作者：向红标, 王收军, 张春秋, 李醒飞

作者单位：1. 天津理工大学先进机电系统设计与智能控制重点实验室, 天津 300384;
2. 天津大学精密测试技术及仪器国家重点实验室, 天津300072

关键词：生物反应器;LuGre模型;稳态误差;转矩脉动

摘要：

研制一种具有滚压、滑动加载功能的组合式生物反应器,采用摩擦补偿方法提高系统的性能和控制精度。控制系统以PMAC控制器为核心,以直线电机、伺服驱动器、光栅尺形成全闭环,通过编写运动控制程序实现滚压、滑动加载功能,并基于改进型LuGre模型的摩擦补偿抑制摩擦干扰。实验结果表明:该生物反应器能模拟软骨组织的加载功能,重复定位准确度3 m,稳态误差通过摩擦补偿后能控制在4 m以内。该生物反应器能模拟人工软骨的力学环境构建组织工程,实现微米级别的控制,为后续软骨的力学生物学研究奠定基础。

Research on combined bioreactor with rolling and sliding

XIANG Hongbiao, WANG Shoujun, ZHANG Chunqiu, LI Xingfei

1. Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System,
Tianjin University of Technology, Tianjin 300384, China;
2. State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University,
Tianjin 300072, China

Abstract: A combined bioreactor that can be loaded by the way of rolling and sliding has been designed. With the help of friction compensation, it has improved the precision and performance of the control system, which is centered on a PMAC-opened control platform and forms a full closed loop through a liner motor, a servo driver and a grating scale. The rolling and sliding was achieved by a motion control program, and the friction interference was restrained by the compensation of a modified LuGre model. The experimental results indicate that the bioreactor can simulate different loading functions of the cartilage tissue, with a repetitive positioning accuracy lower than 3 μm and a steady state error being controlled within 4 μm after friction compensation. Moreover, it can also simulate the mechanical environment of artificial cartilage tissue to create tissue engineering and make the control a micrometer level, laying a foundation in the follow-up mechanobiology research of cartilages.

Keywords: bioreactor;LuGre model;steady state error;torque ripple

2015, 41(8): 59-62  收稿日期: 2015-3-17;收到修改稿日期: 2015-4-28

基金项目: 国家自然科学基金项目(11172208);天津市高等学校科技发展基金计划项目(20130401);天津大学精密测试技术及仪器国家重点实验室开放基金项目(PIL1302)

作者简介: 向红标(1982-),男,讲师,博士,研究方向为控制技术、测试计量技术及仪器。

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