【作者】 董小闵； 李祖枢； 余淼； 廖昌荣； 陈伟民；

【Author】 DONG Xiao-min~(1,2),LI Zu-shu~3,YU Miao~2,LIAO Chang-rong~2,CHEN Wei-min~2 (1.State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing 400044,China; 2.Key Lab of Optoelectronic Technology and System of Education Ministry,Chongqing University,Chongqing 400044,China; 3.Automatic College,Chongqing University,Chongqing 400044,China)

【机构】 重庆大学机械传动国家重点实验室； 重庆大学光电技术及系统教育部重点实验室； 重庆大学自动化学院；

【摘要】 论文讨论了基于图式理论的仿人智能控制理论最新进展及其在磁流变悬架中的应用情况.首先,结合图式理论和仿人智能控制理论,定义一些基于动觉智能图式的仿人智能控制基本概念,如感知图式、运动图式以及关联图式等.然后,给出了仿人智能控制器设计的通用性方法.接着,基于通用性的方法,针对具有非线性、时滞及不确定性的磁流变悬架设计了基于动觉智能图式的仿人智能控制器.最后,开展了实车道路试验来验证控制方法的有效性.试验结果表明,基于动觉智能图式的仿人智能控制理论是解决复杂控制问题的有效途径.更多还原

【Abstract】 The new advancement of human simulated intelligent control(HSIC) theory based on schema theory and its application in the magneto-rheological(MR) suspension system are studied.First,some fundamental concepts of HSIC based on sensory motor intelligent schema(SMIS) are defined by combing HSIC theory and schema theory.Then a general design principle of HSIC based on SMIS is given.Subsequently,on the basis of the general design principle,a human simulated intelligent controller based on SMIS is formulated for a MR suspension system with nonlinearity,time-delay and uncertainty.At last,the road test is performed to validate the proposed controller.The results have verified the universal validity of the HSIC theory based on SMIS to resolve complex system control problems.更多还原