Optimal Control for a Parallel Hybrid Hydraulic Excavator Using Particle Swarm Optimization

Table 2

Constraints parameter in optimal control formulation.

Constraints parameter	Value
theng_min ~theng_max	0.5~1
𝜏eng_min ~𝜏eng_max	0~124.8 N·m
𝑤mc_min ~𝑤mc_max	−4000~4000 r/min
𝜏mc_min ~𝜏mc_max	Subject to battery’s SOC and; motor’s current speed
SOCmin ~SOCmax	0.2~0.92
𝜗	240 g/kWh
𝛿	2.78×10^−7