CN109717821A - A kind of system and method for more rotating permanent magnet driving micro-magnetic devices - Google Patents
A kind of system and method for more rotating permanent magnet driving micro-magnetic devices Download PDFInfo
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Abstract
The invention discloses a kind of system and methods of more rotating permanent magnet driving micro-magnetic devices, it is related to field of intelligent control, the application is using permanent magnet as field source, driving circuit drives permanent magnet rotation to realize the control of any direction to micro-magnetic device, without input power, heat is not generated near working space thus, even if so that can be also applicable in the tangible temperature sensitive application of the application, outside relative to electromagnetic drive, size depending on working space, permanent magnet can generate about 10 to 20 times of field strength and 2 to 3 times of gradient force, the scope of application is wider, structure is simple simultaneously, cost is relatively low, the component not translated, precision is high, stability is good；In combination with PC control, it can quickly look for optimum control needed for generating desired field strength and power and input, moreover it is possible to utilize the movement of camera real-time monitoring micro-magnetic device.
Description
Technical field
The present invention relates to field of intelligent control, the system of especially a kind of more rotating permanent magnet driving micro-magnetic devices and side
Method.
Background technique
The wireless control of the micro magnetic device (lower referred to as micro-magnetic device) of such as microrobot etc possesses very well
Prospect because these micro-magnetic devices are able to enter the enclosure space of such as human body, in this case, being can not be using there is object
What the device of reason contact was controlled, the magnetic field generated using outside is carried out the dynamic control of magnetic and had proven to for controlling these
The preferred control method of equipment.The dynamic control of such magnetic is suitable for the radio operation in narrow space, therefore there are many doctors
Application, including the application of the steering of ophthalmologic operation, conduit, capsule endoscope and many microoperations are learned, including unicellular and micro-
Grain.
It is related to many applications of the dynamic control of magnetic, needs to carry out high-caliber control to the position of micro-magnetic device and course, it is right
Five degree of freedom oriented control can be passed through in single dipole, including three translation freedoms and two rotations are freely
Degree.The control of complete six degree of freedom is possible, but controlled micro-magnetic device is required to have more complicated distribution of magnetization, can be limited
It is made in the benefit of practical application.It is that magnetic field and Li Lai required for being generated with electromagnetic coil are controlled there are also some ways,
Because field strength quickly can be controlled by changing the electric current in coil, and field can be completely closed, there is certain advantage,
But since electromagnetic driving system can be because the electric current of the field strength needed for generating causes the temperature in coil to increase, so as to cause work
The temperature in space increases, so that electromagnetic driving system is not suitable for temperature than more sensitive application, for example is related to the life of cell
Object medical application etc..
Summary of the invention
Regarding to the issue above and technical need, propose a kind of more rotating permanent magnet driving micro-magnetic devices is the present inventor
System and method, the application are able to solve electromagnetic system and lead to the problem of heat, expanded application range.
Technical scheme is as follows:
A kind of system of more rotating permanent magnets driving micro-magnetic device, the system include: micro-magnetic device to be driven, it is N number of forever
Magnet, driving circuit, host computer and camera, N are positive integer and N >=6；The micro-magnetic device is located at spherical working space
In, N number of permanent magnet is located at the outside of the working space, and N number of permanent magnet is distributed on a virtual spherical surface, described
The centre of sphere of virtual spherical surface is overlapped with the centre of sphere of the working space；The driving circuit includes driving plate, AC/DC convertor, N
The input terminal of a stepper motor, N number of encoder and data collecting card, the AC/DC convertor connects power supply line, output end
The driving plate is connected, the output end of the driving plate connects N number of stepper motor and is powered, each stepping electricity
The output shaft of machine is separately connected the permanent magnet and the permanent magnet is driven to rotate around rotary shaft, each stepping electricity
Machine is also respectively connected with the encoder, and N number of encoder is all connected with the data collecting card, the data collecting card
Output end connects the host computer, and the host computer connects the control terminal of the driving plate；The camera is towards micro- magnetic
Device setting, and the camera connects the host computer.
Its further technical solution is that the permanent magnet is neodium magnet.
