仿人智能控制理論及應用研究進(jìn)展
doi: 10.16383/j.aas.c200007
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1.
西南交通大學(xué)電氣工程學(xué)院 成都 611756
基金項目: 國家科技支撐項目(2015BAG14B00)資助
Research Development in Theory and Application of Human Simulated Intelligent Control
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1.
School of Electrical Engineering, Southwest Jiaotong University, Chendu 611756
Funds: Supported by National Science and Technology Support Project of China (2015BAG14B00)
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摘要: 仿人智能控制是現代智能控制理論之一, 利用分層遞階的控制結構與多控制模態(tài)為強非線(xiàn)性、大遲滯、難建模問(wèn)題提供了切實(shí)可行的解決方案, 近些年來(lái)發(fā)展迅速并且得到學(xué)術(shù)界的持續關(guān)注, 但缺乏對該理論研究進(jìn)展系統性的總結. 本文通過(guò)系統的梳理仿人智能控制的理論基礎和發(fā)展脈絡(luò ), 將其劃分為三代控制模型, 分別從每一代控制模型的算法描述、研究進(jìn)展與應用進(jìn)展三個(gè)角度進(jìn)行綜述, 同時(shí), 結合當前的研究進(jìn)展討論仿人智能控制在控制模型、結構功能、參數校正方面進(jìn)一步研究的方向.
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關(guān)鍵詞:
- 智能控制 /
- 仿人智能控制 /
- 動(dòng)覺(jué)智能圖式 /
- 分層遞階控制 /
- 多控制模態(tài)
Abstract: Human simulated intelligent control is one of the modern intelligent control theories. The hierarchical control structure and multi-control modes are used to solve the problems of strong nonlinearity, large hysteresis and difficult modeling. In recent years, it has developed rapidly and received continuous attention from the academic community, but it lacks a systematic summary of the research progress in theory. This paper systematically sorts out the theoretical basis and development context of human simulated intelligent control, divides it into three generations of control models, and summarizes them from three perspectives: algorithm description, research progress and application progress of each generation of control models. In addition, considering the research progress, it also discusses the direction of further research on human simulated intelligent control in control models, structural functions, and parameter correction. -
圖 6 特征模型與控制模態(tài)的映射關(guān)系
Fig. 6 Mapping relationship between feature model and control mode
圖 8 動(dòng)覺(jué)智能圖式內部關(guān)系
Fig. 8 Sensor-motor intelligent schema internal relations
表 1 三代仿人智能控制關(guān)系表
Table 1 Relation table of three generations of human simulated intelligent control
控制模型 聯(lián)系與發(fā)展改進(jìn) 提出時(shí)間 服務(wù)對象 原型算法 用極值采樣保持替代積分器, 能夠很好的兼顧穩定性、快速性和精確性. 1979 溫度控制、PH控制等 仿人智能控制(HSIC) 以原型算法為核心思想, 建立分層遞階的信息處理與決策機構, 基于特征模型在線(xiàn)特征辨識和特征記憶, 構建能夠定性決策與定量控制的多模態(tài)集, 采用啟發(fā)式推理的規則集. 1990 倒立擺、工業(yè)控制等具有強非線(xiàn)性、欠驅動(dòng)特性的控制對象 基于動(dòng)覺(jué)智能圖式的仿人智能控制(SMIS-HSIC) 以第二代仿人智能控制為基礎, 融合圖式理論, 提升控制器的控制效果與智能程度, 賦予控制器自適應自學(xué)習能力, 加強控制器分布式、并行執行的特點(diǎn). 2003 多級倒立擺、機器人等更復雜難控的對象 
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