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仿人智能控制理论及应用研究进展

戴小文 宋建霖 岳丽全

戴小文, 宋建霖, 岳丽全. 仿人智能控制理论及应用研究进展. 自动化学报, 2020, 41(x): 1−13 doi: 10.16383/j.aas.c200007
引用本文: 戴小文, 宋建霖, 岳丽全. 仿人智能控制理论及应用研究进展. 自动化学报, 2020, 41(x): 1−13 doi: 10.16383/j.aas.c200007
Dai Xiao-Wen, Song Jian-Lin, Yue Li-Quan. Research Development in Theory and Application of Human Simulated Intelligent Control. Acta Automatica Sinica, 2020, 41(x): 1−13 doi: 10.16383/j.aas.c200007
Citation: Dai Xiao-Wen, Song Jian-Lin, Yue Li-Quan. Research Development in Theory and Application of Human Simulated Intelligent Control. Acta Automatica Sinica, 2020, 41(x): 1−13 doi: 10.16383/j.aas.c200007

仿人智能控制理论及应用研究进展

doi: 10.16383/j.aas.c200007
基金项目: 国家科技支撑项目(2015BAG14B00)资助
详细信息
    作者简介:

    戴小文:西南交通大学电气工程学院教授. 主要研究方向为高速列车网络控制系统、计算机检测技术、嵌入式系统设计. E-mail: xwdai678@163.com

    宋建霖:西南交通大学电气工程学院硕士研究生. 主要研究方向为智能控制、高速列车网络控制. 本文通信作者. E-mail: jlsong787@163.com

    岳丽全:西南交通大学电气工程学院讲师. 主要研究方向为计算机网络、信息技术方面.E-mail: yyliquan@126.com

Research Development in Theory and Application of Human Simulated Intelligent Control

Funds: Supported by National Science and Technology Support Project of China (2015BAG14B00)
  • 摘要: 仿人智能控制是现代智能控制理论之一, 利用分层递阶的控制结构与多控制模态为强非线性、大迟滞、难建模问题提供了切实可行的解决方案, 近些年来发展迅速并且得到学术界的持续关注, 但缺乏对该理论研究进展系统性的总结. 本文通过系统的梳理仿人智能控制的理论基础和发展脉络, 将其划分为三代控制模型, 分别从每一代控制模型的算法描述、研究进展与应用进展三个角度进行综述, 同时, 结合当前的研究进展讨论仿人智能控制在控制模型、结构功能、参数校正方面进一步研究的方向.
  • 图  1  HSIC文献数量分布图

    Fig.  1  A quantitative distribution map of HSIC references

    图  2  误差相平面特征及控制模态[7]

    Fig.  2  Features and control modes in the error phase plane[7]

    图  3  原型算法静态特性[7]

    Fig.  3  Static characteristics of the prototype algorithm[7]

    图  4  抑制系数 $k$ 偏大[7]

    Fig.  4  The suppression coefficient k is too large[7]

    图  5  误差相平面划分图

    Fig.  5  Error phase plane division diagram

    图  6  特征模型与控制模态的映射关系

    Fig.  6  Mapping relationship between feature model and control mode

    图  7  九点控制状态划分图[27]

    Fig.  7  Nine-point control state division diagram[27]

    图  8  动觉智能图式内部关系

    Fig.  8  Sensor-motor intelligent schema internal relations

    图  9  SMIS-HSIC模型结构图[82]

    Fig.  9  SMIS-HSIC model structure diagram[82]

    图  10  SMIS-HSIC体系结构

    Fig.  10  SMIS-HSIC architecture

    表  1  三代仿人智能控制关系表

    Table  1  Relation table of three generations of human simulated intelligent control

    控制模型 联系与发展改进 提出时间 服务对象
    原型算法 用极值采样保持替代积分器, 能够很好的兼顾稳定性、快速性和精确性. 1979 温度控制、PH控制等
    仿人智能控制(HSIC) 以原型算法为核心思想, 建立分层递阶的信息处理与决策机构, 基于特征模型在线特征辨识和特征记忆, 构建能够定性决策与定量控制的多模态集, 采用启发式推理的规则集. 1990 倒立摆、工业控制等具有强非线性、欠驱动特性的控制对象
    基于动觉智能图式的仿人智能控制(SMIS-HSIC) 以第二代仿人智能控制为基础, 融合图式理论, 提升控制器的控制效果与智能程度, 赋予控制器自适应自学习能力, 加强控制器分布式、并行执行的特点. 2003 多级倒立摆、机器人等更复杂难控的对象
    下载: 导出CSV
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