浠嬬垂浜嗕竴绋敱姘ｅ嫊浜哄伐鑲岃倝妲嬪缓鐨勯洐瓒虫鍣ㄤ汉闂滅瘈(ji茅)锛岃┎闂滅瘈(ji茅)鍒╃敤姘ｅ嫊浜哄伐鑲岃倝鐨勬煍鎬х壒鎬�锛屽彲浠ユ湁鏁堟帶鍒堕洐瓒虫鍣ㄤ汉蹇€熻璧版垨璺戞鏅傜殑钀藉湴鑵虫矕鎿婂晱椤屻€� 銆€銆€ 瑭崇窗绲﹀嚭浜嗘埃鍕曚汉宸ヨ倢鑲夌殑宸ヤ綔鍘熺悊浠ュ強鐢卞叾妲嬫垚鐨勯棞绡€(ji茅)绯荤当(t菕ng)鐨勭‖浠舵灦妲�銆傚悓鏅備粙绱逛簡鍩轰簬姝ょ‖浠堕棞绡€(ji茅)鎼缓鐨勬帶鍒惰粺浠剁郴绲�(t菕ng)銆� 闆欒冻姗熷櫒浜虹浉姣斾簬涓€鑸殑绉诲嫊姗熷櫒浜哄湪闈炵祼妲嬪寲鐠�(hu谩n)澧冧腑鍏锋湁鏇村ソ鐨勭Щ鍕曡兘鍔�锛屽洜鑰屽彈鍒扮爺绌惰€呯殑寤ｆ硾闂滄敞?锛熷垈鑼〤鍣ㄤ汉鐛插緱蹇€熺殑琛岃蛋閫熷害浠ュ強瀵︾従(xi脿n)璺戝嫊姝ユ厠(t脿i)浠嶇劧鏄洐瓒虫鍣ㄤ汉闋樺煙涓叿鏈夋寫鎴�(zh脿n)鎬х殑鍟忛涔嬩竴銆傛鍣ㄤ汉蹇€熻璧版垨璺戝嫊鏅�锛屾摵鍕曡叧鍦ㄨ惤鍦扮殑鐬枔鏈冪敘(ch菐n)鐢熶竴鍊嬭純澶х殑娌栨搳鍔涳紝姝ゅ姏浣胯惤鍦拌叧鍙嶅綀鎴栦娇闆跺姏鐭╅粸锛坺eromoment point锛夌敘(ch菐n)鐢熻純澶ц烦璁�锛屽緸鑰岄€犳垚姗熷櫒浜虹┅(w臎n)瀹氳搴﹂檷浣庡拰璺屽€�銆傞€欑ó鐝�(xi脿n)璞¤绋辩偤娌栨搳鏁堟噳锛屽畠鏄埗绱勯洐瓒虫鍣ㄤ汉鎻愰珮姝ヨ閫熷害鍜岃窇姝ョ殑鍥犵礌銆� 姘ｅ嫊浜哄伐鑲岃倝鏄繎骞翠締鐧�(f膩)灞曡捣渚嗙殑涓€绋柊鍨嬬殑椹呭嫊鍣�锛孧cKibben鍨嬫埃鍕曡倢鑲夋槸鍏朵腑鎳夌敤鏈€鐐哄唬娉涚殑涓€绋€傚畠鍏锋湁鏌旈爢銆佸姛鐜�/璩噺姣斿ぇ銆佸湪鍔涳紝闀峰害鐗规€т笂鑸囦汉椤炶倢鑲夐浼肩瓑鍎�(y艒u)榛�銆傜敱浜庡叾鍏锋湁鏌旈爢鎬у彲鎺х殑鍎�(y艒u)榛�锛屾噳鐢ㄦ埃鍕曚汉宸ヨ倢鑲変綔鐐洪﹨鍕曞櫒鍙互鏈夋晥鍦拌В姹洪洐瓒虫鍣ㄤ汉鐨勮惤鍦拌叧娌栨搳鍟忛銆傚洜姝�锛屽皣姘ｅ嫊浜哄伐鑲岃倝浣滅偤闆欒冻姗熷櫒浜虹殑椹呭嫊鍣ㄥ叿鏈夎壇濂界殑鍓嶆櫙銆備絾鏄�锛屼汉宸ヨ倢鑲夊叿鏈夐珮搴﹂潪绶氭€х殑鐗归粸