毕业论文：《小车倒立摆系统进行专家控制的Matlab仿真》.doc

专家控制研究 摘 要 在传统控制系统中，系统的运行排斥了人的干预，人-机之间缺乏交互。控制器对被控对象在环境中的参数、结构的变化缺乏应变能力。传统控制理论的不足，在于它必须依赖于被控对象严格的数学模型，试图对精确模型来求取最优的控制效果。而实际的被控对象存在着许多难以建模的因素。上世纪80年代初，人工智能中专家系统的思想和方法开始被引入控制系统的研究和工程应用中。专家系统能处理定性的、启发式或不确定的知识信息，经过各种推理来达到系统的任务目标。专家系统为解决传统控制理论的局限性提供了重要的启示，二者的结合导致了专家控制这一方法。本文通过对专家控制的研究，以小车倒立摆模型为例，对其进行Matlab仿真，建立课程教学演示平台。 首先，研究专家控制的基本原理，掌握专家控制的基础知识以及专家控制的基本算法；然后，对仿人智能控制进行研究，熟悉经典的仿人智能控制算法，例如仿人PID智能控制算法，九点控制器等，并在Matlab平台上编制仿人智能控制算法软件。 最后，通过对小车倒立摆系统进行专家控制的Matlab仿真，建立课程教学演示平台。 关键词：智能控制；专家控制；仿人智能控制；小车倒立摆；Matlab仿真 The Experts control research Abstract In the traditional control system,operation of the system rejected the intervention of human,and there is no interaction between man and machine.Controller of the controlled object in the environment parameters, changes in the structure to adapt.Lack of traditional control theory,is that it must rely on rigorous mathematical model of controlled object,attempt to strike a precise model to the optimal control effect. There are many difficult factors in the actual controlled object model.Early 80s of last century,Artificial Intelligence Expert System and method of thought control system began to be introduced for research and engineering applications.Expert system can deal with qualitative, heuristic or uncertain knowledge information, and through a variety of reasoning to achieve the mission objectives.Expert system provides important insights to solve the limitations of traditional control theory ,combination of the two led to the method of the expert control.The algorithm is based on the expert control study,doing Matlab simulation on car - inverted pendulum model,and create teaching demonstration platform. First of all, learn the basic principles of expert control,master the basics of expert control and the basic algorithm of the Expert control .Then,do some research of human-simulated intelligent control,familiar with the classic human-simulated intelligent control algorithm,for example, human-simulated intelligent PID