Design of a human-skill based PID controller using CMACs
Design of a human-skill based PID controller using CMACs
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使用 CMAC 设计基于人类技能的 PID 控制器
DOI：
10.1109/iccas.2008.4694528
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
T. Yamamoto
中科院分区：
文献类型：
--
作者：
K. Koiwai;K. Kawada;T. Yamamoto
这几年技术工人减少了。然后，它是一个问题，熟练的技术和专门知识的具体工作没有采取到下一代。因此，需要设计一种基于人的技能的控制器。另一方面，近年来，已经提出了各种神经网络（NN）。神经网络的这些技术使我们能够处理非线性系统，在控制工程领域发挥着重要的作用。此外，小脑模型关节控制器（CMAC）已被提出作为人工神经网络之一。CMAC是高度抽象的数学，考虑小脑作为控制器的身体运动系统。与传统的神经网络相比，CMAC具有学习时间短的优点。本文提出了一种基于人机交互的CMAC PID控制器设计方法。根据所提出的方法，PID增益整定的一些CAMC已经学会了人的技能。此外，为了说明所提出的方案进行了实验，通过使用一个驾驶员比例的直升机控制模型。
Skilled workers decrease in these years. Then it is a problem that skilled techniques and know-how of specific work are not taken over to next generations. Therefore, a controller which is based on a human-skill is needed to design. On the other hand, in recent year, various neural networks (NNs) have been proposed. These technologies of the NNs enable us to deal with the nonlinear systems, and they play an important role in the field of control engineering. Furthermore, a cerebellar model articulation controller (CMAC) has been proposed as one of artificial NNs. The CMAC is highly abstracted mathematically, considering the cerebellar as a controller for the body motion system. The CMAC has the advantage for the short learning time compared with the conventional NNs. In this paper, a design of human-skill based PID controller using CMACs is proposed. According to the proposed method, PID gains are tuned by some CAMCs which have learned human-skill. Furthermore, the experiment in order to illustrate the proposed scheme was performed by using one of pilot-scaled helicopter control models.