基于基因调控网络的复合驱动关节时空耦合模型

发布时间：2018-07-14 21:06

【摘要】：针对形状记忆合金—电机复合驱动关节时滞非线性和多因素耦合影响关节运动精度的问题,提出一种以生物基因调控网络为基础的时空耦合模型。通过研究细胞的基因调控模型,分析了复合驱动关节位姿与力的反馈信息对关节运动状态的影响,结合基因调控网络的反馈机制和时空耦合特性,构造了复合驱动关节调控模型并推导出复合驱动关节俯仰运动和旋转运动的动力学方程。研究结果表明,基因调控网络时空耦合控制模型减小了关节俯仰和旋转运动的位置误差和速度误差,提高了运动控制精度。
[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.
【作者单位】： 重庆交通大学机电与车辆工程学院;西安航空学院机械工程学院;
【基金】：国家自然科学基金资助项目(51375519) 重庆市研究生科研创新资助项目(CYS16190)~~
【分类号】：Q78;TP13
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