本文關(guān)鍵詞：應(yīng)用電磁線圈系統(tǒng)研究微米級(jí)顆粒的機(jī)器人輔助自動(dòng)化操控　出處：《中國(guó)科學(xué)技術(shù)大學(xué)》2017年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 微米級(jí)顆粒操控 電磁驅(qū)動(dòng) 魯棒控制 精準(zhǔn)靶向運(yùn)送

【摘要】：電磁驅(qū)動(dòng)微米級(jí)顆粒技術(shù)由于其低創(chuàng)傷性以及在復(fù)雜微環(huán)境下的可達(dá)性,展現(xiàn)出在生物醫(yī)藥應(yīng)用中的巨大潛力。在過去的幾十年里,人們關(guān)于電磁操控微米級(jí)顆粒進(jìn)行了大量的研究。然而現(xiàn)有的操控方案大多是于理想條件下設(shè)計(jì),而并未考慮操控系統(tǒng)的不確定性或僅僅針對(duì)某一特定的不確定因素。事實(shí)上,這些被控的微米級(jí)顆粒是處于帶有各種各樣不確定因素的復(fù)雜環(huán)境中的。本文中,建立了一個(gè)普適的魯棒控制方案,以精確的操控由集成機(jī)器人電磁線圈系統(tǒng)驅(qū)動(dòng)的微米級(jí)顆粒,同時(shí)保證了整個(gè)操控系統(tǒng)的穩(wěn)定性。本文從以下三個(gè)方面進(jìn)行展開。首先,利用電磁線圈驅(qū)動(dòng)系統(tǒng),建立了一種自動(dòng)操控微米級(jí)顆粒進(jìn)行軌跡跟蹤的方案。所用的微米級(jí)顆粒為Fe304納米顆粒外包裹親水瓊脂糖多聚物構(gòu)成的微米磁球,這種小球可表現(xiàn)出超順磁性以及生物可相容性。電磁線圈系統(tǒng)被當(dāng)成是微操控器,用來在液體環(huán)境中操控微米磁球。這種操控方法可作為體內(nèi)環(huán)境中的精確靶向運(yùn)送的技術(shù)基礎(chǔ)。用微米磁球進(jìn)行預(yù)設(shè)的二維及三維軌跡跟蹤實(shí)驗(yàn)來證明本文方案的有效性。其次,設(shè)計(jì)了一種普適的魯棒控制法,使得操控系統(tǒng)能夠應(yīng)對(duì)多樣化的系統(tǒng)不確定因素。本文把"輸入-狀態(tài)穩(wěn)定性"理論與反步控制器設(shè)計(jì)法相結(jié)合,從而使被控系統(tǒng)達(dá)到輸入-狀態(tài)穩(wěn)定。這個(gè)方法已成功的應(yīng)用在控制磁性微米級(jí)顆粒的軌跡跟蹤里,并保證了在不確定外界干擾下,整個(gè)被控系統(tǒng)的穩(wěn)定性。進(jìn)一步地,為解決線圈漏磁導(dǎo)致驅(qū)動(dòng)磁力不足這一問題,本文還建立了一種基于輸入-狀態(tài)穩(wěn)定理論的容錯(cuò)控制法。本文的研究第一次將輸入-狀態(tài)穩(wěn)定理論與電磁操控微米級(jí)顆粒技術(shù)相結(jié)合,設(shè)計(jì)了一種魯棒的閉環(huán)控制器,以處理操控系統(tǒng)中的多種不確定因素。最后,基于受控的機(jī)器人電磁線圈系統(tǒng),本文還設(shè)計(jì)了一種非線性高增益觀測(cè)器,用以估計(jì)被控微粒的速度。在這個(gè)非線性觀測(cè)器中,用較高的增益來抑制估計(jì)誤差,而用較低的增益來降低狀態(tài)的穩(wěn)態(tài)誤差。這種集成了輸入-狀態(tài)穩(wěn)定性理論以及帶觀測(cè)器的控制方法,可以在系統(tǒng)不確定因素及測(cè)量誤差的同時(shí)存在的情況下,不依賴速度的直接測(cè)量而達(dá)到控制目標(biāo)。數(shù)值仿真以及實(shí)驗(yàn)都驗(yàn)證了這種控制方案的可行性。概括來說,基于機(jī)器人輔助的電磁線圈操控系統(tǒng)能夠提供強(qiáng)有力的平臺(tái),以實(shí)現(xiàn)微米級(jí)磁性顆粒的精準(zhǔn)驅(qū)動(dòng)。本文所提出的普適魯棒控制方案,解決了操控中存在系統(tǒng)不確定因素這一可能嚴(yán)重影響控制結(jié)果的挑戰(zhàn)性問題。而帶有速度估計(jì)的控制方案避免了從視覺反饋中難以獲取被控顆粒速度這一問題。該研究在生物醫(yī)藥領(lǐng)域中靶向運(yùn)送這一應(yīng)用里,奠定了大批量微粒精確運(yùn)動(dòng)控制的技術(shù)基礎(chǔ)。
[Abstract]:Because of its low traumatic and accessibility in the complex micro environment of micron particles in electromagnetic drive, show great potential in biomedical applications. In the past few decades, people on the electromagnetic manipulation of micron particles was studied. However the existing control schemes are mostly in ideal condition design however, did not consider the uncertainty of the control system or only for a particular uncertainty. In fact, these charged micron particles is with all kinds of complicated uncertain environmental factors. In this paper, established a robust universal control scheme, the submicron particles in a precise control driven by integrated robot electromagnetic coil system, while ensuring the stability of the whole control system. This paper from the following three aspects. Firstly, the electromagnetic coil driving system is built An automatic control scheme for trajectory tracking of micron