【摘要】：針對(duì)形狀記憶合金—電機(jī)復(fù)合驅(qū)動(dòng)關(guān)節(jié)時(shí)滯非線性和多因素耦合影響關(guān)節(jié)運(yùn)動(dòng)精度的問題,提出一種以生物基因調(diào)控網(wǎng)絡(luò)為基礎(chǔ)的時(shí)空耦合模型。通過研究細(xì)胞的基因調(diào)控模型,分析了復(fù)合驅(qū)動(dòng)關(guān)節(jié)位姿與力的反饋信息對(duì)關(guān)節(jié)運(yùn)動(dòng)狀態(tài)的影響,結(jié)合基因調(diào)控網(wǎng)絡(luò)的反饋機(jī)制和時(shí)空耦合特性,構(gòu)造了復(fù)合驅(qū)動(dòng)關(guān)節(jié)調(diào)控模型并推導(dǎo)出復(fù)合驅(qū)動(dòng)關(guān)節(jié)俯仰運(yùn)動(dòng)和旋轉(zhuǎn)運(yùn)動(dòng)的動(dòng)力學(xué)方程。研究結(jié)果表明,基因調(diào)控網(wǎng)絡(luò)時(shí)空耦合控制模型減小了關(guān)節(jié)俯仰和旋轉(zhuǎn)運(yùn)動(dòng)的位置誤差和速度誤差,提高了運(yùn)動(dòng)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(xué)機(jī)電與車輛工程學(xué)院;西安航空學(xué)院機(jī)械工程學(xué)院;
【基金】：國(guó)家自然科學(xué)基金資助項(xiàng)目(51375519) 重慶市研究生科研創(chuàng)新資助項(xiàng)目(CYS16190)~~
【分類號(hào)】：Q78;TP13
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本文編號(hào)：2122948