| 基于规则的仿人智能控制方法及其应用 |
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| 引用本文： | 罗忠,柳洪义,王菲,姜杨.基于规则的仿人智能控制方法及其应用[J].控制工程,2009,16(1). |
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| 作者姓名： | 罗忠 柳洪义 王菲 姜杨 |
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| 作者单位： | 东北大学,机械工程与自动化学院,辽宁,沈阳,110004 |
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| 摘 要： | 在总结前人研究成果的基础上,概括出基于规则仿人智能控制的基本概念、基本思想和主要特点.以仿人智能控制的原型算法为例,分析其静态特性、动态特性和稳定性,并给出基于规则的仿人智能控制器的基本设计步骤.以工作在未知环境下的机器人系统为例,研究了仿人智能控制方法在机器人接触力控制中的应用.它是在数字PID控制算法的基础上,通过仿人智能控制的特征变量的取值符号,选择相应的控制策略实现的.实验结果表明,仿人智能控制方法可以大大提高控制精度.
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| 关 键 词： | 仿人智能控制 控制策略 机器人 接触力 PID控制 |
Rule Based Human-simulated Intelligent Control Method and Its Applications |
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| LUO Zhong,LIU Hong-yi,WANG Fei,JIANG Yang.Rule Based Human-simulated Intelligent Control Method and Its Applications[J].Control Engineering of China,2009,16(1). |
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| Authors: | LUO Zhong LIU Hong-yi WANG Fei JIANG Yang |
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| Affiliation: | School of Mechanical Engineering & Automation;Northeastern University;Shenyang 110004;China |
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| Abstract: | Based on the achievements of early works,the basic concepts,basic ideology and main features of the rule based human-simulated intelligent control(HSIC) are summarized.Taking the prototype algorithm of HSIC as an example,the static characteristics,dynamic characteristics and stability of HSIC are analyzed and the basis design steps of HSIC is presented.In addition,taking the robot system working in unknown environment as an example,the application of HSIC in the contact force control is studied.Appropriate ... |
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| Keywords: | human-simulated intelligent control control strategy robot contact force PID control |
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