銆傚苟浼撮毃鏈夐伈婊従(xi脿n)璞�锛屼娇寰楀皪鍏跺缓鏀樺拰鎺у埗鍥伴洠銆傜洰鍓�锛屽熀浜庢埃鍕曚汉宸ヨ倢鑲夌殑闆欒冻姗熷櫒浜虹殑鐮旂┒鍓涘墰璧锋锛屽彧鏈夊皯鏁�(sh霉)骞惧€嬮洐瓒虫鍣ㄤ汉闋呯洰灏嶆閫茶浜嗙爺绌�銆傛湰鏂囧埄鐢∕eKibben姘ｅ嫊浜哄伐鑲岃倝鎼缓浜嗛浼肩敓鐗╅牎闋忛棞绡€(ji茅)鐨勫柈鑷敱搴︿汉宸ラ棞绡€(ji茅)銆傛绯荤当(t菕ng)鐨勭‖浠堕儴鍒嗗寘鎷埃澹撻﹨鍕曞瓙绯荤当(t菕ng)銆佸偝鎰熷櫒瀛愮郴绲�(t菕ng)鍜屾帶鍒跺瓙绯荤当(t菕ng)銆傚湪姝ょ‖浠剁郴绲�(t菕ng)涓婃寤轰簡杌熶欢绯荤当(t菕ng)锛屽鐝�(xi脿n)浜嗗皪姝や汉宸ラ棞绡€(ji茅)杌岃贰鐨勮窡韫ゆ帶鍒�?锛涱媱璇掔枤鐗″銇烽姊㈣祪M涓€姝ョ爺绌跺拰瑙ｆ焙姘ｅ嫊浜哄伐鑲岃倝鍙婇棞绡€(ji茅)鐨勫缓妯″拰鎺у埗鍟忛锛岀偤瑷▓鍜屾惌寤哄熀浜庢埃鍕曚汉宸ヨ倢鑲夐﹨鍕曞櫒鐨勯洐瓒虫鍣ㄤ汉鎵撲笅鍩虹銆� 1銆佹埃鍕曚汉宸ヨ倢鑲夐棞绡€(ji茅)绯荤当(t菕ng)杌熺‖浠惰ō瑷� 1.1 姘ｅ嫊浜哄伐鑲岃倝 McKibben姘ｅ嫊浜哄伐鑲岃倝鏄敱缇庡湅閱�(y墨)鐢烰oseph.L.MeKibben鐧�(f膩)鏄庡苟浠ュ叾鍚嶅瓧鍛藉悕鐨勪竴绋煍鎬ф埃鍕曢﹨鍕曞櫒銆侻cKibben姘ｅ嫊浜哄伐鑲岃倝鐨勪富楂斾富瑕佺敱澶栧堡绶ㄧ箶缍�(w菐ng)鍜屽収(n猫i)灞ゅ綀鎬ф鑶犵绲勬垚銆傚叾绲愭濡傚湒1鎵€绀�銆� 鍦杔鐐鸿倢鑲夌祼妲嬪湒锛屽叾涓�锛孭i鐐鸿几鍏ユ埃澹�锛屽叾澶у皬鐢辨帶鍒跺櫒鏍规摎(j霉)瀵﹂殯宸ヤ綔鎯呮硜閫茶鎺у埗銆傜暥杓稿叆绔埃澹撳彧澧炲ぇ鏅�锛屽収(n猫i)灞ゆ鑶犵鑶ㄨ劰锛岀敱浜庡灞ょ法绻旂恫(w菐ng)鍓涘害寰堝ぇ锛屽咕涔庝笉鑳戒几闀�锛岄檺鍒惰倢鑲夊彧鑳藉緫鍚戣畩褰紙鐩村緫璁婂ぇ锛岄暦搴︾府鐭級锛岀敘(ch菐n)鐢熻桓鍚戞敹绺姏;鑰岀暥杓稿叆绔埃澹揚i闄嶄綆鏅�锛屽皫鑷翠汉宸ヨ倢鑲変几闀凤紙鏉鹃Τ锛�锛岃倢鑲夌殑鍓涘害鍙婇﹨鍕曞姏涔熷氨闅ㄤ箣闄嶄綆銆傝倢鑲夌殑鍓涘害鍙€氶亷鎺у埗姗¤啝绠″収(n猫i)鐨勬埃澹撳鐝�(xi脿n)锛岄€欑ó鑲岃嚜鍏锋湁璁婂墰搴︾壒鎬э紝鍙瓑鏁堢偤涓€鍙畩鍓涘害鐨勫綀绨�銆� 