机电工程技术2016，Vol.45Issue(9)：17-20,4.DOI:10.3969/j.issn.1009-9492.2016.09.004
胶囊机器人万向旋转磁场负反馈驱动控制
Negative Feedback Driving Control of Universal Rotating Magnetic Field for Capsule Robot
摘要
Abstract
Triaxial Helmholtz coils can superimpose spatial universal rotating magnetic field, which is potential to drive the robot in curved environment. When the frequency of driving current increases, the inductance of coils increases, the magnetic field becomes smaller and accuracy of its orientation becomes lower, so we build the negative feedback controlling system based on the DSP chip, which enhances accuracy and stability of rotating magnetic field. According to equivalent circuit of the driving system, we obtain differential equation,transfer function and roots of characteristic equation,which demonstrates that the system is stable. The ratios of the inductance to the resistance of three coils are equal, thus the lag angles and time constants of three coils are equal to each other respectively,which makes sure that the failure rate of system is reduced,and the efficiency and safety are improved.关键词
胶囊机器人/空间万向旋转磁场/三轴亥姆霍兹线圈/负反馈控制Key words
capsule robot/spatial universal rotating magnetic field/triaxial Helmholtz coils/negative feedback control分类
信息技术与安全科学引用本文复制引用
李银海,张永顺..胶囊机器人万向旋转磁场负反馈驱动控制[J].机电工程技术,2016,45(9):17-20,4.基金项目
国家自然科学基金项目 （）
