指尖平衡倒立棒的无模型预测控制方法分析  

Analysis on Model Free Predictive Control for Stick Balancing on Fingertip

作　　者：薛鹏[1] 陈素霞[1] 

机构地区：[1]河南工程学院电气信息工程学院,河南郑州451191

出　　处：《计算机仿真》2013年第11期365-368,共4页Computer Simulation

基　　金：河南工程学院博士基金项目(D201213)

摘　　要：针对人体运动控制系统复杂性带来的时滞抵御原理不明确问题,提出利用经验数据库的指尖倒立棒无模型预测控制方法。依据指尖倒立棒平衡控制模型,借鉴人类记忆经验决定运动方式的特点,以常规比例控制方法建立使模型稳定的输入输出经验数据库,再采用Model on Demand(MOD)方法重新构建系统局部最优模型,最后通过模型预测控制完成优化策略的选择。仿真分析表明,无模型预测方法在倒立棒平衡控制中,提升了系统抵御时滞影响的能力,为仿生机械智能控制系统设计提供了新思路。Aiming at theoretical ambiguities of delay reducing due to the complexity of human motion control sys- tem, a model free predictive control method was presented for the model of stick balancing on the fingertip based on memory databases. On the model of stick balancing on the fingertip, input-output databases corresponding to the memories on which human motion depends were obtained with traditional P-control. A local optimal modal was re- structured from the databases by model on demand （MOD）. Then the optional scheme was obtained by using model predictive control. Simulation analysis results show that the model free predictive control dealing with stick balancing on the fingertip can enhance the delay reducing capability of the model, which provides a new method for biomemitic control system design.

关 键 词：仿生力学 不稳定平衡 无模型预测 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]