1.2 鍠嚜鐢卞害闂滅瘈(ji茅)绯荤当(t菕ng) 鐢变簬姘ｅ嫊浜哄伐鑲岃倝鍙兘鎻愪緵鍠悜椹呭嫊鍔涳紝鏁呴渶鐢卞叐姊濊倢鑲変互椤炰技鐢熺墿闋￠爮鑲岀殑鏂瑰紡妲嬫垚灏嶆姉鎬у洖杞夐棞绡€(ji茅)浠ュ鐝�(xi脿n)鎿嶄綔鑷傜殑鍔涢枆鍚�銆傛湰鏂囧埄鐢∕cKibben姘ｅ嫊浜哄伐鑲岃倝浣滅偤椹呭嫊鍣ㄦ惌寤轰簡鍠嚜鐢卞害闋￠爮闂滅瘈(ji茅)绯荤当(t菕ng)銆傛绯荤当(t菕ng)鐨勭‖浠堕儴鍒嗙敱姘ｅ椹呭嫊瀛愮郴绲�(t菕ng)銆佸偝鎰熷櫒瀛愮郴绲�(t菕ng)鍜屾帶鍒跺瓙绯荤当(t菕ng)绲勬垚銆傜郴绲�(t菕ng)绲愭鍦栧鍦�2鎵€绀�銆� 1.2.1 姘ｅ椹呭嫊瀛愮郴绲�(t菕ng) 姘ｅ椹呭嫊瀛愮郴绲�(t菕ng)鐢辨埃婧�銆佸鍔涗己鏈嶆瘮渚嬮枼銆丮cKibben姘ｅ嫊浜哄伐鑲岃倝鍙婃妲嬮儴鍒嗙祫鎴�銆傜敱姘ｆ簮鎻愪緵澹撳姏鐐�0.6锝�0.9MPa鐨勫绺埃楂�.澹撶府姘ｉ珨鐢卞皫绠＄稉(j墨ng)閬庝己鏈嶆瘮渚嬮枼閫佷汉姘ｅ嫊浜哄伐鑲岃倝涓€傛瘡姊濊倢鑲夊潎鑸囦竴浼烘湇姣斾緥闁ョ浉閫ｅ苟鏈変竴鍑烘埃闁ラ杸鍜屼竴閫叉埃闁ラ杸銆傞€氶亷鎺у埗浼烘湇姣斾緥闁ヤ笂鎵€鍔犵殑闆诲鍗冲彲鎺у埗鑲岃倝涓殑姘ｉ珨澹撳姏銆傚姞澹撳悗鐨勬埃鍕曡倢鑲夎几鍑烘敹绺嫉鍔涘苟椹呭嫊姗熸閮ㄥ垎鐨勯棞绡€(ji茅)杞夊嫊锛屽洜姝ら€氶亷灏嶈倢鑲夊鍔涚殑鎺у埗鍗冲彲閬斿埌杌岃贰璺熻工鎵€闇€鐨勯棞绡€(ji茅)鍔涚煩銆傛湰绯荤当(t菕ng)涓噰鐢ㄧ殑McKibben姘ｅ嫊浜哄伐鑲岃倝鐐篎ESTO鍏徃鐨凪AS-20-300N鍨嬶紝鍏跺伐浣滃鍔涜寖鍦嶇偤0锝濷.6MPa锛屾渶澶у伐浣滈牷鐜囩偤3Hz锛屾渶澶ф敹绺偤鑲岃倝闀峰害鐨�25%锛孫.6MPa鏅傜悊璜栦綔鐢ㄥ姏鐐�300N锛岄噸寰╃簿搴﹀皬浜�1%銆傚鍔涗己鏈嶆瘮渚嬮枼鎺ュ彈