医用微型胶囊机器人双变量磁力矩控制研究

Research on Double Variant Magnetic Torque Control of Medical Microcapsule robot

为方便控制医用微型胶囊机器人的运动姿态,实现控制变量的降维与解耦,提出一种胶囊机器人的双变量磁力矩解耦控制方法。根据磁耦合力矩基本公式,推导了双变量转弯磁力矩,并通过解耦坐标变换减少了控制变量。对空间磁力矩的仿真分析结果表明:俯仰角和侧摆角都与微型胶囊机器人的运动方向有关,俯仰角和侧摆角越接近0°,微型胶囊机器人的运动状态越稳定。当俯仰角和侧摆角等于0°时,微型胶囊机器人将沿自身轴线旋转并进行直线运动,当俯仰角和侧摆角同时等于0°时,平均总磁力矩达到最小值。双变量磁力矩控制显著提升了磁场控制的便捷性和灵活性,为Helmholtz线圈旋转磁场的人机交互控制奠定了基础。

In order to easily control the motion posture of medical microcapsule robot and realize the dimension reduction and decoupling of control variables,a dual-variable magnetic torque decoupling control method for the capsule robot is proposed.According to the basic formula of magnetic coupling torque,the double variable turning magnetic torque is derived,and the control variable is reduced by decoupling coordinate transformation.The simulation results of spatial magnetic moment show that the pitch angle and side swing angle are related to the motion direction of the capsule robot.The closer the pitch angle and side swing angle are to 0°,the more stable the motion state of the capsule robot is.When the pitch angle and the side swing angle are equal to 0°,the capsule robot will rotate along its axis and move in a straight line.When the pitch angle and the side swing angle are equal to 0°,the average total magnetic moment reaches the minimum.The double variant magnetic torque control significantly improves the convenience and flexibility of magnetic field control,which lays a foundation for human-computer interactive control of rotating magnetic field of Helmholtz coil.