Intelligent Controller Emulating Human Control Abilities

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。

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.