鎺у埗绔偝鍏ョ殑闆诲杓稿叆骞堕€氶亷瑾�(di脿o)绡€(ji茅)鍏呮埃闁ラ杸鍜岄€叉埃闁ラ杸鎺у埗鑲岃倝鍏�(n猫i)姘ｅ銆傛湰绯荤当(t菕ng)閲囩敤浜哠MC鍏徃鐨勪笇ITVOO5C-2ML鍨嬪鍔涙瘮渚嬮枼銆傛闁ョ殑杓稿叆鑼冨湇鐐�0锝�5VDC锛岃几鍑虹偤0.001锝�0.9MPa涔嬮枔鐨勫鍔�銆� 1.2.2 鍌虫劅鍣ㄥ瓙绯荤当(t菕ng) 鍌虫劅鍣ㄥ瓙绯荤当(t菕ng)鐢卞姏鍌虫劅鍣ㄥ拰鐩寸窔浣嶇Щ鍌虫劅鍣ㄦ鎴愩€傞€氶亷鐩寸窔浣嶇Щ鍌虫劅鍣ㄥ彲浠ユ脯閲忓嚭鑲岃倝鐨勬敹绺噺锛屾牴鎿�(j霉)姝ゆ敹绺噺鍙互鍒╃敤鑲岃倝鍜岄棞绡€(ji茅)妯″瀷閫茶杌岃贰璺熻工鎺у埗銆傚姏鍌虫劅鍣ㄦ脯閲忚倢鑲夋媺鍔�锛屾牴鎿�(j霉)姝ゆ媺鍔涜垏闂滅瘈(ji茅)鍔涚煩鐨勭窔鎬ч棞绯诲彲浠ヨ▓绠楀嚭闂滅瘈(ji茅)鍔涚煩锛屽緸鑰屽畬鎴愰棞绡€(ji茅)鐨勪己鏈嶉枆鐠�(hu谩n)鎺у埗銆傛湰绯荤当(t菕ng)涓噰鐢ㄧ殑鍔涘偝鎰熷櫒鏄埅澶╃鎶€闆嗗湗鍏徃7Ol鎵€鐨凚K-2F鍨嬮珮绮惧害S褰㈡脯鍔�/绋遍噸鍌虫劅鍣�銆傚叾娓噺浣滅敤鍔涚殑鏈€澶ц寖鍦嶅彲閬�80kg锛岀簿搴︾偤0.05%銆傝几鍑虹稉(j墨ng)閬嶵S-2鍨嬫斁澶у櫒鏀惧ぇ鍚�锛岃几鍑洪浕澹撹寖鍦嶇偤-5V锝�+5V銆傜洿绶氫綅绉诲偝鎰熷櫒閲囩敤浜哤DL鍨嬬洿婊戝紡灏庨浕濉戞枡闆讳綅瑷�銆� 1.2.3 鎺у埗瀛愮郴绲�(t菕ng) 鎺у埗瀛愮郴绲�(t菕ng)鐢卞伐妤�(y猫)鎺у埗瑷堢畻姗燂紙IPC锛�銆丄/D閲囬泦鍗�銆丏/A杞夋彌鍗＄祫鎴�銆傝粺浠舵帶鍒剁郴绲�(t菕ng)閬嬭浜庡伐妤�(y猫)鎺у埗瑷堢畻姗熶笂锛屽苟閫氶亷D/A杞夋彌鍣ㄥ皣鏁�(sh霉)瀛楁帶鍒堕噺杞夋彌鐐烘ā鎿噺銆傛妯℃摤閲忕敤浠ユ帶鍒跺鍔涗己鏈嶆瘮渚嬮枼鐨勮几鍑烘埃澹撱€侫/D杞夋彌鍣ㄩ噰闆嗘媺鍔涘偝鎰熷櫒鍜岀洿绶氫綅绉诲偝鎰熷櫒鐨勬暩(sh霉)鎿�(j霉)锛屽苟鎻愪緵绲﹀伐妤�(y猫)鎺у埗瑷堢畻姗熷彲鐢辫粺浠惰檿鐞嗙殑鏁�(sh