CN109717821B - System and method for driving micro-magnetic device by multiple rotary permanent magnets - Google Patents
System and method for driving micro-magnetic device by multiple rotary permanent magnets Download PDFInfo
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Abstract
The invention discloses a system and a method for driving a micro-magnetic device by multiple rotating permanent magnets, which relate to the field of intelligent control.A permanent magnet is used as a field source and a driving circuit is used for driving the permanent magnet to rotate so as to control the micro-magnetic device in any direction, and no input power exists, so that no heat is generated near a working space, and the system and the method can be applied to temperature-sensitive application, and can generate 10 to 20 times of field intensity and 2 to 3 times of gradient force by the permanent magnet according to the size of the working space relative to electromagnetic driving, and have wider application range, simple structure, lower cost, no translational part, high precision and good stability; meanwhile, the upper computer control is combined, the optimal control input required by the expected field intensity and force can be quickly found, and the camera can be used for monitoring the motion of the micro-magnetic device in real time.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to a system and a method for driving a micro-magnetic device by a multi-rotation permanent magnet.
Background
Wireless control of micro-magnetic devices (hereinafter referred to as micro-magnetic devices) such as micro-robots holds great promise because they are able to enter enclosed spaces such as the human body, in which case they cannot be controlled by means having physical contact, and magnetomotive control using externally generated magnetic fields has proven to be the preferred control method for controlling such devices. This type of magnetomotive control is suitable for wireless operation in confined spaces, and therefore there are many medical applications including ophthalmic surgery, catheter steering, capsule endoscopy, and many micro-manipulation applications including single cells and microparticles.
Many applications involving magnetomotive control require a high level of control over the position and heading of the micromagnetic device, which for a single dipole can be directionally controlled with five degrees of freedom, including three translational degrees of freedom and two rotational degrees of freedom. Full six-degree-of-freedom control is possible, but the requirement for more complex magnetization profiles in the controlled micromagnetic device limits its usefulness in practical applications. There are also some ways to control the magnetic field and force generated by the electromagnetic coil, which is advantageous because the field strength can be rapidly controlled by changing the current in the coil and the field can be completely switched off, but since the electromagnetic drive system causes the temperature in the coil to rise due to the current generating the required field strength, which leads to a temperature rise in the working space, the electromagnetic drive system is not suitable for temperature-sensitive applications, such as biomedical applications involving cells, etc.
Disclosure of Invention
The invention provides a system and a method for driving a micro-magnetic device by a multi-rotation permanent magnet, aiming at the problems and the technical requirements.
The technical scheme of the invention is as follows:
a system for driving a micromagnetic device with multiple rotating permanent magnets, the system comprising: the micro-magnetic device to be driven, N permanent magnets, a driving circuit, an upper computer and a camera, wherein N is a positive integer and is not less than 6; the micromagnetic device is positioned in a spherical working space, the N permanent magnets are positioned outside the working space, the N permanent magnets are uniformly distributed on a virtual spherical surface, and the spherical center of the virtual spherical surface is superposed with the spherical center of the working space; the driving circuit comprises a driving board, an AC-DC converter, N stepping motors, N encoders and a data acquisition card, wherein the input end of the AC-DC converter is connected with a power supply line, the output end of the AC-DC converter is connected with the driving board, the output end of the driving board is connected with the N stepping motors and supplies power, the output shaft of each stepping motor is respectively connected with one permanent magnet and drives the permanent magnet to rotate around a rotating shaft, each stepping motor is also respectively connected with one encoder, the N encoders are all connected with the data acquisition card, the output end of the data acquisition card is connected with the upper computer, and the upper computer is connected with the control end of the driving board; the camera orientation little magnetic device sets up, just the camera is connected the host computer.
The further technical scheme is that the permanent magnet is a neodymium magnet.
A method of driving a micro-magnetic device with multiple rotating permanent magnets, the method comprising:
determining a functional relation between the actual magnetic field intensity of the N permanent magnets acting on the micro-magnetic device and the rotation angle of each permanent magnet, and a functional relation between the actual driving force of the N permanent magnets acting on the micro-magnetic device and the rotation angle of each permanent magnet;
determining a desired magnetic field strength and a desired driving force which are expected to act on the micro-magnetic device, and defining a tracking error according to an error between the actual magnetic field strength and the desired magnetic field strength and an error between the actual driving force and the desired driving force;
performing iterative feedback control on the tracking error until an iteration termination condition is met, and determining a corresponding rotation angle group, wherein the rotation angle group comprises rotation angles of the permanent magnets;
and determining a control signal group corresponding to the rotation angle group according to a preset corresponding relation, and controlling the N stepping motors to drive the N permanent magnets to rotate according to the control signal group.
