KR102274949B1 - Electromagnetic coil system having a triangular structure - Google Patents

Abstract

The present invention relates to an electromagnetic coil system having a triangular structure, and more particularly, to an electromagnetic coil system having a triangular structure in which the same three circular coils are arranged in a triangular shape to form a structure with a small number of electromagnetic coils compared to the conventional electromagnetic coil system, so that a space for controlling a magnetic robot is reduced, and efficiency of power is increased. To this end, the electromagnetic coil system having a triangular structure of the present invention includes: a coil unit formed therein with a working area and having a first coil, a second coil, and a third coil arranged in a triangular shape; the magnetic robot provided in the control space to have movements controlled by a magnetic field of the coil unit; and a power supply unit for supplying a current value having the same current direction to the coil unit.

Description

Electromagnetic coil system having a triangular structure

The present invention relates to an electromagnetic coil system having a triangular structure, and more particularly, by arranging the same three circular coils in a triangular shape to form a smaller number of electromagnetic coil structures compared to the conventional electromagnetic coil system, the magnetic robot It relates to an electromagnetic coil system having a triangular structure that can reduce a controlled space and increase power efficiency.

Unlike permanent magnets, which are difficult to control magnetic fields, electromagnetic coils

can conveniently control the magnetic field generated inside by adjusting the current, so the motor,

It is widely used in various devices such as generators and electromagnetic actuators.

In particular, the use of magnetic fields, such as electromagnetic actuators, can be used to

When generating motion, it is generally necessary to generate various types of magnetic fields.

It has a combination of multiple electromagnetic coils.

On the other hand, in order to miniaturize or to increase the efficiency of the device using the electromagnetic coil,

The development of an electromagnetically effective electromagnetic coil is required. Conventionally, different coils are used to generate various types of magnetic fields.

For example, Helmholtz coil or Uniform Saddle coil (Uniform)

The saddle coil can create an axial uniform magnetic field inside, and the Maxwell coil

coil) or a gradient saddle coil inside an axial sloper

A magnetic field can be generated, and a Golay coil generates a transverse gradient magnetic field therein.

can create

In other words, the conventional electromagnetic coil can generate only one kind of magnetic field with one coil.

Therefore, in a device that requires several types of magnetic fields, the number of electromagnetic coils should increase as much as the required types of magnetic fields. In this case, a problem in that the device becomes more complex and has a larger size may occur.

In addition, considering that the strength of the magnetic field is inversely proportional to the radius of the electromagnetic coil and proportional to the strength of the current, and the power consumption of the electromagnetic coil is proportional to the radius of the electromagnetic coil, the above problem can also sharply decrease the magnetic field generation efficiency of the device. have. In order to solve this problem, there is a case of developing a structurally effective method for applying to various devices by developing a large number of electromagnetic coils having a structure that can be mounted on a cylinder (cylinder). There is a limit to increase the number of coils.

In addition, due to the geometrical problems caused by the structure of the coil,

The controllable range becomes smaller, and the state values of the coils such as resistance, radius, and inductance change, so it is inconvenient to use a different power supply for each coil.

In order to solve this problem, in Patent Publication No. 10-1450091 (hereinafter referred to as Prior Document 1), a pair of X-axis Helmholtz coils in which the central axis of the winding of the coil is placed on the X-axis; a pair of Y-axis Helmholtz coils in which the winding central axis of the coil lies on the Y-axis; a position recognition system that detects the position and direction of the micro-robot on the work space; A control unit that controls the amount of current supplied to the X-axis Helmholtz coil or the Y-axis Helmholtz coil to control the movement of the micro-robot based on the micro-robot movement information obtained from the position recognition system and the entered micro-robot path information ; and a current amplifier for supplying a corresponding current to each Helmholtz coil in response to a current control command from the controller, wherein the pair of X-axis Helmholtz coils are disposed to face each other, and the pair of Y-axis Helms The Holtz coils are disposed to face each other, and the X-axis Helmholtz coil and the Y-axis Helmholtz coil are vertically intersected to form a working space of the micro-robot, so that the number of electromagnetic coils is smaller than that of the existing electromagnetic coil system. An electromagnetic coil system for driving control of a microrobot having a

However, in the case of the electromagnetic coil system of Prior Document 1, since it is composed of at least four coils, the demand for the development of an electromagnetic coil system that has the effect of reducing space efficiency and power consumption by reducing the number of coils further than this is on the rise.

