智能优化理论及ISP编程技术在智能人工腿控制器设计中的应用研究

【作者】 肖宏峰；

【导师】 谭冠政；

【作者基本信息】 中南大学 ， 模式识别与智能系统， 2002， 硕士

【摘要】 智能人工腿是将智能控制理论、微电子技术、计算机控制技术、机械设计与制造、生物医学工程及康复医学工程等技术融合在一起的先进的智能型机电人工腿，能使腿部截肢者以极自然的步态行走，对帮助他们回归主流社会，减轻社会及其家庭负担具重要意义。 智能人工腿是一个复杂的非线性控制系统。常常采用模糊控制策略来控制非线性对象。模糊控制器的优化和外围电路的设计是模糊控制系统没计的两个重要方面。本文就这两个问题提出了以下方法： (1)．用遗传算法优化模糊集合的语气算子来优化模糊集合离散形式的隶属度函数表，优化后的隶属度函数表更能客观地反映对象特性，提高了控制系统的性能； (2)．用柔性多面体搜索算法来优化模糊控制规则； (3)．结合遗传算法和柔性多面体搜索算法各自的特点，设计了一种新的混合遗传算法，即柔性多面体混合遗传算法(FPSA HGA)，FPSA HGA的收敛速度和求解精度比基本遗传算法都要高； (4)．总结柔性多面体搜索算法、遗传算法及模糊集合与模糊推理三者之间的综合应用关系，丰富了智能优化理论。 (5)．用ispLSI1016可编程芯片设计控制系统的速度测量外围电路。更多还原

【Abstract】 Intelligent artificial leg is an advanced intelligent mechatronic artificial leg, which is the fusion of intelligent control technique, microelectronic technique, computer control technique, mechanical design & manufacture, biomedical engineering and rehabilitation medicine engineering etc.. The amputate can walk with very natural gait after fixing it, which is very important to help them come back mainstream society to alleviate our society and their family’s burden.Intelligent artificial leg is a complicated nonlinear control system. Fuzzy control strategy often is used to solve the control problem of nonlinear control object. The optimization of fuzzy controller and designing of peripheral circuit are two important aspects of fuzzy control system. In this paper, thus propose following methods:(1). Using genetic algorithm to optimize language operator of fuzzy set so as to optimize the tables of discrete membership function in fuzzy set The membership function optimized can objectively descript the characteristics of control object and effectively improve the performances of control system.(2). Using flexible polyhedron search algorithm to optimize fuzzy control rules.(3). Synthesizing respective characters of genetic algorithm and flexible polyhedron search algorithm to design a new hybrid genetic algorithm called flexible polyhedron genetic algorithm. The convergence speed and presicion of FPSA_HGA are higher than those of simple genetic algorithm.(4). Summarizing the synthetic applications of genetic algorithm, flexible polyhedron search algorithm and fuzzy set & fuzzy inference and enriching intelligent optimal theory.(5). Designing peripheral circuit of speed measurement for the control system by using the chip ispLSI 1016.更多还原