The further technical scheme is that the determining of the functional relationship between the actual magnetic field strength of the N permanent magnets acting on the micro-magnetic device and the rotation angles of the permanent magnets and the functional relationship between the actual driving force of the N permanent magnets acting on the micro-magnetic device and the rotation angles of the permanent magnets comprises the steps of:
wherein,
representing the actual magnetic field strength of the N permanent magnets acting on the micro-magnetic device,
represents the actual driving force, mu, of the N permanent magnets acting on the micro-magnetic device0Is free space magnetic permeability, I is a 3 x 3 unit matrix,
is the magnetic moment of the micro-magnetic device;
is the position vector of the micromagnetic device relative to the center of the ith permanent magnet,
is a position vector
The unit vector of (a) is,
is the ith permanent magnetThe magnetic moment of the magnetic tape,
is magnetic moment
A unit vector of, and have
θiDenotes the rotation angle, R, of the ith permanent magnetiIs a rotation matrix corresponding to the ith permanent magnet, and the rotation matrix RiCorresponding to the angle of the rotating shaft of the ith permanent magnet, i is a parameter, and i is more than or equal to 1 and less than or equal to N.
A further technical solution is that the defining a tracking error according to an error between the actual magnetic field strength and the expected magnetic field strength and an error between the actual driving force and the expected driving force includes defining:
wherein,
indicating a rotation angle group
Corresponding tracking error, rotation angle set
Comprises the rotation angles of the permanent magnets, K is a coefficient, K is more than 0 and less than 1,
is the actual magnetic field strength of the magnetic field,
is the desired magnetic field strength and,
it is the actual driving force that is,
is the desired driving force.
The further technical scheme is that the determining the corresponding rotation angle group when performing iterative feedback control on the tracking error until an iteration termination condition is met comprises:
selecting an initial rotation angle group, and iterating from the initial rotation angle group by using a gradient descent method until an error between the actual magnetic field strength and the expected magnetic field strength is within a first error range, and an error between the actual driving force and the expected driving force is within a second error range, and determining the corresponding rotation angle group, wherein a calculation formula of a gradient of the tracking error is as follows:
wherein,
and
is a jacobian matrix.
The beneficial technical effects of the invention are as follows:
the application discloses a system and a method for driving a micro-magnetic device by multiple rotary permanent magnets, wherein the permanent magnets are used as field sources, a driving circuit drives the permanent magnets to rotate, so that the micro-magnetic device is controlled in any direction, no input power is generated, and no heat is generated nearby a working space, so that the system and the method can be applied to temperature-sensitive application, and the permanent magnets can generate 10 to 20 times of field intensity and 2 to 3 times of gradient force depending on the size of the working space relative to electromagnetic driving. The system has the advantages of wide application range, simple structure, low cost, no translational part, high precision and good stability. Meanwhile, the upper computer control is combined, the optimal control input required by the expected field intensity and force can be quickly found, and the camera can be used for monitoring the motion of the micro-magnetic device in real time.
Drawings
Fig. 1 is a block diagram of a system for driving a micro-magnetic device with multiple rotating permanent magnets as disclosed in the present application.
Fig. 2 is a spatial structure diagram of a system for driving a micro-magnetic device with multiple rotating permanent magnets as disclosed in the present application.
Fig. 3 is a flow chart of a method of driving a micro-magnetic device with multiple rotating permanent magnets as disclosed herein.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
The application discloses a system for driving a micro-magnetic device by a plurality of rotary permanent magnets, wherein a schematic structural diagram of the system is shown in figure 1, and the system comprises: the micro-magnetic device to be driven, the N permanent magnets, the driving circuit, the upper computer and the camera, wherein N is a positive integer and is not less than 6, and the micro-magnetic device is not shown in figure 1. The micromagnetic device is located spherical working space, and N permanent magnets are located the outside of working space, and N permanent magnets equipartition is on a virtual sphere, and the centre of sphere of virtual sphere and working space's centre of sphere coincidence, the permanent magnet in this application is neodymium magnet. The driving circuit comprises a driving board, an alternating current-direct current converter, N stepping motors, N encoders and a data acquisition card, and all devices in the driving circuit are commercially available devices. The input end of the AC-DC converter is connected with the power supply circuit, the output end of the AC-DC converter is connected with the drive board, the power supply circuit provides alternating current, the AC-DC converter converts the alternating current into direct current to supply to the drive board, and the output end of the drive board is connected with the N stepping motors and supplies power to drive the stepping motors to work. The output shaft of each stepping motor is connected with a permanent magnet respectively and drives the permanent magnet to rotate around the rotating shaft, so that the required magnetic field intensity and driving force are provided for the micro-magnetic device in the working space, and the movement of the micro-magnetic device is further controlled. Each stepping motor is also connected with an encoder respectively, and the encoders can measure the rotating speed and the position of the stepping motor. The N encoders are all connected with a data acquisition card, and the output end of the data acquisition card is connected with an upper computer for processing. The upper computer is connected with the control end of the drive plate, and outputs a control signal of the stepping motor after processing the data acquired by the data acquisition card, so that the rotation of the permanent magnet is controlled to generate expected magnetic field intensity and driving force, and the course and the speed of the micro-magnetic device are controlled. The camera is arranged towards the micro-magnetic device, is connected with the upper computer and can acquire the motion track of the micro-magnetic device and is usually arranged above and on the side surface of the micro-magnetic device.
