Title:
MICRO-ROBOT MAGNETIC DRIVE DEVICE BASED ON DUAL CLOSED-LOOP THREE-DIMENSIONAL PATH TRACKING, AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2022/083173
Kind Code:
A1
Abstract:
A micro-robot magnetic drive device based on dual closed-loop three-dimensional path tracking, and a control method. The method comprises: inputting a desired tracking path, and obtaining current pose information of a magnetic micro-robot by means of a camera to calculate a centroid position, an actual axial direction (XB), coordinates of a desired position point (s), on the desired tracking path, closest to the centroid, and a tangential direction (XF) of the point (s); according to the actual axial direction (XB), the tangential direction (XF), and disturbance compensation, calculating a horizontal distance (dz), a vertical distance (dy), a direction angle error (θde), and a pitch angle error (θie) between the two points; and calculating a required rotating magnetic field according to a designed position closed-loop controller, and a current closed-loop magnetic field controller performing, according to the rotating magnetic field and a fed-back coil output current, closed-loop control on a Helmholtz coil (3) to generate a desired magnetic field to cause the magnetic micro-robot to complete tracking the desired tracking path. The use of position and current feedback-based dual closed-loop control can implement precise completion of tracking of a three-dimensional path.
Inventors:
FAN QIGAO (CN)
CHEN WEI (CN)
XIE LINBAI (CN)
ZHU YIXIN (CN)
YANG GUOFENG (CN)
LI YUEYANG (CN)
BI KAITAO (CN)
HUANG WENTAO (CN)
LUO HAICHI (CN)
ZHAO ZHENGQING (CN)
CHEN WEI (CN)
XIE LINBAI (CN)
ZHU YIXIN (CN)
YANG GUOFENG (CN)
LI YUEYANG (CN)
BI KAITAO (CN)
HUANG WENTAO (CN)
LUO HAICHI (CN)
ZHAO ZHENGQING (CN)
Application Number:
PCT/CN2021/104466
Publication Date:
April 28, 2022
Filing Date:
July 05, 2021
Export Citation:
Assignee:
UNIV JIANGNAN (CN)
International Classes:
G05B13/04
Foreign References:
| CN112180736A | 2021-01-05 | |||
| CN107179780A | 2017-09-19 | |||
| CN105334964A | 2016-02-17 | |||
| CN108199527A | 2018-06-22 | |||
| CN101262198A | 2008-09-10 | |||
| CN108406725A | 2018-08-17 | |||
| US20140253114A1 | 2014-09-11 | |||
| US20140333143A1 | 2014-11-13 |
Attorney, Agent or Firm:
WUXI HUAYUAN PATENT AND TRADEMARK AGENCY (GENERAL PARTNERSHIP) (CN)
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