中文摘要：

针对主动结构（AS）形状控制的传统方法计算时间较长、实际结构与数值模型存在差异的局限,提出主动结构中功能单元的概念及仿生控制框架.指出功能单元是由传感器与执行器组成一类基本控制单位,讨论功能单元的集成与节律.建立含功能单元主动结构的基本模型,包括传感器采样、执行器动作以及结构运动的基本过程.给出适用于含功能单元主动结构的仿生控制框架的基本思想与具体流程.采用典型主动结构的定向运动控制问题作为数值算例进行分析,以验证所提出概念与控制框架的可行性.结果表明,相比传统控制方法,基于功能单元的仿生控制方法实时性更好,且避免来自实际结构的误差.

英文摘要：

For shape control of active structures （AS）, traditional methods require relatively long computa- tional time and may be affected by the discrepancy between analytic models and real structures. A concept of function element in AS and a hip-inspired control framework were proposed to overcome the limitation. It was pointed out that a function element is a basic control unit of sensors and actuators. The integration and the rhythm of function elements were discussed. The model of AS with function elements was built, which includes the basic processes of sampling, actuation and structural motion. The basic idea and the process of the bio-inspired control framework based on function element were presented. A typical example controlling the orientation movement of AS was conducted to verify and demonstrate the feasibility of the proposed concept and control framework. Results show that compared with the traditional methods, the hip-inspired control framework based on function element is more real-time and avoids the control error from real structures.