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一种新的仿人控制方法研究
Alternative TitleResearch on a New Human Simulating Intelligent Control Method
汤士华; 李一平; 李硕
Department水下机器人研究室
Source Publication信息与控制
ISSN1002-0411
2005
Volume34Issue:3Pages:360-364
Indexed ByCSCD
CSCD IDCSCD:1986361
Contribution Rank1
KeywordAuv Pid控制 仿人智能控制
Abstract以模拟人对混水阀的调节过程为基础,提出一种新的仿人控制算法.该控制算法模拟人在控制时的粗调和微调,并使控制量逐步逼近最终稳定控制量的过程.算法中的参数具有明确的物理意义,可根据不同的控制指标方便地调节,并且能够获得足够的稳态误差.采用本文控制算法,不需要有精确的被控对象模型,即使在有较大干扰的情况下,仍可以获得较好的控制性能.
Other AbstractThis paper presents a new intelligent control met ho d, which simulates the process of human controlling a mixed-water valve. The co ntrol method adopts different control variables at different regulating time, wh ich is similar to huamn's macro-regulating and micro-regulating process, and each control variable approaches to a constant at last. The parameters in this m ethod have specific physical meaning and it is convenient to adjust them accordi ng to different control indexes. With this control algorithm, it is not necessar y to know the precise model of the controlled objects, and good performance can be achieved even with heavy interference.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3644
Collection水下机器人研究室
Corresponding Author汤士华
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院研究生院
Recommended Citation
GB/T 7714
汤士华,李一平,李硕. 一种新的仿人控制方法研究[J]. 信息与控制,2005,34(3):360-364.
APA 汤士华,李一平,&李硕.(2005).一种新的仿人控制方法研究.信息与控制,34(3),360-364.
MLA 汤士华,et al."一种新的仿人控制方法研究".信息与控制 34.3(2005):360-364.
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