当今快速发展的经济环境下, 合作创新成为企业提高创新能力的有效途径. 将 企业按规模分成两类, 建立企业合作创新耦合网络, 采用概率型无条件模仿的策略更 新规则, 讨论企业间博弈策略随时间的演化规律. 首先运用矩阵半张量积方法, 将博弈的逻 辑动态系统转化成离散时间系统, 得到各企业每个时刻的策略; 其次, 给出所有企业以 概率$1$~参与合作创新的充要条件; 最后, 通过改变超额收益分配比例及违约成本、设计牵制控制算法使得所有企业以概率$1$~选择合作创新策略.

With the rapid development of economy, cooperative innovation has become an effective way to improve innovation capability for enterprises. In this paper, the enterprise is divided into two categories according to the scale. Meanwhile, the two-layer network is established. The evolution of the profile of the games with time is discussed using the updating rule of probabilistic unconditional imitation. Firstly, the dynamic of the game is formulated by the method of semi-tensor product of matrices. Secondly, the necessary and sufficient conditions for all enterprises to participate in cooperative innovation with probability $1$ are given. Finally, by changing the proportion of distribution of excess earnings and defaults cost, and designing the pinning control algorithm to make all enterprises participate in cooperative innovation with probability $1$.