霉)瀛椾俊铏�銆傛湰绯荤当(t菕ng)涓噰鐢ㄧ殑D/A杞夋彌鍣ㄧ偤PCL-726鍨�6閫氶亾妯℃摤閲忚几鍑哄崱銆傚畠鎻愪緵浜�6鍊�12浣嶉洐绶╂矕鐨勬ā鎿噺杓稿嚭閫氶亾锛屽彲婊胯冻鑲岃倝浼烘湇鎺у埗鐨勯渶瑕�銆侻D閲囬泦鍗￠噰鐢ㄤ簡PCL-813B鍨�12浣�32閫氶亾A/D鍗�锛屽畠鎻愪緵浜�32閫氶亾甯堕殧闆㈢殑鐩存祦闆诲娓噺锛岀簿搴﹀彲浠ユ豢瓒崇郴绲�(t菕ng)瑕佹眰銆� 1.3 杌熶欢绯荤当(t菕ng) 姘ｅ嫊浜哄伐鑲岃倝椹呭嫊鐨勯牎闋忛棞绡€(ji茅)涓湁2姊濊倢鑲夌殑澹撳姏鐐虹郴绲�(t菕ng)鐨勬帶鍒惰畩閲忋€傜敱浜庣郴绲�(t菕ng)閫氶亷2鍊嬭嚜鐢辫畩閲忔帶鍒朵竴鍊嬭嚜鐢卞害鐨勯亱鍕�锛屾墍浠ユ鎴愪簡鍐椾綑椹呭嫊绯荤当(t菕ng)?锛熸ⅱ瀹癈鏄�锛屾绯荤当(t菕ng)鍙皪闂滅瘈(ji茅)鍔涚煩鑸囬棞绡€(ji茅)鍓涘害閫茶鐛ㄧ珛鎺у埗銆傚叾涓�锛屽墠鑰呰垏2姊濊倢鑲夊鍔涘樊鏈夐棞锛屽悗鑰呰垏鑲岃倝澹撳姏鍜屾湁闂溿€傞€氶亷灏嶉棞绡€(ji茅)鍔涚煩鐨勬帶鍒跺彲浠ュ鐝�(xi脿n)绮剧⒑鐨勯棞绡€(ji茅)杌岃贰璺熻工锛岃€岄€氶亷灏嶉棞绡€(ji茅)鍓涘害鐨勬帶鍒跺彲浠ラ檷浣庤惤鍦拌叧娌栨搳鍙婄郴绲�(t菕ng)鑳借€�銆� 鏈枃鍦ㄥ伐鎺ц▓绠楁涓法瀵簡姘ｅ嫊浜哄伐鑲岃倝闂滅瘈(ji茅)绯荤当(t菕ng)鐨勬帶鍒惰粺浠跺強鎿嶄綔鐣岄潰銆傞€氶亷姝よ粺浠剁郴绲�(t菕ng)鍙互瀵︾従(xi脿n)鑲岃倝妯″瀷鐨勫弮鏁�(sh霉)瑷畾銆佺┅(w臎n)瀹氱殑闁夌挵(hu谩n)鎺у埗鍙婂偝鎰熷櫒杩斿洖鍊肩殑瀵︽檪椤ず鍜岃閷勭瓑鍔熻兘銆傝粺浠剁殑涓婚珨閮ㄥ垎鍖呮嫭杌岃贰瑕�(gu墨)鍔冩ā濉婂拰澹撳姏鎺у埗妯″銆傝粚璺¤(gu墨)鍔冩ā濉婂鐝�(xi脿n)浜嗕笂灞ょ殑闂滅瘈(ji茅)杌岃贰瑕�(gu墨)鍔�锛屽苟鏍规摎(j霉)闂滅瘈(ji茅)妯″瀷瑷堢畻瀵︾従(xi脿n)鏈熸湜闂滅瘈(ji茅)杌岃贰鎵€闇€鐨勯棞绡€(ji茅)鍔涚煩銆傚鍔涙帶鍒舵ā濉婂煼(