US 10-1450091 B1

The present invention has been devised to solve the above-mentioned problems, and its object is to implement an electromagnetic coil system capable of controlling a magnetic robot by arranging three identical circular coils in a triangular shape to be applied to the conventional electromagnetic coil system. An object of the present invention is to provide an electromagnetic coil system having a triangular structure that increases the efficiency of the space while minimizing the space for controlling the magnetic robot by having a compact size.

In order to achieve the above object, in the electromagnetic coil system having a triangular structure of the present invention, a working area is formed therein, and the first coil, the second coil, and the third coil are arranged in a triangular shape. It characterized in that it includes a part, a magnetic robot provided in the control space, the movement of which is controlled by the magnetic field of the coil part, and a power supply part supplying a current value having the same current direction to the coil part.

In addition, the first coil, the second coil, and the third coil are configured to generate an electromagnetic field to control the motion of the magnetic robot provided in the control space of the coil unit, and each radius and the number of coils to be wound are mutually exclusive. It was characterized in that it was made in the same way.

In addition, the power supply unit is connected to the control panel, characterized in that the first coil, the second coil and the current applied to the third coil can be adjusted at the same time.

In addition, the magnetic robot is composed of a cylindrical neodium magnet, characterized in that it is made to be driven by the electromagnetic field of the coil unit.

In addition, the constraint equation of the input current of the coil unit is

was characterized as being

According to the electromagnetic coil having the triangular structure of the present invention, as the electromagnetic coil system is configured using three identical coils, there is an effect that the consumption of power required to generate a magnetic field is reduced compared to the conventional electromagnetic coil system.

In addition, by allowing the electromagnetic coil system to be driven by the control of three coils, it is easier to control compared to the conventional electromagnetic coil system having four or more coils, and by minimizing the control space of the magnetic robot, the effect of increasing the efficiency of the space there is

에 대한 코일부의 자기장 (

) 및 자기력 (F')의 시뮬레이션 결과를 나타낸 도면
도 4a는 본 발명의 전자기 코일 시스템의 프로토 타입을 나타낸 도면
도 4b는 점성 실리콘 오일로 채워진 2D 패트리 접시에 장착된 프로토 타입의 자기로봇을 나타낸 도면
도 5는 추진 및 정렬 방향의 조건에서 자기로봇의 병진 운동 중복 이미지를 나타낸 도면1 is a perspective view of a coil part of the present invention;
2 is a view showing the geometric characteristics of the electromagnetic coil system of the present invention in the xy plane.
3 shows α and

The magnetic field of the coil for

) and a diagram showing the simulation results of magnetic force (F')
Figure 4a is a diagram showing a prototype of the electromagnetic coil system of the present invention;
Figure 4b shows a prototype magnetic robot mounted on a 2D Petri dish filled with viscous silicone oil.
5 is a view showing an overlapping image of the translational motion of the magnetic robot under the conditions of propulsion and alignment

The terms or words used in the present specification and claims should not be construed as being limited to their ordinary or dictionary meanings, and the inventor may properly define the concepts of the terms to best describe his invention. Based on the principle, it should be interpreted as meaning and concept consistent with the technical idea of the present invention.

Accordingly, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical spirit of the present invention, so various equivalents that can be substituted for them at the time of the present application It should be understood that there may be variations and examples.

Hereinafter, prior to the description with reference to the drawings, it is not shown or specifically described for the known configurations that are not necessary to reveal the gist of the present invention, that is, those skilled in the art that can be added obviously by those skilled in the art. reveal the sound

The electromagnetic coil system (hereinafter, referred to as an electromagnetic coil system) having a triangular structure according to the present invention includes a coil unit 100 having a working area formed therein, and a coil unit 100 provided in the control space. ) includes a magnetic robot whose movement is controlled by a magnetic field, and a power supply unit (not shown) for supplying a current value having the same current direction to the coil unit 100 .

The coil unit 100 includes a first coil 110 , a second coil 120 , and a third coil 130 having the same shape as each other, and each coil is arranged in an equilateral triangle shape as shown in FIG. 1 . do.

At this time, the arrangement of the first, second, and third coils 110, 120, and 130 is not limited as shown in FIG. 1, and the first, second, and third coils 110, 120, and 130 are arranged in a triangular shape to form a coil unit. , the arrangement of the first, second, and third coils can be freely implemented.

The first, second, and third coils 110 , 120 and 130 are configured to generate an electromagnetic field to control the motion of the magnetic robot provided in the control space inside the coil unit 100 , and the radius and number of turns of the coil are the same. It is preferable that currents in the same direction are applied to each other.

As the coil unit is formed in a triangular shape by the triangular arrangement of the first, second, and third coils as described above, a control space in which a uniform magnetic field is formed is formed inside the coil unit, and the magnetic robot is installed in this control space. made to be available.