A kind of method of more rotating permanent magnet driving micro-magnetic devices, this method comprises:
Determine that N number of permanent magnet acts on the actual magnetic field strength of the micro-magnetic device and the rotation of each permanent magnet
Functional relation between gyration, and, N number of permanent magnet act on the micro-magnetic device practical driving force and each institute
State the functional relation between the rotation angle of permanent magnet；
Expectation function is determined in the expectation magnetic field strength and desired driving force of the micro-magnetic device, according to the true field
The error between error and the practical driving force and the expectation driving force between intensity and the expectation magnetic field strength
Define tracking error；
Feedback control is iterated to the tracking error when until meeting stopping criterion for iteration and determines corresponding rotation angle
Degree group, the rotation angle group include the rotation angle of each permanent magnet；
Control signal group corresponding with the rotation angle group is determined according to preset corresponding relationship, is believed according to the control
Number group control N number of stepper motor drives N number of permanent magnet to be rotated.
Its further technical solution is that determination N number of permanent magnet acts on the practical magnetic of the micro-magnetic device
Functional relation between field intensity and the rotation angle of each permanent magnet, and, N number of permanent magnet acts on described micro-
Functional relation between the practical driving force of magnetic device and the rotation angle of each permanent magnet, including determination:
Wherein,Indicate that N number of permanent magnet acts on the actual magnetic field strength of the micro-magnetic device,Indicate the N
A permanent magnet acts on the practical driving force of the micro-magnetic device, μ0It is free space magnetic permeability, I is 3 × 3 unit matrixs,
It is the magnetic moment of the micro-magnetic device；It is position vector of the micro-magnetic device relative to the center of i-th of permanent magnet,It is position
Set vectorUnit vector,It is the magnetic moment of i-th of permanent magnet,It is magnetic momentUnit vector, and haveθiIndicate the rotation angle of i-th of permanent magnet, RiIt is the corresponding spin moment of i-th of permanent magnet
Battle array, the spin matrix RiCorresponding with the angle of the rotary shaft of i-th of permanent magnet, i is parameter and 1≤i≤N.
Its further technical solution is, described according between the actual magnetic field strength and the expectation magnetic field strength
Error between error and the practical driving force and the expectation driving force defines tracking error, including definition:
Wherein,Indicate rotation angle groupCorresponding tracking error rotates angle groupIncluding each permanent magnetism
The rotation angle of body, K be coefficient and 0 < K < 1,It is the actual magnetic field strength,It is the expectation magnetic field strength,
It is the practical driving force,It is the expectation driving force.
Its further technical solution is, described to be iterated feedback control to the tracking error until meeting iteration end
Corresponding rotation angle group is only determined when condition, comprising:
Initial rotation angle group is chosen, gradient descent method is started with from the initial rotation angle group and is iterated, directly
To the error between the actual magnetic field strength and the expectation magnetic field strength within the scope of first error, and the practical driving
When power and the error it is expected between driving force are in the second error range, corresponding rotation angle group is determined, wherein described
The calculation formula of the gradient of tracking error are as follows:
Wherein,WithIt is Jacobian matrix.
The method have the benefit that:
This application discloses a kind of system and methods of more rotating permanent magnet driving micro-magnetic devices, using permanent magnet as field
Source, driving circuit drive permanent magnet rotate to the control to micro-magnetic device realization any direction, no input power, thus in work
Make spatial neighborhood and do not generate heat, even if so that can be also applicable in the tangible temperature sensitive application of the application, outside relative to electromagnetism
Driving, depending on the size of working space, permanent magnet can generate about 10 to 20 times of field strength and 2 to 3 times of gradient force.It should
The system scope of application is wider, while structure is simple, cost is relatively low, the component that does not translate, precision is high, stability is good.It ties simultaneously
PC control is closed, optimum control needed for generating desired field strength and power can be quickly looked for and input, moreover it is possible to utilize camera shooting
The movement of head real-time monitoring micro-magnetic device.
Detailed description of the invention
Fig. 1 is the structure chart of the system of more rotating permanent magnet driving micro-magnetic devices disclosed in the present application.
Fig. 2 is the space structure figure of the system of more rotating permanent magnet driving micro-magnetic devices disclosed in the present application.
Fig. 3 is the flow chart of the method for more rotating permanent magnet driving micro-magnetic devices disclosed in the present application.
Specific embodiment
The following further describes the specific embodiments of the present invention with reference to the drawings.
