【作者】 梁东武； 李祖枢； 晏刚； 陈桂强；

【Author】 LIANG Dong-wu1,LI Zu-shu1,2,YAN Gang1,CHEN Gui-qiang1(1.Institute of Intelligent Automation,Chongqing University,Chongqing 400044,China;2.Institute of Artificial Intelligence System,Chongqing Institute of Technology,Chongqing 400050,China)

【机构】 重庆大学智能自动化研究所；

【摘要】 运用基于动觉智能图式的仿人智能控制理论设计小车二级摆摆起倒立的仿人智能控制器,该控制器具有多模态的分层递阶结构。针对小车二级摆摆起倒立过程中系统动力学的非线性特性,运用模糊逻辑规则,设计仿人智能控制器参数校正级的模糊自校正算法。设计出的仿人智能控制器具有控制参数的在线模糊自校正能力。通过把这种控制器和不带有参数自校正的控制器的控制效果作对比、改变小车二级摆物理特性等方法进行实验。仿真与实时控制实验结果表明:加入控制参数在线自校正的仿人智能控制器在小车二级摆摆起倒立的控制过程中,有效地实现控制参数的在线自校正,缩短小车二级摆摆起倒立过程的时间,适应被控对象物理特征的变化,提高控制的准确性,具有更加明显的鲁棒性和适应性。更多还原

【Abstract】 Based on the sensory-motor intelligent schemas of human-simulated intelligent control(HSIC),a controller of cart-double pendulum system(CDPS)was designed.This structure has multimode control and hierarchical structure.Aimed at the dynamic nonlinear nature in the swinging up and handstand of CDPS,using fuzzy logic rules,a fuzzy self-turning algorithm of parameter correct part of HSIC was designed.This controller has the parameter self-turning ability.Through comparing the control effects of this controller with controller without parameter self-turning,and changing the physical parameter of CDPS,several experiments were made.The computer simulate-on and real time control experiments of the swinging up control of a CDPS show that the online fuzzy self-tuning of control parameters has effectively realized control parameters’ self-turning,shortened the time of the swinging up and handstand of CDPS,adopted the change of the object’s physical feature,raised the accuracy of control,and markedly enhanced the robustness and adaptability of HSIC.更多还原