【摘要】 运用仿人智能控制 (HSIC)理论的方法 ,研究了直线小车三级摆系统 (CTPS)的摆起倒立控制问题 .通过对CTPS运动的物理过程分析 ,模仿人控制器的特点 ,设计了CTPS的HSIC控制器的动觉智能图式 .在摆起倒立过程中 ,HSIC控制器通过对三级摆杆间运动姿态特征的感知和基于特征识别的多模态控制 ,使CTPS各级摆杆之间始终具有较小的相对运动趋势和较小的相对角度差 ,成为一个动态的“拟小车单摆”系统 .小车三级摆摆起倒立控制的仿真实验成功验证了该方法的有效性 .更多还原

【Abstract】 Studied the control problem concerning the swinging-up and handstand-control of the cart-triple-pendulum system (CTPS, a typical under-actuated, unsteady and nonlinear system) based on the human-simulated intelligent control (HSIC) theory. By analyzing the movement of CTPS and simulating the human controller, designed the Sensory-motor Intelligent Schemas of HSIC controller for the CTPS. In the swinging-up process, the HSIC controller perceives the coupled motion of the triple pendulums and uses the multi-mode control strategy based on characteristic identification, to keep the angle and movement between the triple linked pendulums minimum all the time. The multi-pendulum then becomes a “quasi-cart-single-pendulum”. Simulation experiments for the cart triple-pendulum successfully proved the validity of the above method.更多还原