This application discloses a kind of system of more rotating permanent magnet driving micro-magnetic devices, Fig. 1 shows the structure of the system
Schematic diagram, the system include: that micro-magnetic device to be driven, N number of permanent magnet, driving circuit, host computer and camera, N are positive
Integer and micro-magnetic device is not shown in N >=6, Fig. 1.Micro-magnetic device is located in spherical working space, and N number of permanent magnet is located at work sky
Between outside, N number of permanent magnet is distributed on a virtual spherical surface, and the centre of sphere of virtual spherical surface is overlapped with the centre of sphere of working space, this
Permanent magnet in application is neodium magnet.Driving circuit includes driving plate, AC/DC convertor, N number of stepper motor, N number of encoder
And data collecting card, the device in driving circuit is all existing commercial devices.The input terminal of AC/DC convertor connects supply lines
Road, output end connect driving plate, and power supply line provides alternating current, and AC/DC convertor converts alternating current to direct current supply and drives
Movable plate, the output end of driving plate connect N number of stepper motor and are powered that stepper motor is driven to work.Each stepper motor
Output shaft be separately connected a permanent magnet and permanent magnet driven to rotate around rotary shaft, thus for micro- chinaware in working space
Part provides required magnetic field strength and driving force, and then controls the movement of micro-magnetic device.Each stepper motor is also respectively connected with one
A encoder, encoder can measure revolving speed and the position of stepper motor.N number of encoder is all connected with data collecting card, and data are adopted
The output end connection host computer of truck is handled.Host computer connects the control terminal of driving plate, collected to data collecting card
The control signal of stepper motor is exported after data processing, so that the rotation for controlling permanent magnet generates desired magnetic field strength and driving
Power controls course and the speed of micro-magnetic device.Camera is arranged towards micro-magnetic device, and camera connects host computer, camera
The motion profile that micro-magnetic device can be acquired is generally arranged at the top and side of micro-magnetic device.
The application illustrates that in the example, N=8, each permanent magnet is the square of 2.54cm with an example, corresponding
It actually further include microoperation manipulator, for micro-magnetic device to be placed on working space using 8 stepper motors and encoder
In.Structural member in example is all the high density fiberboard assembling with laser cutting, secures a base plate to the frame placed vertically
Above, stepper motor and encoder are mounted on behind permanent magnet, are fixed.The diameter of working space position one is about 5cm's
Ball-type defines 3-D walls and floor as origin using the centre of sphere of working space, referring to FIG. 2, dashed circle indicates working space, work
The black region of space interior indicates micro-magnetic device.A virtual spherical surface, the radius of the virtual spherical surface are defined by the centre of sphere of origin
About 7.5cm, permanent magnet are evenly distributed on the virtual spherical surface, specific position (the i.e. volume center position of permanent magnet of permanent magnet
Set) and the pose of permanent magnet custom-configure according to the actual situation.The pose of permanent magnet mainly includes the azimuth of permanent magnet
The angle of the rotary shaft of α, elevation angle φ and permanent magnet, the angle of the rotary shaft of permanent magnet mainly include around z-axis angle beta and
Around the angle ξ of y-axis.The parameter of the pose of 8 permanent magnets in the example is as follows:
The position of four permanent magnets when Fig. 2 illustratively shows i=1,2,4,5 and pose schematic diagram.
Based on above system, disclosed herein as well is a kind of method of more rotating permanent magnet driving micro-magnetic devices, this method
Include the following steps, flow chart please refers to Fig. 3:
Step S01 has pre-installed the system software for carrying out data processing in host computer, and has stored in database server
The relevant initial parameter of system, initial parameter may include the ginseng of the various needs of power, revolving speed, torque of stepper motor etc.
Number.
Step S02 opens " power switch " of system, first sets the initial of each permanent magnet before starting in host computer
Pose, so that micro-magnetic device is positioned in working space.The Reset button in host computer is clicked, the initial of system is completed
Chemical industry is made.
Micro-magnetic device after the completion of system initialization, is placed in working space by step S03 with microoperation manipulator, is led to
The positioning of the camera observation micro-magnetic device of top and side is crossed, observation micro-magnetic device is to basicly stable.
Step S04 sets the desired motion profile of micro-magnetic device in host computer, and the motion profile of micro-magnetic device is by acting on
It is determined in the magnetic field strength and driving force of micro-magnetic device, therefore just can determine that after setting desired motion profile and act on micro- magnetic
The expectation magnetic field strength and desired driving force of device, then click START button.
Step S05, after system starts, host computer executes following methods and the motion profile of micro-magnetic device is made to track the phase
The motion profile of prestige, includes the following steps:
1), determine N number of permanent magnet act on micro-magnetic device actual magnetic field strength and each permanent magnet rotation angle it
Between functional relation are as follows:
Wherein,Indicate that N number of permanent magnet acts on the actual magnetic field strength of micro-magnetic device.μ0It is free space magnetic permeability, μ0
=4 π × 10-7Tm·A-1.I is 3 × 3 unit matrixs,It is that micro-magnetic device is sweared relative to the position at the center of i-th of permanent magnet
Amount,It is position vectorUnit vector,It is the magnetic moment of i-th of permanent magnet,It is magnetic momentUnit vector.
