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论文讨论了基于图式理论的仿人智能控制理论最新进展及其在磁流变悬架中的应用情况。首先,结合图式理论和仿人智能控制理论,定义一些基于动觉智能图式的仿人智能控制基本概念,如感知图式、运动图式以及关联图式等。然后,给出了仿人智能控制器设计的通用性方法接着,基于通用性的方法,针对具有非线性、时滞及不确定性的磁流变悬架设计了基于动觉智能图式的仿人智能控制器。最后,开展了实车道路试验来验证控制方法的有效性。试验结果表明,基于动觉智能图式的仿人智能控制理论是解决复杂控制问题的有效途径。
The paper discusses the latest development of artificial intelligence control theory based on schema theory and its application in magnetorheological suspension. First of all, based on schema theory and humanoid intelligent control theory, some basic concepts of humanoid intelligent control based on the kinesthetic intelligent schema are defined, such as perception schema, motion schema and associated schema. Then, a universal method for humanoid intelligent controller design is given. Then, based on the generality method, a simulation based on kinetic intelligence scheme is designed for a magnetorheological suspension with nonlinearity, time delay and uncertainties Human intelligence controller. Finally, a real road test was carried out to verify the effectiveness of the control method. The experimental results show that the humanoid intelligent control theory based on the kinesthetic intelligent schema is an effective way to solve the complex control problem.