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首页> 外文期刊>Mathematical Problems in Engineering >Neuroendocrine-Based Cooperative Intelligent Control System for Multiobjective Integrated Control of a Parallel Manipulator
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Neuroendocrine-Based Cooperative Intelligent Control System for Multiobjective Integrated Control of a Parallel Manipulator

机译：基于神经内分泌的并联智能多目标集成控制智能控制系统

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摘要

This paper presents a novel multiloop and Multi-objective cooperative intelligent control system (MMCICS) used to improve the performance of position, velocity and acceleration integrated control on a complex multichannel plant. Based on regulation mechanism of the neuroendocrine system (NES), a bioinspired motion control approach has been used in the MMCICS which includes four cooperative units. The planning unit outputs the desired signals. The selection unit chooses the real-time dominant control mode. The coordination unit uses the velocity Jacobian matrix to regulate the cooperative control signals. The execution unit achieves the ultimate task based on sub-channel controllers with the proposed hormone regulation self-adaptive Modules (HRSMs). Parameter tuning is given to facilitate the MMCICS implementation. The MMCICS is applied to an actual 2-DOF redundant parallel manipulator where the feasibility of the new control system is demonstrated. The MMCICS keeps its subchannels interacting harmoniously and systematically. Therefore, the plant has fast response, smooth velocity, accurate position, strong self-adaptability, and high stability. The HRSM improves the control performance of the local controllers and the global system as well, especially for manipulators running at high velocities and accelerations.
机译：本文提出了一种新颖的多回路多目标协作智能控制系统（MMCICS），用于改善复杂多通道工厂的位置，速度和加速度集成控制的性能。基于神经内分泌系统（NES）的调节机制，MMCICS中采用了生物启发式运动控制方法，该方法包括四个协作单元。计划单元输出所需信号。选择单元选择实时主导控制模式。协调单元使用速度雅可比矩阵调节协调控制信号。执行单元基于带有建议的激素调节自适应模块（HRSM）的子通道控制器来实现最终任务。给出了参数调整以方便MMCICS的实现。 MMCICS被应用于实际的2自由度冗余并联操纵器，并在其中证明了新控制系统的可行性。 MMCICS保持其子渠道和谐，系统地交互。因此，该植物响应速度快，速度平稳，位置准确，自适应性强，稳定性高。 HRSM改善了本地控制器和全局系统的控制性能，特别是对于以高速度和加速度运行的机械手。

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  • 来源
    《Mathematical Problems in Engineering》 |2012年第8期|467402.1-467402.17|共17页
  • 作者

    Chongbin Guo; Kuangrong Hao; Yongsheng Ding;

  • 作者单位

    College of Information Science and Technology, Donghua University, Shanghai 201620, China,Engineering Research Center of Digitized Textile and Fashion Technology, Ministry of Education, Donghua University, Shanghai 201620, China;

    College of Information Science and Technology, Donghua University, Shanghai 201620, China,Engineering Research Center of Digitized Textile and Fashion Technology, Ministry of Education, Donghua University, Shanghai 201620, China;

    College of Information Science and Technology, Donghua University, Shanghai 201620, China,Engineering Research Center of Digitized Textile and Fashion Technology, Ministry of Education, Donghua University, Shanghai 201620, China;

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