The application is illustrated with an example where N-8, each permanent magnet is a 2.54cm cube, corresponding to 8 stepper motors and encoders, and actually includes a micromanipulator for placing the micromagnetic device in the workspace. The structural members in the example are all assembled by using high-density fiber boards cut by laser, a bottom plate is fixed on a vertically placed frame, and a stepping motor and an encoder are installed behind a permanent magnet and are fixed well. The working space is a sphere with a diameter of about 5cm, a three-dimensional coordinate axis is defined by using the sphere center of the working space as an origin, please refer to fig. 2, the dashed circle represents the working space, and the black area inside the working space represents the micro-magnetic device. A virtual spherical surface is defined by taking an origin as a sphere center, the radius of the virtual spherical surface is about 7.5cm, permanent magnets are uniformly distributed on the virtual spherical surface, and the specific positions of the permanent magnets (namely the volume center positions of the permanent magnets) and the poses of the permanent magnets are configured in a self-defining mode according to the actual situation. The pose of the permanent magnet mainly comprises an azimuth angle alpha and an elevation angle phi of the permanent magnet and the angle of a rotating shaft of the permanent magnet, and the angle of the rotating shaft of the permanent magnet mainly comprises an angle beta around a z-axis and an angle xi around a y-axis. The parameters of the pose of the 8 permanent magnets in this example are as follows:
fig. 2 exemplarily shows the positions and the poses of four permanent magnets when i is 1, 2, 4 and 5.
Based on the above system, the present application also discloses a method for driving a micro-magnetic device by a multi-rotation permanent magnet, which includes the following steps, and please refer to fig. 3 for a flowchart:
step S01, the upper computer is pre-loaded with system software for data processing, and stores initial parameters related to the system in the database server, where the initial parameters may include various required parameters such as power, rotation speed, and torque of the stepping motor.
And step S02, turning on a power switch of the system, and setting the initial poses of the permanent magnets in the upper computer before starting so as to position the micro-magnetic device in the working space. And clicking a reset button in the upper computer to finish the initialization work of the system.
And step S03, after the system initialization is finished, the micromagnetic device is placed in the working space by the micromanipulator, the positioning of the micromagnetic device is observed through the cameras on the upper side and the side surface, and the micromagnetic device is observed to be basically stable.
And step S04, setting the expected motion track of the micro-magnetic device in the upper computer, wherein the motion track of the micro-magnetic device is determined by the magnetic field intensity and the driving force acting on the micro-magnetic device, so that the expected magnetic field intensity and the expected driving force acting on the micro-magnetic device can be determined after the expected motion track is set, and then clicking a 'start' button.
Step S05, after the system starts to work, the upper computer executes the following method to make the motion trajectory of the micro-magnetic device track the expected motion trajectory, including the following steps:
1) determining the function relation between the actual magnetic field intensity of the N permanent magnets acting on the micro-magnetic device and the rotating angle of each permanent magnet as follows:
wherein,
the actual magnetic field strength of the N permanent magnets acting on the micro-magnetic device is shown. Mu.s0Is fromFrom spatial permeability, mu0＝4π×10-7Tm·A-1. I is a 3 x 3 identity matrix,
is the position vector of the micromagnetic device relative to the center of the ith permanent magnet,
is a position vector
The unit vector of (a) is,
is the magnetic moment of the i-th permanent magnet,
is magnetic moment
The unit vector of (2).
And simultaneously determining the function relationship between the actual driving force of the N permanent magnets acting on the micro-magnetic device and the rotation angle of each permanent magnet as follows:
wherein,
is the magnetic moment of the driven micromagnetic device, and the rest of the parameters have the same meanings as above.
