一种基于BP组件的学习控制系统及其在倒立摆控制上的应用  

A class of BP- component based learning control system and its application on inverted pendulum control

作　　者：董苗波[1] 孙增圻[2] 

机构地区：[1]清华大学深圳研究生院,广东深圳518057 [2]清华大学计算机系智能技术与系统国家重点实验室,北京100084

出　　处：《控制理论与应用》2004年第2期287-290,294,共5页Control Theory & Applications

摘　　要：给出了一个组件化方法设计学习控制系统的一个实例.学习控制系统建立在两个BP组件——BP模型和BP控制器的基础上,通过双通道反向学习的方法在控制过程中进行自我调整,适应控制对象的变化以及模型和控制器本身的不同条件.首先介绍了BP组件的接口和功能规范.然后建立基于BP组件的学习控制系统的组件化框架.最后给出一个基于BP组件的学习控制系统在倒立摆控制上的应用.This paper presents an instance of learning control system based on components. The learning control system is based on two BP components: BP model and BP controller. The parameters of the controller and the model are adjusted during the process by means of dual - channel BP learning in order to adapt the changing property of the object and the different initial setting of the control and the model. The paper first introduces the interface and function regulation of BP components and then proposes the structure based on BP components. Finally, the learning control system is applied to the inverted pendulum.

关 键 词：BP组件 组件化 学习控制 倒立摆 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]