Determine that N number of permanent magnet acts between the practical driving force of micro-magnetic device and the rotation angle of each permanent magnet simultaneously
Functional relation are as follows:
Wherein,It is the magnetic moment of driven micro-magnetic device, the meaning of remaining parameter is same as above.
In the formula of actual magnetic field strength and practical driving force, the magnetic moment of i-th of permanent magnetUnit vector's
Calculation formula are as follows:θiIt is the input variable of this formula, indicates the rotation of i-th of permanent magnet
Gyration.RiIt is the corresponding spin matrix of i-th of permanent magnet, spin matrix RiWith the angle of the rotary shaft of i-th of permanent magnet (
I.e. around the angle beta of z-axis and around the angle ξ of y-axis) it is corresponding, i is parameter and 1≤i≤N.
2, determine expectation function in the expectation magnetic field strength of micro-magnetic device and expectation driving force, according to actual magnetic field strength with
It is expected that the error between error and practical driving force between magnetic field strength and expectation driving force defines tracking error.Including fixed
Justice:
Wherein,Indicate rotation angle groupCorresponding tracking error.Rotate angle groupIncluding each permanent magnet
Rotate angle.K is coefficient and 0 < K < 1, K are used to weigh the difference of the unit of magnetic field strength and driving force.It is according to rotation
The actual magnetic field strength that gyration group is calculated,It is expectation magnetic field strength.It is to be calculated according to rotation angle group
Practical driving force,It is expectation driving force.
3, the control of system is for nonlinear optimal problem, and the input of system is the rotation angle of each permanent magnet, defeated
Out be the magnetic field strength driving force generated, output and input between be a nonlinear relationship, therefore using feedback control
Method is to solve the problems, such as this, namely is iterated feedback control determining pair when meeting stopping criterion for iteration to tracking error
The rotation angle group answered, rotation angle group include the rotation angle of each permanent magnet.Stopping criterion for iteration is usually tracking error
Reach minimum value, therefore iterative process can be expressed as follows:
Since the optimal solution of above method cannot be found by cracking, the operation of system will affect, therefore we can examine
Consider and finds locally optimal solution.An initial rotation angle group is first chosen as input, starts with ladder from initial rotation angle group
Degree descent method, which is iterated, searches out a local minimum, the calculation formula of the gradient of tracking error are as follows:
Wherein,WithIt is Jacobian matrix, they are respectively by the minor change and generation of stepper motor angle
Magnetic field strength and the minor change of driving force be associated together.It, can be from multiple initial rotation angles in order to find more excellent solution
Group repeats gradient and declines iteration, and with the discovery of more local minimums, required magnetic can accurately be generated by being easier to find one group
The rotation angle group of field intensity and driving force is as input.But due to using in feedback control, need to control input with true
It protects and does not lose control to system, usually not time enough finds optimal input, therefore by actual magnetic field strength
With desired magnetic field strengthBetween error be compared with preset first error range, by practical driving forceWith the phase
Hope driving forceBetween error be compared with preset second error range, work as actual magnetic field strengthWith desired magnetic field
IntensityBetween error within the scope of preset first error and practical driving forceWith desired driving forceBetween mistake
When difference is in preset second error range, that is, stop iterative search, using corresponding rotation angle group as input.
4, determine according to preset corresponding relationship and rotate the corresponding control signal group of angle group, corresponding relationship previously according to
The relevant parameter of stepper motor is configured.Determine that controlling N number of stepper motor according to control signal group after controlling signal group drives N
A permanent magnet is rotated, so as to generate the approximate effect with desired magnetic field strength and expectation driving force.Meanwhile it can be upper
The real time kinematics of micro-magnetic device are observed in the machine of position by camera.
Step S06 can also pass through the desired motion profile and actual motion rail of analysis micro-magnetic device after movement
The deviation of mark show that the accuracy of the system and the speed of magnetic device, speed are calculated as total path/total time, the application
It is not developed in details.
The above are merely the preferred embodiments of the application, and present invention is not limited to the above embodiments.It is appreciated that this field
The oher improvements and changes that technical staff directly exports or associates without departing from the spirit and concept in the present invention,
It is considered as being included within protection scope of the present invention.
