一种基于操控信息的人机耦合方法

Method of Human-Machine Coupling on Operation Signals

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 conception of human-machine integrated system, a kind of human-machine coupling in operation signals channel was discussed, and the meanings of the coupling nodes were explained, Meanwhile the interrelated dynamic features were revealed and an operable method about human-machine coupling was proposed, The proposed method of human-machine coupling based on exact model matching can solve the problem of operator＇s intrinsic delay that has impact on the tracking property, and achieve exact tracking only with out-loop pure delay. About the filter of operation signal, robustness against model error and calculation error, relative methods were proposed. Simulations verify the effectiveness of the theoretical method.