从控制工程的角度来看,效能副本的优点是什么?
Benjamin P Campbell1, Huai-Ti Lin2, Holger G Krapp2
1Bioengineering Department, Imperial College London, Exhibition Rd, South Kensington, London, SW7 2BX, UK. b.campbell21@imperial.ac.uk.
生物系统使用一种全可分离的自由度 (FSDoF) 控制器来实现强大的高速移动. 这种受昆虫启发的模型的性能优于传统的工程控制器,特别是在传感器延迟和噪音方面.
科学领域:
- 生物仿真控制系统的控制系统
- 传感器运动控制器
- 机器人和自动化机器人与自动化
背景情况:
- 生物系统以强度和稳定性实现高速的自愿运动.
- 昆虫的传感运动控制利用效能副本来实现高效的运动控制.
研究的目的:
- 为了检查一个新的控制架构,完全可分离的自由度 (FSDoF) 控制器,灵感来自昆虫的感觉运动控制.
- 将FSDoF控制器与纯反 (PFB) 和史密斯预测器 (SP) 控制方案进行基准测试.
主要方法:
- 控制工程框架用于比较分析.
- 对FSDoF与PFB和SP控制器进行比较.
- 在传感器延迟和噪音下对强度,稳定性边缘和性能的评估.
主要成果:
- 在有传感器延迟的系统中,FSDoF控制器展示了优势.
- 通过FSDoF控制器有效处理噪音.
- 使用FSDoF架构的生物传感器的运行范围增加.
- 与PFB和SP相比,性能提高,稳定性和稳定性等于PFB和SP.
结论:
- FSDoF控制器为生物系统提供了显著的优势,特别是在动态和杂的环境中.
- FSDoF 架构提供了一种灵感来自自然的强大而稳定的控制解决方案.
- 理论上,FSDoF控制器的变体提供了同等的性能,允许可适应的实现.
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