基于动觉图式的平面倒立摆摆起控制  

Swing up Control Based on Sensory-Motor Schema for Planar Inverted Pendulum

作　　者：么健石[1] 龙德[2] 徐心和[2] 

机构地区：[1]东北大学教育部暨辽宁省流程工业综合自动化重点实验室,辽宁沈阳110004 [2]东北大学信息科学与工程学院,辽宁沈阳110004

出　　处：《东北大学学报（自然科学版）》2005年第6期531-534,共4页Journal of Northeastern University(Natural Science)

基　　金：国家高技术研究发展计划项目(2001AA422270)

摘　　要：为实现平面倒立摆非线性系统的摆起控制,提出了一种基于动觉图式的仿人智能控制策略·该策略通过系统在线特征辨识与特征记忆,开闭环相结合的多模态控制以及直觉逻辑推理机制,使倒立摆摆杆从稳定平衡点摆起到不稳定平衡点并稳定不倒·仿真实验的结果证明:这种定性推理与定量控制相结合的智能控制器可以对具有复杂非线性、强耦合、自然不稳定特性的平面倒立摆系统实现摆起控制,同时也为其他非线性多变量系统的控制提供了有效方法·To realize the non-linear control over the swing-up of a planar inverted pendulum, a human-simulated intelligent control strategy based on sensory-motor schema is presented. Through the on-line characteristic identification memory, multi-mode control combining open-loop with closed-loop control and the intuitive logical reasoning mechanism, the strategy enables the pendulum to swing from its stable equilibrium point up to an unstable equilibrium point where it remains stabilized. The simulation results successfully proved that the intelligent controller integrating qualitative reasoning with quantitative control is able to achieve the swing-up control of the complicated, non-linear, strong coupling and naturally unstable planar inverted pendulum. Meanwhile, it also provides an effective solution to controlling of other nonlinear multivariable systems.

关 键 词：动觉图式 仿人智能控制 非线性控制 平面倒立摆 摆起控制 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]