二级倒立摆UD2UU的仿人智能控制分析  

Research of UD2UU with human simulated intelligent control for a double inverted pendulum

作　　者：但远宏[1,2] 李祖枢[1,2] 张小川[2] 谭智[1,2] 

机构地区：[1]重庆大学智能自动化研究所,重庆400044 [2]重庆理工大学人工智能研究所,重庆400054

出　　处：《重庆大学学报（自然科学版）》2012年第6期134-140,共7页Journal of Chongqing University

基　　金：国家自然科学基金资助项目(60574076);重庆市自然科学基金资助项目(2009BB3233)

摘　　要：二级倒立摆的两根摆杆可构成4个平衡点(down-down,down-up,up-down,up-up),4个平衡点之间可构成12个转换动作与8个自旋动作。针对平衡点间转换动作中up-down到up-up(UD2UU)的非线性欠驱动控制问题,应用基于动觉智能图式的仿人智能控制方法,设计出具有多控制器和多控制模态结构的控制系统。以开闭环结合及正负反馈结合的方法设计出各控制模态的控制律,以基于特征模型的关联图式实现各控制模态之间的有序切换。详细介绍了仿人智能控制器设计的过程,实时控制的实例证明了控制理论与方法的有效性。Double pendulum has four equilibrium points（down-down,down-up,up-down,and up-up）.Twelve transfer actions and eight spin actions can be formed with these equilibrium points.One of the transfer action,up-down to up-up（UD2UU） with human simulated intelligent control（HSIC） theory based on sensor-motor intelligent schema is studied.Control system designed by HSIC has following advantages： hierarchic control architecture with multi controller and multi control mode;hybrid control law combining close loop and open loop control as well as positive feedback and negative feedback control;associating schema based on characteristic model which takes charge of switch between each control mode.The design process of HSIC controller for UD2UU is discussed.The real-time control results demonstrate the validation of the proposed theory and method.

关 键 词：倒立摆 UD2UU 仿人智能控制(HSIC) 多模态控制(MMC) 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]