zh铆)琛屽簳灞よ▓绠�锛屽畠鐨勮几鍏ラ噺鐐轰笂灞よ(gu墨)鍔冨緱鍒扮殑鏈熸湜闂滅瘈(ji茅)鍔涚煩銆傚鍔涜▓绠楁ā濉婃牴鎿�(j霉)姘ｅ嫊浜哄伐鑲岃倝鐨勫闅涙ā鍨嬭▓绠楁帶鍒惰倢鑲夐亱鍕曟墍闇€澹撳姏锛屽叾杞呭嚭鐐烘湡鏈涜倢鑲夊鍔涘€�銆傛櫤鑳絇ID鎺у埗绠楁硶妯″鏍规摎(j霉)姝ゆ湡鏈涘鍔涘€煎拰A/D閲囬泦寰楀埌鐨勫闅涜倢鑲夊鍔涙暩(sh霉)鎿�(j霉)閫茶鏅鸿兘PID鎺у埗锛屽緸鑰屽鐝�(xi脿n)闁夌挵(hu谩n)鎺у埗銆傚叾杓稿嚭缍�(j墨ng)鏁�(sh霉)鍊煎拰D/A鐠�(hu谩n)绡€(ji茅)杞夋彌鐐鸿几鍑哄埌纭欢绯荤当(t菕ng)鐨勫闅涙帶鍒堕浕澹�銆傝粺浠剁郴绲�(t菕ng)鐨勬鍦栧鍦�3鎵€绀�銆� 2銆佸椹楀強绯荤当(t菕ng)鎳夌敤 2.1 姘ｅ嫊闂滅瘈(ji茅)绯荤当(t菕ng)妯″瀷 鐐轰簡瀵︾従(xi脿n)灏嶆湰鏂囨墍鎼缓鐨勬埃鍕曚汉宸ヨ倢鑲夐﹨鍕曢牎闋忛棞绡€(ji茅)鐨勬簴纰轰己鏈嶆帶鍒�.棣栧厛瑕佸皪姘ｅ嫊浜哄伐鑲岃倝閫茶寤烘ā銆侻eKibben姘ｅ嫊浜哄伐鑲岃倝鐢变簬鍏锋湁闈炵窔鎬�銆佹檪璁婄壒鎬�锛屽苟涓斿湪宸ヤ綔鏅備即闅ㄦ湁閬叉化鐝�(xi脿n)璞�锛屽洜鑰岄洠浜庡皪鍏堕€茶寤烘ā鍜屾帶鍒�銆傚ぇ澶氭暩(sh霉)宸叉湁鐮旂┒涓皪浜嶮cKibben姘ｅ嫊浜哄伐鑲岃倝鐨勫缓妯￠兘閲囩敤Chou鍜孒annaford鍩轰簬铏涘姛鍘熺悊绲﹀嚭鐨勭悊璜栨ā鍨�銆傛妯″瀷绲﹀嚭浜嗚倢鑲夊嚭鍔涚殑鐞嗘兂浼拌▓锛岀劧鑰屾鐞嗚珫妯″瀷鐩存帴鎳夌敤浜庡闅涙帶鍒跺苟涓嶈兘寰楀埌鑹ソ鐨勬晥鏋�銆傛湰鐮旂┒涓噰鐢ㄤ簡Reynolds绛夋彁鍑虹殑涓夊厓鑲岃倝鍕曞姏瀛告ā鍨�锛屽皣姘ｅ嫊鑲岃倝杩戜技鐐虹敱闈炵窔鎬ч樆灏煎洜瀛�銆侀潪绶氭€у綀绨у洜瀛愬拰闈炵窔鎬ф敹绺姏鍥犲瓙骞惰伅(li谩n)妲嬫垚鐨勫嫊鍔涘绯荤当(t菕ng)锛屽墖妯″瀷鏂圭▼鐐猴細 