In addition, the magnetic robot provided in the control space is configured to be driven by the electromagnetic field of the coil unit is composed of a cylindrical neodymium magnet.

The power supply unit is connected to a control panel (not shown) for supplying current to the first, second, and third coils 110, 120, and 130 so as to simultaneously control the current applied to the first, second, and third coils 110, 120, and 130. is done

Hereinafter, the control of the magnetic robot by the coil system having a triangular structure of the present invention will be described.

The subscript TEC used in the following equations and drawings is an abbreviation of Traid of Electromagnetic Coils, which means the coil unit 10 of the present invention.

Figure 2 shows the geometrical characteristics of the electromagnetic coil system of the present invention in the xy plane.

In general, the magnetic torque (T) and the force (F) acting on the magnetic robot in a magnetic field can be expressed by the following Equations 1 and 2, respectively.

는 각 공간 좌표 벡터 x에 대한 B(외부자기장)의 야코비안 행렬(Jacobian Matrix)이고, where ∇ is nabla (differential operator), m is the magnetic moment of the magnetic robot, B is the external magnetic field ,

is the Jacobian matrix of B (external magnetic field) for each spatial coordinate vector x,

In this case, the total magnetic field generated in the electromagnetic coil system of the present invention can be viewed as the sum of the magnetic fields independently generated by the first coil 110 , the second coil 120 , and the third coil 130 .

의 위치에서, 전자기 코일 시스템의 k번째 코일이 생성하는 자기장은 다음의 수학식 3으로 표현될 수 있다.In Figure 2, close to the axis of the electromagnetic coil system

At the position of , the magnetic field generated by the k- th coil of the electromagnetic coil system can be expressed by Equation 3 below.

는 진공에서의 투자율이고 ,

,

,

, 및

는 각각

의 현재방향의 구성요소와 x,y 및 z 방향의 구성요소이며, R과 N은 각각 제1,2,3코일(110,120,130)의 권선반경과 제1,2,3코일(110,120,130)의 권선수이다.here

is the permeability in vacuum,

,

,

, and

are each

are components in the current direction and components in the x, y and z directions, where R and N are the winding radius of the first, second, and third coils 110, 120, and 130, respectively, and the number of turns of the first, second, and third coils 110, 120, and 130, respectively. to be.

위치에서, 코일부(100)의 k번째 코일이 생성하는 자기장은 다음의 수학식 4로 표현될 수 있다.In addition, if the entire origin coincides with the center of the coil unit 100 in FIG. 2 is O , based on O

In the position, the magnetic field generated by the k- th coil of the coil unit 100 may be expressed by Equation 4 below.

는 도 2의 z축을 따라 회전 각도가

인 z방향의 회전행렬이다.here,

is the rotation angle along the z-axis of FIG.

is the rotation matrix in the z-direction.

Accordingly, the total magnetic field of the coil unit 100 near the center may be expressed by Equation 5 below.

는

이고,

는

이며, 여기서

는 y방향의 단위 벡터이다.As described above, the coil unit 100 is formed of an equilateral triangle, and the equilateral triangle is

is

ego,

is

and where

is a unit vector in the y direction.

에 대해 수학식 1로 부터 직접 계산 되므로, 전자기 코일 시스템의 전반적인 야코비안 행렬은 다음의 수학식 6으로 표현될 수 있다.On the other hand, the Jacobian matrix of the k- th coil of the coil unit 100 is local coordinates

Since it is calculated directly from Equation 1, the overall Jacobian matrix of the electromagnetic coil system can be expressed by Equation 6 below.

Accordingly, the magnetic torque and force applied to the magnetic robot near the central region of the coil unit 100 may be calculated using Equations 1 to 6.

In addition, a constraint equation for manipulating the two-dimensional plane movement of the magnetic robot was derived through the input current control of the coil unit 100, and Equations 5 and 6 at the center (o) of the coil unit 100 are , a simplified equation of the Jacobian matrix can be derived as shown in Equations 7 and 8 below.

은

이고,

는

이다.here,

silver

ego,

is

to be.

//

을 따르고 있다고 가정할 수 있다.In addition, assuming that the magnetic robot can rotate freely and is not disturbed in the xy plane, which is a two-dimensional plane, the direction of the magnetic robot is always the applied magnetic field.

//

can be assumed to follow.

