摘要
双摆机器人两摆杆具有一个自稳定(Down-down)和三个自不稳定(Down-up,up-down,up-up)的平衡状态,4个平衡状态之间可以构成12个相互转换的运动动作和8个自旋动作.本文运用基于动觉智能图式的仿人智能控制理论,设计具有基于特征辨识多控制模态结构的控制器;采用"类等效"的系统建模方法和改进型遗传算法,实现双摆机器人模型的精确辨识和其多模态控制器多参数的整定与优化,并解决了多控制模态之间的平滑切换,以及从仿真研究到实时控制成功的快速过渡等关键问题.以(Down-up)向(Up-down)状态的转换为例,说明了如何实现四个平衡状态之间的任意相互转换的运动控制,并介绍了仿人智能控制器设计的详细过程.仿真与实时控制的实例证明了设计理论与方法的有效性.
In a double pendulum robot,there are four equilibrium states,namely one natural stable position（down-down） and three unnatural stable positions（down-up,up-down,up-up）.With transfers between these states,20 acrobatic actions can be formed（12 states transfer actions and 8 circumgyration actions）.Using the human simulated intelligent control（HSIC） theory based on sensor-motor intelligent schema,an intelligent control system for the double pendulum robot which has the structure of multi controllers and multi control modes is designed.A quasi-equivalent modeling method and an improved genetic algorithm are adopted for the accurate parameters identification of the double pendulum model and the optimization of numerous characteristic and control parameters in controller.By this way,not only the design and parameter optimization of complex HSIC controller are changed easily,but also a very difficult problem which is to transfer quickly from computer simulation of model to real-time control of physical system is solved successfully.Finally,we take the state transfer（swinging up） control from down-up to up-down as an example to explain the arbitrary transfer control between the four equilibrium states of the double pendulum,and show how to design controller with HSIC theory.The successful simulation and real-time control testified the validation of proposed theory and method.
出处
《自动化学报》
EI
CSCD
北大核心
2010年第12期1720-1731,共12页
Acta Automatica Sinica
基金
国家自然科学基金(60574076)
重庆市自然科学基金(2009BB3233
2009BB3386)资助~~
关键词
双摆机器人
平衡态转换
多模态控制
“类等效”建模
改进型遗传算法
Double pendulum robot（DPR）
transfer of equilibrium states
multi-mode control（MMC）
quasi-equivalent modeling
improved genetic algorithm（IGA）
