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基于人机一体化概念,讨论一种操控信息通道的人机耦合,以及各信息环节的耦合意义,从而揭示其人机操控信息耦合的相关动力学特征,提出了人机耦合的可操作的理论方法。提出的基于精确模型匹配的操控信息人机耦合,解决了闭环内操纵者固有延时对跟随性能的影响,达到了仅存在闭环外纯延时的精确跟随性能。同时给出了对操控信息的滤波以及对操纵者建模误差、设计计算误差鲁棒性问题的解决方法。仿真证实了理论方法的有效性。
Based on the concept of man-machine integration, this paper discusses a man-machine coupling that controls the information channel and the coupling meaning of each information link to reveal the related dynamics characteristics of man-machine manipulated information coupling and put forward the operable theory of man-machine coupling method. The proposed control algorithm based on exact model matching man-machine coupling solves the influence of inherent delay in the closed-loop manipulator on the follow-up performance, and achieves the precise follow-up performance with pure delay outside the closed loop only. At the same time, the method to solve the control information filtering and manipulator modeling error and design calculation error robustness is given. The simulation proves the validity of the theoretical method.