In the formula of the actual magnetic field intensity and the actual driving force, the magnetic moment of the i-th permanent magnet
Unit vector of
The calculation formula of (2) is as follows:
θiis the input variable to this formula, which represents the rotation angle of the ith permanent magnet. RiIs a rotation matrix corresponding to the ith permanent magnet, a rotation matrix RiCorresponding to the angle of the rotation axis of the ith permanent magnet (i.e., the angle β about the z-axis and the angle ξ about the y-axis), i is a parameter and i is 1. ltoreq. N.
2. A desired magnetic field strength and a desired driving force desired to act on the micro-magnetic device are determined, and a tracking error is defined based on an error between the actual magnetic field strength and the desired magnetic field strength and an error between the actual driving force and the desired driving force. Comprising the following definitions:
wherein,
indicating a rotation angle group
Corresponding tracking error. Rotation angle set
Including the angle of rotation of each permanent magnet. K is a factor and 0 < K < 1, K being used to trade off the difference in units of magnetic field strength and drive force.
Is the actual magnetic field strength calculated from the set of rotation angles,
is the desired magnetic field strength.
Is the actual driving force calculated from the rotational angle group,
is the desired driving force.
3. The control of the system is nonlinear optimization, the input of the system is the rotation angle of each permanent magnet, the output is the generated magnetic field intensity driving force, and the input and the output are in a nonlinear relation, so that a feedback control method is adopted to solve the problem, namely, iterative feedback control is carried out on the tracking error until an iteration termination condition is met, and a corresponding rotation angle group is determined, wherein the rotation angle group comprises the rotation angle of each permanent magnet. The iteration termination condition is usually that the tracking error reaches a minimum value, so the iteration process can be expressed as follows:
since the optimal solution of the above method cannot be found quickly and affects the operation of the system, we can consider finding the local optimal solution. Firstly, selecting an initial rotation angle group as input, and iteratively searching a local minimum value by using a gradient descent method from the initial rotation angle group, wherein the calculation formula of the gradient of the tracking error is as follows:
wherein,
and
are jacobian matrices that relate small changes in stepper motor angle to small changes in generated magnetic field strength and drive force, respectively. To find a better solution, gradient descent iterations may be repeated from multiple initial rotation angle sets, with more local minima found, it is easier to find a set that accurately yields the resultThe rotational angle set of the magnetic field strength and the driving force is required as input. However, as used in feedback control, the control input is required to ensure that control of the system is not lost, there is often not enough time to find the optimum input, and therefore the actual magnetic field strength
With the desired magnetic field strength
The error between the driving force and the driving force is compared with a preset first error range to obtain the actual driving force
With desired driving force
The error between the two is compared with a preset second error range when the actual magnetic field intensity is within the range
With the desired magnetic field strength
The error between the two is within a preset first error range and the actual driving force
With desired driving force
When the error between the two is within the preset second error range, the iterative search is stopped, and the corresponding rotation angle group is used as input.
4. And determining a control signal group corresponding to the rotation angle group according to a preset corresponding relation, wherein the corresponding relation is configured according to relevant parameters of the stepping motor in advance. After the control signal group is determined, the N stepping motors are controlled according to the control signal group to drive the N permanent magnets to rotate, so that the effect similar to the expected magnetic field intensity and the expected driving force can be generated. Meanwhile, the real-time motion of the micro-magnetic device can be observed in the upper computer through the camera.
Step S06, after the movement is finished, the accuracy of the system and the speed of the magnetic device can be obtained by analyzing the deviation between the expected movement track and the actual movement track of the micro-magnetic device, and the calculation of the speed is the total path/total time, which is not described in detail in this application.
The above is only a preferred embodiment of the present application, and the present invention is not limited to the above embodiments. It is to be understood that other modifications and variations directly derivable or suggested by those skilled in the art without departing from the spirit and concept of the present invention are to be considered as included within the scope of the present invention.