Claims (6)
1. a kind of system of more rotating permanent magnet driving micro-magnetic devices, which is characterized in that the system comprises: micro- magnetic to be driven
Device, N number of permanent magnet, driving circuit, host computer and camera, N are positive integer and N >=6；The micro-magnetic device is located at spherical shape
Working space in, N number of permanent magnet is located at the outside of the working space, N number of permanent magnet be distributed in one it is virtual
On spherical surface, the centre of sphere of the virtual spherical surface is overlapped with the centre of sphere of the working space；The driving circuit includes driving plate, hands over directly
The input terminal of current converter, N number of stepper motor, N number of encoder and data collecting card, the AC/DC convertor connects supply lines
Road, output end connect the driving plate, and the output end of the driving plate connects N number of stepper motor and is powered, each
The output shaft of the stepper motor is separately connected the permanent magnet and the permanent magnet is driven to rotate around rotary shaft, each
The stepper motor is also respectively connected with the encoder, and N number of encoder is all connected with the data collecting card, the number
The host computer is connected according to the output end of capture card, the host computer connects the control terminal of the driving plate；The camera court
It is arranged to the micro-magnetic device, and the camera connects the host computer.
2. system according to claim 1, which is characterized in that the permanent magnet is neodium magnet.
3. a kind of method of more rotating permanent magnet driving micro-magnetic devices, the method are used for system as claimed in claim 1 or 2
In, which is characterized in that the described method includes:
Determine that N number of permanent magnet acts on the actual magnetic field strength of the micro-magnetic device and the rotation angle of each permanent magnet
Functional relation between degree, and, N number of permanent magnet act on the micro-magnetic device practical driving force and it is each it is described forever
Functional relation between the rotation angle of magnet；
Expectation function is determined in the expectation magnetic field strength and desired driving force of the micro-magnetic device, according to the actual magnetic field strength
The error between error and the practical driving force and the expectation driving force between the expectation magnetic field strength defines
Tracking error；
Feedback control is iterated to the tracking error when until meeting stopping criterion for iteration and determines corresponding rotation angle group,
The rotation angle group includes the rotation angle of each permanent magnet；
Control signal group corresponding with the rotation angle group is determined according to preset corresponding relationship, according to the control signal group
Controlling N number of stepper motor drives N number of permanent magnet to be rotated.
4. according to the method described in claim 3, it is characterized in that, the determination N number of permanent magnet acts on micro- magnetic
Functional relation between the actual magnetic field strength of device and the rotation angle of each permanent magnet, and, N number of permanent magnet
The functional relation between the practical driving force of the micro-magnetic device and the rotation angle of each permanent magnet is acted on, including true
It is fixed:
Wherein,Indicate that N number of permanent magnet acts on the actual magnetic field strength of the micro-magnetic device,Indicate it is described it is N number of forever
Magnet acts on the practical driving force of the micro-magnetic device, μ0It is free space magnetic permeability, I is 3 × 3 unit matrixs,It is institute
State the magnetic moment of micro-magnetic device；It is position vector of the micro-magnetic device relative to the center of i-th of permanent magnet,It is position arrow
AmountUnit vector,It is the magnetic moment of i-th of permanent magnet,It is magnetic momentUnit vector, and haveθiIndicate the rotation angle of i-th of permanent magnet, RiIt is the corresponding spin moment of i-th of permanent magnet
Battle array, the spin matrix RiCorresponding with the angle of the rotary shaft of i-th of permanent magnet, i is parameter and 1≤i≤N.
5. according to the method described in claim 3, it is characterized in that, described according to the actual magnetic field strength and the expectation magnetic
The error between error and the practical driving force and the expectation driving force between field intensity defines tracking error, including
Definition:
Wherein,Indicate rotation angle groupCorresponding tracking error rotates angle groupIncluding each permanent magnet
Rotate angle, K be coefficient and 0 < K < 1,It is the actual magnetic field strength,It is the expectation magnetic field strength,
It is the practical driving force,It is the expectation driving force.
6. according to the method described in claim 5, it is characterized in that, described to be iterated feedback control to the tracking error straight
To determining corresponding rotation angle group when meeting stopping criterion for iteration, comprising:
Initial rotation angle group is chosen, gradient descent method is started with from the initial rotation angle group and is iterated, until institute
State actual magnetic field strength and it is described expectation magnetic field strength between error within the scope of first error, and the practical driving force and
When error between the expectation driving force is in the second error range, corresponding rotation angle group is determined, wherein the tracking
The calculation formula of the gradient of error are as follows:
Wherein,WithIt is Jacobian matrix.
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| CN201811548068.8A CN109717821B (en) | 2018-12-18 | 2018-12-18 | System and method for driving micro-magnetic device by multiple rotary permanent magnets |
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| CN109717821B (en) | 2021-01-26 |
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