방향으로 정렬하면서 x축에서

방향을 따라 이동(추진)되는 경우, 코일부(100)의 자기장은 다음의 수학식 9의 및 수학식 10의 조건을 충족해야 한다.Therefore, in Equations 1 and 2, the magnetic robot located near the center of the coil unit 100 is

on the x axis while aligning in the direction

When moving (propulsion) along the direction, the magnetic field of the coil unit 100 must satisfy the conditions of Equations 9 and 10 below.

와

는 각각

와

의 단위벡터이다.here,

Wow

are each

Wow

is the unit vector of

And, in Equations 3 and 7 to 10, the constraint equation of the input current of the coil unit 100 may be expressed by Equation 11 below.

은 자기 모멘트의 크기이고,

는 자기로봇에 필요한 자기력이며,

는

이고,

와

는 각각 도 3 및 도 5에 도시된 로봇의 이동방향이다.here,

is the magnitude of the magnetic moment,

is the magnetic force required for the magnetic robot,

is

ego,

Wow

are the moving directions of the robot shown in FIGS. 3 and 5, respectively.

,

및

는 각각 제1코일, 제2코일 및 제3코일의 전류값이며,

는

,

및

의 벡터값을 의미한다.And,

,

and

are the current values of the first coil, the second coil and the third coil, respectively,

is

,

and

is the vector value of

는, 코일부(100) 자체 내적(

) 전체 전력 소비에 비례한다는 조건으로부터

의 조건식을 이용하여 유도되었고, 이 전류를 통해 자기로봇을 가장 효율적인 정렬방향으로 정렬하며 움직일 수 있다.In Equation 11, the required input current of the coil unit 100

is, the coil unit 100 itself dot product (

) from the condition that it is proportional to the total power consumption

It was induced using the conditional expression of , and through this current, the magnetic robot can be moved in the most efficient alignment direction.

에 대한 코일부의 자기장 (

) 및 자기력 (F')의 시뮬레이션 결과를 나타낸 도면이다.3 shows α and

The magnetic field of the coil for

) and a diagram showing the simulation results of the magnetic force (F').

)In order to examine the validity of Equation 11 derived as described above, and to show the relative change of the magnetic field and the force at the center point of the coil unit 100, all the variables used in FIG. 3 are dimensionless variables as shown in Table 1 below. was converted to ([

)

variable location Current magnetic field magnetic force dimensionless variable

Relationship with dimensionless variables

As can be seen from FIG. 3 , the coil unit 100 generates a relatively uniform magnetic field and force in a specific central region of the coil unit 100 , and in this region, the magnetic robot can be operated in a straight line.

Hereinafter, an experimental example of the present invention will be described with reference to FIGS. 4A and 4B.

4A is a diagram showing a prototype of the electromagnetic coil system of the present invention, and FIG. 4B is a diagram showing a prototype magnetic robot mounted on a 2D Petri dish filled with viscous silicone oil.

As shown in Fig. 4a, an equilateral triangle is formed using three identical circular coils (1st, 2nd, 3rd coil: 1st coil, 2nd coil, 3rd coil) using copper wire, and a magnetic robot is mounted at the vertex of the equilateral triangle to form a triangle. The electromagnetic coil system on the top was implemented.

The thickness of the copper wire used in the circular coil (first, second, and third coils) is 1 mm, the radius of the circular coil is 125 mm, and the number of turns of the circular coil is 1300.

In addition, the power supply for applying the current of Equation 11 used AMENTEK's DCS-M130, and the first coil 110 and the second coil 120 of the coil unit 100 so that the power supply is connected to the control panel, and The current of the third coil 130 can be adjusted at the same time.

And the magnetic robot shown in Fig. 4b was manufactured as a prototype using a horizontally magnetized disk-type NdFeB magnet, the diameter of the magnet was 3 mm, the thickness was 1 mm, and the magnetization was 955 kA/m.

In addition, a Petri dish filled with silicone oil having a viscosity of 97c was implemented as a two-dimensional working area of the magnetic robot. It was designed to prevent the robot from moving rapidly.

Hereinafter, motion control of the magnetic robot by the electromagnetic coil system configured as shown in FIG. 4 will be described with reference to FIG. 5 .

FIG. 5 shows an overlapping image of the translational motion of the magnetic robot under the conditions of propulsion and alignment, and the method of operating the magnetic robot expressed in Equation 11 is implemented through the electromagnetic coil system of the prototype configured as shown in FIG.

