Untethered Microrobots Actuated With Focused Permanent Magnet Field

2014 ◽  
Author(s):  
Nahum A. Torres ◽  
Serena Ruggeri ◽  
Dan O. Popa
Keyword(s):  
Magnetic Field ◽  
Permanent Magnet ◽  
Motion Control ◽  
Maximum Speed ◽  
Electromagnetic Actuation ◽  
Precision Motion Control ◽  
Lower Maximum ◽  
Precision Motion ◽  
Permanent Magnet Field ◽  
Planar Motions

This paper investigates the actuation of untethered microrobots with a focused magnetic field generated by a permanent magnet wand. The microrobots are chrome-steel spheres or Neodynium cubes with a size of 250 μm, which perform desired planar motions directed by the movement of the wand. We propose and evaluate novel methods to enhance the focused magnetic field of the wand by sharpening its tip, increase microrobot velocities via novel mechanical amplifiers, and reduce environmental forces via inexpensive anti-friction coatings. We document results of automated operation and teleoperated control of the microrobot during competition at the Mobile Microrobotics Challenge (MMC) held in 2013. Experimental results from the mobility and microassembly challenge indicate an excellent degree of precision motion control over the robot, at a price of a slightly lower maximum speed when compared to conventional electromagnetic actuation.

Precision motion control with disturbance observer for pulsewidth-modulated-driven permanent-magnet linear motors

2003 ◽  
Vol 39 (3) ◽  
pp. 1813-1818 ◽  
Author(s):  
Kok Kiong Tan ◽  
Tong Heng Lee ◽  
Hui Fang Dou ◽  
Shok Jun Chin ◽  
Shao Zhao
Keyword(s):  
Permanent Magnet ◽  
Motion Control ◽  
Disturbance Observer ◽  
Precision Motion Control ◽  
Linear Motors ◽  
Precision Motion

A novel high-precision motion control for permanent magnet linear synchronous motor servo system

2020 ◽  
pp. 1-21
Author(s):  
Hao Yuan ◽  
Ximei Zhao ◽  
Dongxue Fu
Keyword(s):  
Permanent Magnet ◽  
Motion Control ◽  
High Precision ◽  
Servo System ◽  
Synchronous Motor ◽  
High Frequency Oscillation ◽  
Continuous Control ◽  
Precision Motion Control ◽  
Linear Synchronous Motor ◽  
Precision Motion

In this paper, a novel high-precision motion control is proposed for a permanent magnet linear synchronous motor (PMLSM) servo system, which is vulnerable to the influence of uncertainties. First, the dynamics of the PMLSM with uncertainties are derived. To cater for the parametric uncertainties, the model-based feedforward control is constructed so that the transient response of the system is improved. Moreover, the adaptive jerk control (AJC) scheme based on a robust integral of the sign of the error (RISE) feedback is adapted to restrain the uncertainties such as external disturbance and nonlinear friction in the system. To alleviate the chattering phenomenon, a novel exponential adaptive law is designed to bound the feedback gain of the jerk, under the condition of the initial term of control efforts considered. Then, the jerk signal is integrated to form the feedback control law, which generates continuous control input and ensures the stability of the system. Compared with sliding mode control (SMC), the experimental results indicate that both the robustness and tracking performance of the system are significantly improved without adding more control efforts. The position tracking error is reduced and high-frequency oscillation is effectively attenuated.

The Study of Control System for Reconfigurable Machine Tool Model

2011 ◽  
Vol 188 ◽  
pp. 499-502
Author(s):  
L. Zhou ◽  
Wen Jie Nie ◽  
Z.R. Liao ◽  
X.R. Liang ◽  
G.Q. Pan
Keyword(s):  
Control System ◽  
Machine Tool ◽  
Motion Control ◽  
Machine Tools ◽  
Single Chip ◽  
Single Chip Microcomputer ◽  
Precision Motion Control ◽  
Single Function ◽  
Precision Motion ◽  
Reconfigurable Machine Tool

With the higher requirements of product processing, single-function machine can not meet the production needs. By analyzing the principles of reconfigurable machine tools, based on 51 single-chip microcomputer, this article researches the control system of reconfigurable machine tool, implements precision motion control for motors. The research can also reduce costs, so the practicality and economy all have a certain advantage, which will help promote the use in practice.

Design of Plane Magnetic Field Image Drawing System Based on PLC Motion Control

2014 ◽  
Vol 525 ◽  
pp. 282-286
Author(s):  
Jia Xin You ◽  
Hui Min Liang ◽  
Kun Zhang ◽  
Guo Fu Zhai
Keyword(s):  
Magnetic Field ◽  
Permanent Magnet ◽  
Motion Control ◽  
Fem Simulation ◽  
Servo Control ◽  
Programmable Logic ◽  
Magnetic Powder ◽  
Fem Model ◽  
Drawing System ◽  
The Magnetic Field

The image of magnetic field is traditionally obtained by spreading magnetic powder manually or by sparse arrays of magnetic needles, obtaining the images of the magnetic field in different permanent magnet shapes and do repeated tests on the permanent magnet are in need. Based on programmable logic controller (PLC) motion control, the servo control and mechanical system have been built, the control strategy is discussed and the software is programmed. 2D FEM model of a test permanent magnet bar is built. Compared with the FEM simulation results, the system has achieved the goal that spreading magnetic powder quickly and evenly in the appointed area.

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