磁弹性微型游泳机器人在外部干扰和复杂路径下的精确跟踪控制

doi:10.3901/JME.2022.07.093

机械工程学报 ›› 2022, Vol. 58 ›› Issue (7): 93-102.doi: 10.3901/JME.2022.07.093

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磁弹性微型游泳机器人在外部干扰和复杂路径下的精确跟踪控制

向红标^1,2, 程旭^1,2, 李梦伟^1,2, 王收军^1,2, 张冕^1,2, 黄显³, 霍文星³

1. 天津理工大学天津市先进机电系统设计与智能控制重点实验室天津 300384;2. 天津理工大学机电工程国家级实验教学示范中心天津 300384;3. 天津大学精密仪器与光电子工程学院天津 300372

收稿日期:2021-08-02 修回日期:2021-11-04 出版日期:2022-05-20 发布日期:2022-05-20
通讯作者: 张冕(通信作者),男,1990年出生,讲师。主要研究方向为故障诊断、智能控制算法。E-mail:zoommian@foxmail.com
作者简介:向红标,男,1982年出生,副教授。主要研究方向为微型机器人,伺服控制技术。E-mail:xhb@tju.edu.cn;黄显,男,1982年出生,教授。主要研究方向为柔性电子、微型机器人。E-mail:huangxian@tju.edu.cn;程旭,男,1996年出生,硕士研究生。主要研究方向为微型机器人。E-mail:cxtjut@163.com
基金资助:
天津市自然科学基金(20JCYBJC00790)、国家自然科学基金(52005370)和天津市研究生科研创新(2019YJSS055)资助项目。

Accurate Tracking Control of Magnetoelastic Elastic Miniature Swimmer under External Disturbance and Complex Path

XIANG Hongbiao^1,2, CHENG Xu^1,2, LI Mengwei^1,2, WANG Shoujun^1,2, ZHANG Mian^1,2, HUANG Xian³, HUO Wenxing³

1. Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin 300384;2. National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384;3. School of Precision Instruments & Opto-Electronics Engineering, Tianjin University, Tianjin 300372

Received:2021-08-02 Revised:2021-11-04 Online:2022-05-20 Published:2022-05-20

摘要/Abstract

摘要： 基于磁弹性复合材料设计一种毫米级微型游泳机器人，利用三维亥姆霍兹线圈实现空间均匀磁场对机器人的无缆驱动，通过时变旋转磁场来改变机器人的运动姿态，从而实现机器人的游泳动作。介绍微型游泳机器人结构及制作流程，并利用Abaqus建立仿真模型，通过有限元仿真和试验对机器人的游泳特性进行对比分析，研究磁场频率、强度对游泳速度的影响。在此基础上，采用改进型视距导航控制方法提高游泳机器人的抗干扰能力，同时提出一种速度模糊自适应算法和头尾转换控制实现了对复杂规划路径的精确跟踪，试验结果表明，该算法能克服常规匀速视距导航控制易发生跟踪点丢失、无法再次回归跟踪路径等缺点，并能很好地减小路径跟踪误差，为磁控微型游泳机器人的精确控制提供了新思路。

关键词: 微型游泳机器人, 磁场控制, 磁弹性复合材料, 模糊自适应控制, 路径跟踪

Abstract: A millimeter-scale miniature swimming robot is designed based on magnetoelastic composite material. In order to realize the cable-less driven for the swimmer, spatial uniform magnetic fields are set up through 3D Helmholtz coils. The motion posture of the swimmer is changed by time-varying rotating magnetic field, so as to realize the swimming action of the robot. The structure and production process of the swimmer is introduced, and the simulation model is established based on Abaqus. Comparing finite element simulation and experimental results, the swimming characteristics of the robot are analyzed, and the influence of the frequency and strength of magnetic field on the swimming velocity is discussed. Furthermore, a modified line-of-sight navigation control method is adopted to improve the anti-disturbance ability of the swimmer, and a velocity fuzzy adaptive algorithm and head-to-tail switch control are proposed to realize the high accurate tracking of the complex path. The experimental results show that the proposed algorithm can overcome the disadvantages of the conventional line-of-sight navigation control with uniform velocity, such as missing of waypoints and the inability to relocate the path under certain situations, etc., and can reduce the error of path following. This work may provide a new idea for the precise control of the magnetic miniature swimmer.

Key words: miniaturized swimmer, magnetic control, magnetoelastic composite material, fuzzy adaptive control, path following

中图分类号:

TP242

向红标, 程旭, 李梦伟, 王收军, 张冕, 黄显, 霍文星. 磁弹性微型游泳机器人在外部干扰和复杂路径下的精确跟踪控制[J]. 机械工程学报, 2022, 58(7): 93-102.

XIANG Hongbiao, CHENG Xu, LI Mengwei, WANG Shoujun, ZHANG Mian, HUANG Xian, HUO Wenxing. Accurate Tracking Control of Magnetoelastic Elastic Miniature Swimmer under External Disturbance and Complex Path[J]. Journal of Mechanical Engineering, 2022, 58(7): 93-102.

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磁弹性微型游泳机器人在外部干扰和复杂路径下的精确跟踪控制

Accurate Tracking Control of Magnetoelastic Elastic Miniature Swimmer under External Disturbance and Complex Path

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