particles. The micron magnetic ball of micron particles with Fe304 nanoparticles coated with hydrophilic agarose polymer composition, the ball can show superparamagnetic and biocompatible. Electromagnetic coil system is regarded as micro controller to control the micro magnetic the ball in the liquid environment. This control method can be used as a precise target in vivo environment to the technology based transport. Experiment was carried out to prove the validity of the scheme and the 3D trajectory tracking preset with two-dimensional micro magnetic ball. Secondly, the design of a robust universal control method, the control system can meet the variety the uncertain factors. In this paper, the combination of input to state stability theory and backstepping controller design method, so as to make the controlled system to the input state stability. This method has been successfully should be Used in magnetic control of micron particles trajectory tracking, and to ensure that in the uncertain external disturbance, the whole system stability. Further, in order to solve the coil magnetic leakage magnetic drive leads to this kind of problem, this paper has established a fault tolerant input to state stability theory and control method based on the first study. The input to state stability theory and electromagnetic manipulation of micron particles technology combined with the design of the closed loop controller is a robust, multi control system to deal with the uncertain factors. Finally, the robot controlled system based on electromagnetic wire ring, this paper also designs a nonlinear high gain observer is used to estimate charged particle speed. The nonlinear observer, with relatively high gain to suppress the estimation error, and low gain to reduce the steady state error. The integration of the input to state stability The theory and method of control with observer, in the system uncertainties and measurement errors exist at the same time, direct measurement does not depend on the speed and achieve the control objectives. Numerical simulation and experiment verify the feasibility of this control scheme. In general, the electromagnetic coil control system of robot assisted can provide a strong platform in order to achieve precise driving based on micron grade magnetic particles. The proposed universal robust control scheme, to solve the control system uncertainties may seriously affect the control results of challenging problems for this. A control scheme of speed estimation to avoid the charged particle velocity is difficult to obtain this problem from the visual feedback to ship this application. The research target in the field of biomedicine, laid the foundation of mass particle precise motion control.

【學(xué)位授予單位】：中國(guó)科學(xué)技術(shù)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242;TP273

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本文編號(hào)：1362746