一种新的仿人控制方法研究

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.

This 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.