Claims (3)
1. A method for driving a micro-magnetic device by a plurality of rotating permanent magnets, which is used in a system for driving the micro-magnetic device by the plurality of rotating permanent magnets, and is characterized in that the system comprises: the micro-magnetic device to be driven, N permanent magnets, a driving circuit, an upper computer and a camera, wherein N is a positive integer and is not less than 6; the micromagnetic device is positioned in a spherical working space, the N permanent magnets are positioned outside the working space, the N permanent magnets are uniformly distributed on a virtual spherical surface, and the spherical center of the virtual spherical surface is superposed with the spherical center of the working space; the driving circuit comprises a driving board, an AC-DC converter, N stepping motors, N encoders and a data acquisition card, wherein the input end of the AC-DC converter is connected with a power supply line, the output end of the AC-DC converter is connected with the driving board, the output end of the driving board is connected with the N stepping motors and supplies power, the output shaft of each stepping motor is respectively connected with one permanent magnet and drives the permanent magnet to rotate around a rotating shaft, each stepping motor is also respectively connected with one encoder, the N encoders are all connected with the data acquisition card, the output end of the data acquisition card is connected with the upper computer, and the upper computer is connected with the control end of the driving board; the camera is arranged towards the micro magnetic device and is connected with the upper computer;
the method comprises the following steps:
determining a functional relation between the actual magnetic field intensity of the N permanent magnets acting on the micro-magnetic device and the rotation angle of each permanent magnet, and a functional relation between the actual driving force of the N permanent magnets acting on the micro-magnetic device and the rotation angle of each permanent magnet;
determining a desired magnetic field strength and a desired driving force which are expected to act on the micro-magnetic device, and defining a tracking error according to an error between the actual magnetic field strength and the desired magnetic field strength and an error between the actual driving force and the desired driving force;
performing iterative feedback control on the tracking error until an iteration termination condition is met, and determining a corresponding rotation angle group, wherein the rotation angle group comprises rotation angles of the permanent magnets;
determining a control signal group corresponding to the rotation angle group according to a preset corresponding relation, and controlling the N stepping motors to drive the N permanent magnets to rotate according to the control signal group;
wherein, confirm the functional relationship between the actual magnetic field intensity that N permanent magnet acted on the micromagnetic device and each the rotation angle of permanent magnet, and, the functional relationship between the actual drive force that N permanent magnet acted on the micromagnetic device and each the rotation angle of permanent magnet, including confirming:
wherein,
representing the actual magnetic field strength of the N permanent magnets acting on the micro-magnetic device,
represents the actual driving force, mu, of the N permanent magnets acting on the micro-magnetic device0Is free space magnetic permeability, I is a 3 x 3 unit matrix,
is the magnetic moment of the micro-magnetic device;
is the position vector of the micromagnetic device relative to the center of the ith permanent magnet,
is a position vector
The unit vector of (a) is,
is the magnetic moment of the i-th permanent magnet,
is magnetic moment
A unit vector of, and have
θiDenotes the rotation angle, R, of the ith permanent magnetiIs a rotation matrix corresponding to the ith permanent magnet, and the rotation matrix RiCorresponding to the angle of the rotating shaft of the ith permanent magnet, i is a parameter, and i is more than or equal to 1 and less than or equal to N.
2. The method of claim 1, wherein defining a tracking error as a function of an error between the actual magnetic field strength and the desired magnetic field strength and an error between the actual driving force and the desired driving force comprises defining:
wherein,
indicating a rotation angle group
Corresponding tracking error, rotation angle set
Comprises the rotation angles of the permanent magnets, K is a coefficient, K is more than 0 and less than 1,
is the actual magnetic field strength of the magnetic field,
is the desired magnetic field strength and,
it is the actual driving force that is,
is the desired driving force.
3. The method according to claim 2, wherein the iterative feedback control of the tracking error until the corresponding rotation angle group is determined when the iteration termination condition is satisfied comprises:
selecting an initial rotation angle group, and iterating from the initial rotation angle group by using a gradient descent method until an error between the actual magnetic field strength and the expected magnetic field strength is within a first error range, and an error between the actual driving force and the expected driving force is within a second error range, and determining the corresponding rotation angle group, wherein a calculation formula of a gradient of the tracking error is as follows:
wherein,
and
is a jacobian matrix.
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| CN1654027A (en) * | 2003-09-05 | 2005-08-17 | 西门子公司 | System for contactless moving or holding magnetic body in working space using magnet coil |
| CN102440779A (en) * | 2007-09-25 | 2012-05-09 | 奥林巴斯医疗株式会社 | Position sensor |
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| CN204181577U (en) * | 2014-10-23 | 2015-03-04 | 宜宾学院 | A kind of capsule endoscope drive system |
| JP6022134B1 (en) * | 2015-02-18 | 2016-11-09 | オリンパス株式会社 | Position detection system and capsule medical device guidance system |
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| CN1654027A (en) * | 2003-09-05 | 2005-08-17 | 西门子公司 | System for contactless moving or holding magnetic body in working space using magnet coil |
| CN102440779A (en) * | 2007-09-25 | 2012-05-09 | 奥林巴斯医疗株式会社 | Position sensor |
| CN206659782U (en) * | 2016-12-23 | 2017-11-24 | 深圳市资福技术有限公司 | A kind of capsule endoscope magnetic control system and inspection system |
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