인 코일부(100)의 입력 전류에서, 페트리 접시의 중심에 놓인 자기로봇은 x축에서, 도 5a, 도b, 도c 및 도d에 나타낸 바와 같이 0,30,60, 및 90도의 각도를 따라 6.5 미만 편각의 안정된 병진운동을 보여주었다.As a result, the combined magnetic force of the robot shown in Table 2 and shown below is 300

At the input current of the in-coil unit 100, the magnetic robot placed in the center of the Petri dish takes an angle of 0, 30, 60, and 90 degrees on the x-axis as shown in Figs. 5a, b, c and d. Accordingly, it showed stable translational motion with an angle of declination less than 6.5.

path type step

[

]

[

]

[

]

[A]

[A]

[A]

straight path
0 60 0 3.21 1.61 12.89 300 30 60 1.85 3.71 2.78 24.92 300 60 0 1.61 3.21 0 12.89 300 90 0 0 1.85 -1.85 6.84 300 triangular path
(optimization) I 0 227.6 -1.10 2.26 -0.06 6.63 300 II 120 347.6 -0.06 1.10 2.26 6.30 300 III 240 107.6 2.26 -0.06 -1.10 6.30 300 triangular path
(Non-optimized) I 0 250 0.66 4.62 3.24 32.28 300 II 120 10 3.24 0.66 4.62 32.28 300 III 240 130 4.62 3.24 0.66 32.28 300

In addition, continuous translational motion of the robot was implemented along the programmed path (triangular path) as shown in FIGS. 5E and 5F.

5e and 5f show superimposed images of a magnetic robot moving along a triangular path, and FIG. 5e shows the optimal optimization of the robot for different propulsion directions (step I, step II and step III, see Table 2) in the optimized triangular route. The sort direction is calculated and applied.

In addition, FIG. 5f shows that different currents are applied to the coil unit 100 in a non-optimized triangular path (see Table 2), and the alignment direction of the magnetic robot is slightly changed to a value 22.4 degrees higher, respectively, but the The direction and magnitude of the driving force remained the same.

As a result, the magnetic robot of Fig. 5e, which is an optimized triangular path, and Fig. 5f, which is a non-optimized triangular path, has almost the same translational motion along the programmed path with the same average velocity of 0.51 mm/sec and less than 6.5 degrees of deviation angle. was shown.

However, the unoptimized coil unit 100 of FIG. 5F consumes five times more power than the optimized coil unit 100 of FIG. 5E , and through this, the coil unit 100 determines the optimal direction of the magnetic robot during operation. It can be seen that the power consumption can be minimized by aligning along

According to the electromagnetic coil having the triangular structure of the present invention, as the electromagnetic coil system is configured using three identical coils, there is an effect that the consumption of power required to generate a magnetic field is reduced compared to the conventional electromagnetic coil system.

In addition, by allowing the electromagnetic coil system to be driven by the control of three coils, it is easier to control compared to the conventional electromagnetic coil system having four or more coils, and by minimizing the control space of the magnetic robot, the effect of increasing the efficiency of the space there is

As described above, the present invention has been described with reference to the illustrated drawings, but the present invention is not limited by the embodiments and drawings disclosed herein, and various modifications may be made by those skilled in the art within the scope of the technical spirit of the present invention. Of course it can be done.

100: coil unit 110: first coil
120: second coil 130: third coil

Claims (5)

In the electromagnetic coil system having a triangular structure,
In the electromagnetic coil system, a control space (working area) is formed therein, and the first coil 110 , the second coil 120 , and the third coil 130 are arranged in a triangular shape to form a coil unit 100 . );Wow
a magnetic robot provided in the control space, the movement of which is controlled by the magnetic field of the coil part; and
Electromagnetic coil system having a triangular structure comprising a; power supply for supplying a current value having the same current direction to the coil unit.
The method according to claim 1,
The first coil 110 , the second coil 120 , and the third coil 130 are configured to generate an electromagnetic field to control the motion of the magnetic robot provided in the control space of the coil unit, and each An electromagnetic coil system having a triangular structure, characterized in that the radius and the number of coils to be wound are the same.


The method according to claim 1,
The power supply unit has a triangular structure, characterized in that it is connected to the control panel so as to simultaneously control the current applied to the first coil 110, the second coil 120, and the third coil 130 electromagnetic coil system.
The method according to claim 1,
The magnetic robot is an electromagnetic coil system having a triangular structure, characterized in that it is composed of a cylindrical neodymium magnet to be driven by the electromagnetic field of the coil unit (100).
The method according to claim 1,
The constraint equation of the input current of the coil part is

Electromagnetic coil system having a triangular structure, characterized in that.
(here,

is the magnitude of the magnetic moment,

is the magnetic force required for the magnetic robot,

is

,

,

and

are the current values of the first coil, the second coil and the third coil, respectively,

is

,

and

vector value for .)

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