CAJ | 학술논문

设计了一套基于磁场和射频信号的测控系统,用于实现仿趋磁细菌微型机器人的无缆操控及其运行参数的检测.测控系统包括微型机器人的位姿检测子系统和微型机器人控制子系统.检测了系统中,磁传感器阵列实时检测磁场信号,经过数据处理后获得微型机器人的状态信息,并与视频跟踪结果进行对照;控制子系统中,通过射频发射的PWM信号控制微型机器人的运动速度,同时通过导向磁场控制微型机器人的运动姿态.利用本系统,实验研究了微型机器人的90°转向运动,结果表明该系统能够有效控制微型机器人的运动.
설계료일투기우자장화사빈신호적측공계통,용우실현방추자세균미형궤기인적무람조공급기운행삼수적검측.측공계통포괄미형궤기인적위자검측자계통화미형궤기인공제자계통.검측료계통중,자전감기진렬실시검측자장신호,경과수거처리후획득미형궤기인적상태신식,병여시빈근종결과진행대조;공제자계통중,통과사빈발사적PWM신호공제미형궤기인적운동속도,동시통과도향자장공제미형궤기인적운동자태.이용본계통,실험연구료미형궤기인적90°전향운동,결과표명해계통능구유효공제미형궤기인적운동.
A measurement and control system based on magnetic field and radio signal is designed, which controls the magnetotactic bacterium-like micro-robot and measures its experimental parameters with wireless method. The measurement and control system consists of micro-robot posture measurement subsystem and micro-robot control subsystem. In the mea-surement subsystem, state of the micro-robot is obtained by processing the signal detected with magnetic sensors array in real time, and is compared with video tracking result, in the control subsystem, the speed of micro-robot is controlled by PWM (pulse-width modulation) signals of radio transmitter, and the orientation of the micro-robot is controlled by guide magnetic field. 90° turning movement control is studied experimentally in the system. And results verify that the system can effectively control the bionic micro-robot.