摘要
为了改善传统内窥镜单一的牵引控制方式,设计了一种新型的磁导引控制方式,系统由被控磁铁和控制系统组成。采用虚功原理的有限元计算对系统进行了分析,用ANSYS进行仿真计算并与实验结果进行对比。使用STM32主控芯片控制微型直线电机带动主控磁铁,采用模糊PID算法进行控制并分析其原理。系统样机在动物实验中取得很好的控制效果体现出较强的适应性,为内窥镜小型化提供了一种切实可靠的解决办法。
In order to improve the traction control mode of the traditional endoscope,we design a new type of magnetic guidance control system controlled by the magnet and control system.A method of finite element calculation integrated with virtual work principle is used to analysis and ANSYS is used to simulate the system with experimental results compared.STM32 is used as master chip to control miniature linear motor to drive the main magnet and fuzzy-PID control algorithm is analyzed.Prototype performed well during the animal experiment and provides an effective and reliable solution for endoscope miniaturization.
出处
《自动化与仪器仪表》
2016年第9期44-46,共3页
Automation & Instrumentation
关键词
内窥镜
磁导引
有限元
模糊PID控制
endoscope
magnetic guidance
finite element
fuzzy-PID control
