to receive energy safely and stably under these restrictions, this paper has established a mathematical model, and use intelligent optimization algorithm to optimize it. First, a flat spiral coil is used as the transmitting coil of the system, and a mathematical model for the optimization of the energy transmission system is established. Then, analyze the constraints of the system according to the safety, power requirements, etc., and use the efficiency product as the optimization function. Then, improve the particle swarm optimization algorithm and introduce the cuckoo search strategy. Finally, the improved particle swarm algorithm is used to optimize the system, and the optimized parameters are verified by experiments. The experimental results show that the transmission efficiency of the system is 10.2%, and the received power is 637mW, reaching the expected results.The optimized WPT system basically meets the energy transmission requirements of gastrointestinal robots.
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