电磁式人工肌肉控制系统的研究与设计初探

Research and Design on Electromagnetic Artificial Muscle Control System

在分析哺乳动物骨骼肌结构和神经控制机理的基础上,仿生哺乳动物神经系统,使用中央计算机代替中枢神经系统,DSP结合FPGA代替周围神经系统,各种传感器代替感应器,初步设计了微观仿生的人工肌肉驱动器控制系统,并对该控制系统的软件进行了设计规划和任务剖面分解。对单个肌小节驱动器采用R-C力和位置混合控制,使得该控制系统性能更加真实地逼近动物肌肉运动。

Based on the analysis of the skeletal muscle structure and function of animal neural control system,the micro control system of bionic artificial muscle drive was designed preliminarily.The control system software was planed and analyzed by getting the inspiration from the animal neural control system.The central computer was used to substitute the central nervous system,and the peripheral nervous system was used to substitute of the DSP FPGA.The R-C force and position mixed control was used for artificial sarcomere actuator to achieve the purpose of the correct control the robot motion.