鍏朵腑锛寈鐐鸿倢鑲夋敹绺暦搴�锛岀暥鑲岃倝瀹屽叏浼稿嫉鏅倄=0銆侹0銆並1鐐哄綀绨у洜瀛愮郴鏁�(sh霉)锛孊0銆丅1鐐洪樆灏煎洜瀛愮郴鏁�(sh霉)锛孎(xi脿n)0銆丗1鐐烘敹绺姏鍥犲瓙銆傚皪浜庢湰鏂囬噰鐢ㄧ殑姘ｅ嫊浜哄伐鑲岃倝锛岄€氶亷鍦ㄦ湰绯荤当(t菕ng)涓婄殑瀵﹂锛屽彲灏嶅紡锛�1锛変腑鐨勪笁鍏冭倢鑲夋ā鍨嬪弮鏁�(sh霉)閫茶婧栫⒑浼拌▓銆傜暥鑲岃倝澹撳姏p鍙栧€煎湪200kPa锝�650kPa涔嬮枔鏅�锛岄€氶亷瀵﹂寰楀埌鐨勬ā鍨嬬郴鏁�(sh霉)鍙緱鍒版豢鎰忕殑杩戜技鏁堟灉銆傛噳鐢ㄦ涓夊厓鑲岃倝妯″瀷锛屾湰鏂囨墍浠嬬垂鐨勮粺浠剁郴绲�(t菕ng)灏嶉棞绡€(ji茅)閫茶浜嗛枆鐠�(hu谩n)杌岃贰璺熻工鎺у埗锛屽叾鎺у埗绮惧害鍎�(y艒u)浜庡偝绲�(t菕ng)鐨勭悊璜栨ā鍨�銆� 2.2 绯荤当(t菕ng)鎳夌敤 鍦ㄦ湰鏂囨寤虹殑閲囩敤鏌旀€ч﹨鍕曞櫒McKibben姘ｅ嫊浜哄伐鑲岃倝浣滅偤椹呭嫊婧愮殑姗熷櫒浜哄柈鑷敱搴﹂牎闋忛棞绡€(ji茅)绯荤当(t菕ng)涓婏紝鍙皪McKibben鍨嬫埃鍕曚汉宸ヨ倢鑲夌殑寤烘ā鍜屾帶鍒堕€茶閫蹭竴姝ョ殑鐮旂┒銆傞€氶亷鍦ㄦ湰绯荤当(t菕ng)涓婄殑瀵﹂锛屽湪灏嶄笁鍏冭倢鑲夋ā鍨嬪弮鏁�(sh霉)閫茶婧栫⒑浼拌▓鐨勫熀绀庝笂锛屽埄鐢ㄦ湰鏂囧鐝�(xi脿n)鐨勬帶鍒惰粺浠剁郴绲�(t菕ng)鍙鐝�(xi脿n)浜嗛枆鐠�(hu谩n)鐨勯棞绡€(ji茅)杌岃贰璺熻工鎺у埗銆� 鍦ㄩ€蹭竴姝ュ伐浣滀腑锛屽皣鍩轰簬宸叉湁鐨勫钩鑷哄拰闁夌挵(hu谩n)鎺у埗鏂规硶閲嶉粸鐮旂┒鍏╁€嬪晱椤屻€傞鍏堢爺绌堕棞绡€(ji茅)鍓涘害鍙帶鐨勮粚璺¤窡韫ゆ帶鍒�銆傚埄鐢ㄦ鍐椾綑绯荤当(t菕ng)鐨勯棞绡€(ji茅)鍓涘害閲忓鐝�(xi脿n)鍎�(y艒u)鍖栫殑鐩殑锛屼娇姗熷櫒浜洪€氶亷鏇村ソ鍦板埄鐢ㄨ嚜韬棞绡€(ji茅)鐨勮鍕曞嫊鍔涘鐗规€т締闄嶄綆鑳介噺鎼嶈€椼€傚叾娆＄爺绌跺湪鏈夋矕鎿婃儏娉佷笅閫氶亷鎺у埗闂滅瘈(ji茅)鍓涘害闄嶄綆娌栨搳褰遍熆锛岄€茶€岀偤鎼缓鐢辨埃鍕曡倢鑲夐﹨鍕曠殑闆欒冻姗熷櫒浜烘彁渚涚悊璜栨簴鍌�銆