發(fā)布時間：2018-07-14 21:06

【摘要】：針對形狀記憶合金—電機復合驅動關節(jié)時滯非線性和多因素耦合影響關節(jié)運動精度的問題,提出一種以生物基因調控網(wǎng)絡為基礎的時空耦合模型。通過研究細胞的基因調控模型,分析了復合驅動關節(jié)位姿與力的反饋信息對關節(jié)運動狀態(tài)的影響,結合基因調控網(wǎng)絡的反饋機制和時空耦合特性,構造了復合驅動關節(jié)調控模型并推導出復合驅動關節(jié)俯仰運動和旋轉運動的動力學方程。研究結果表明,基因調控網(wǎng)絡時空耦合控制模型減小了關節(jié)俯仰和旋轉運動的位置誤差和速度誤差,提高了運動控制精度。
[Abstract]:A spatio-temporal coupling model based on biological gene control network is proposed to solve the problem that the time-delay nonlinearity and multi-factor coupling affect the motion accuracy of the joint driven by shape memory alloy and motor. By studying the gene regulation model of cells, the effects of feedback information of compound driving joint posture and force on joint motion state are analyzed, and the feedback mechanism and spatio-temporal coupling characteristics of gene control network are combined. The control model of compound drive joint is constructed and the dynamic equations of pitch motion and rotation motion are derived. The results show that the spatio-temporal coupling control model of gene control network reduces the position error and velocity error of pitch and rotation motion and improves the precision of motion control.
【作者單位】： 重慶交通大學機電與車輛工程學院;西安航空學院機械工程學院;
【基金】：國家自然科學基金資助項目(51375519) 重慶市研究生科研創(chuàng)新資助項目(CYS16190)~~
【分類號】：Q78;TP13
，

本文編號：2122948