Intelligent Controller Emulating Human Control Abilities
模拟人类控制能力的智能控制器
基本信息
- 批准号:09045043
- 负责人:
- 金额:$ 1.28万
- 依托单位:
- 依托单位国家:日本
- 项目类别:Grant-in-Aid for Scientific Research (C).
- 财政年份:1997
- 资助国家:日本
- 起止时间:1997 至 1999
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
This project proposes a Human Simulating Intelligent Control (HSIC) theory which simulates human control abilities and enables effective control of a nonlinear system whose parameters are unknown or uncertain. A car-pendulum system moving on a restricted track and driven by a single motor is selected as a target system of the HSIC. At first, we investigated the mechanism of the former HSIC theory, it's performance and the difference between the HSIC theory and the other control methods by the computer simulation, then we confirmed that the HSIC theory shows high performance to simulate the manual control of human. Then, we employed a two-link arm system to develop a new HSIC theory. A human operator applies a torque to the second joint of the arm to controlled the position of the arm. The HSIC theory was revised by using the control output of the human operator. Finally, based on the proposed HSIC theory, the cart-pendulum system was designed and controlled. The whole control process consists of two steps : swinging-up and stabilizing. In swinging-up process, asymmetrical Bang-Bang control is employed to gather energy for the system. In stabilizing process, multi-variable PD control with positive feedback coordinating de-coupling is employed. The HSIC controller switches the control modes by means of online characteristic identifying. A real-time intelligent control system, which is designed based on our studies, successfully accomplished swing-up and stabilizing control of the car-pendulum system. The experiments prove that the control system is very stable even though the length of the pendulum varies or mass of it varies or the shape changes like "L". This project proves that the HSIC theory can effectively control the nonlinear, multi-variable and strong-coupling system such as swinging-up and stabilizing a cart-pendulum system without knowing its mathematical model.
本项目提出了一种仿人智能控制(HSIC)理论,它模拟人类的控制能力,能够对参数未知或不确定的非线性系统进行有效控制。选择在受限轨道上运动的单电机驱动的车-摆系统作为HSIC的目标系统。本文首先通过计算机仿真研究了仿人智能控制理论的机理、性能以及与其他控制方法的区别,证实了仿人智能控制理论在模拟人的手动控制方面具有很高的性能。然后,我们利用两连杆臂系统发展了一种新的HSIC理论。操作员对手臂的第二个关节施加扭矩,以控制手臂的位置。利用操作者的控制输出对HSIC理论进行了修正。最后,基于所提出的HSIC理论,对小车-摆系统进行了设计和控制。整个控制过程分为上下摆动和稳定两个步骤。在起振过程中,采用非对称Bang-Bang控制为系统提供能量。在镇定过程中,采用正反馈协调解耦的多变量PD控制。HSIC控制器通过在线特性辨识来切换控制模式。在此基础上设计了一套实时智能控制系统,成功地实现了小车-摆系统的摆起和稳定控制。实验证明,无论是摆的长度变化、质量变化,还是摆形的“L”式变化,控制系统都非常稳定。工程实践证明,在不知道小车摆系统数学模型的情况下,HSIC理论可以有效地控制小车摆系统的摆动、稳定等非线性、多变量、强耦合系统。
项目成果
期刊论文数量(42)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Muhammad Arif: "Investigation of Iterative Learning Control by Human Operator"Proceedings of the IEEE Conference on System, Man and Cvbernetics. 2626-2631 (1997)
Muhammad Arif:“人类操作员迭代学习控制的调查”IEEE 系统、人与控制论会议论文集。
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- 影响因子:0
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- 通讯作者:
Chaotao Li: "Research on Swinging-up Control, and Robustness of the Cart-Pendulum System by Human Simulating Intelligent Control (HSIC) Method"Proceedings of the 3rd International Workshop on Advanced Mechatronics. 248-253 (1999)
李朝涛:“人体模拟智能控制(HSIC)方法对小车摆系统的摆动控制和鲁棒性的研究”第三届先进机电一体化国际研讨会论文集。
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- 影响因子:0
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Nobuaki Nakazawa: "Robotic Hand Emulating Human's Grasping Motion" Proceedings of the 7th RO-MAN'98. 660-665 (1998)
Nobuaki Nakazawa:“机器人手模仿人类的抓取动作”第七届 RO-MAN98 论文集。
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- 影响因子:0
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Takahiko Ono: "Design of a Variable Structure Observer for Discrete-Time Systems Considering the Computation Delay" Proceedings of the 2^<nd> International Workshop on Advanced Mechatronics. 149-154 (1997)
Takahiko Ono:“考虑计算延迟的离散时间系统的可变结构观测器的设计”第二届高级机电一体化国际研讨会论文集。
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- 影响因子:0
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Xuemei Li: "Positioning of the Two-link Arm by Manual Control"Interdisciplinary Information Sciences. 4-2. 149-156 (1998)
李雪梅:“手动控制二连杆定位”跨学科信息科学。
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{{ truncateString('INOOKA Hikaru', 18)}}的其他基金
Method for solving nonlinear control problems using humans' abilities in manual control
利用人类手动控制能力解决非线性控制问题的方法
- 批准号:
10450089 - 财政年份:1998
- 资助金额:
$ 1.28万 - 项目类别:
Grant-in-Aid for Scientific Research (B)
Portable Classification System of Daily Activity and Exercise Load
便携式日常活动和运动负荷分类系统
- 批准号:
07555394 - 财政年份:1995
- 资助金额:
$ 1.28万 - 项目类别:
Grant-in-Aid for Scientific Research (B)
Force control of robot finger by pneumatic servo system and its application to apple selection handling
气动伺服系统机械手指力控制及其在苹果拣选搬运中的应用
- 批准号:
05555077 - 财政年份:1993
- 资助金额:
$ 1.28万 - 项目类别:
Grant-in-Aid for Developmental Scientific Research (B)
Study on cooperative motion between a robot and a human
机器人与人协作运动研究
- 批准号:
05452161 - 财政年份:1993
- 资助金额:
$ 1.28万 - 项目类别:
Grant-in-Aid for General Scientific Research (B)
Cooperative Research on the Vibration and High-Speed Controls of Flexible Robot Arm
柔性机械臂振动与高速控制协同研究
- 批准号:
01045003 - 财政年份:1989
- 资助金额:
$ 1.28万 - 项目类别:
Grant-in-Aid for international Scientific Research
Automating Manual Control Systems Through Teaching by a Human Operator
通过操作员的教学实现手动控制系统的自动化
- 批准号:
01550194 - 财政年份:1989
- 资助金额:
$ 1.28万 - 项目类别:
Grant-in-Aid for General Scientific Research (C)
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