Optimal Control of a Universal Rotating Magnetic Vector for Petal-shaped Capsule Robot in Curve Environment

作     者：ZHANG Yongshun BAI Jianwei CHI Minglu CHENG Cunxin WANG Dianlong 

作者机构：Key Laboratory for Precision and Non-Traditional Machining of Ministry of EducationDalian University of Technology 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2014年第27卷第5期

页      面：880-889页

核心收录：

学科分类：08[工学] 080202[工学-机械电子工程] 0817[工学-化学工程与技术] 0807[工学-动力工程及工程热物理] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0801[工学-力学（可授工学、理学学位）] 

基　　金：Supported by National Natural Science Foundation of China(Grant Nos.60875064 61175102 51277018) 

主　　题：petal-shaped capsule robot universal magnetic spin vector fuzzy comprehensive evaluation method main target method 

摘      要：Steering control of a capsule robot in curve environment by magnetic navigation is not yet solved completely.A petal-shaped capsule robot with less steering resistance based on multiple wedge effects is presented,and an optimization method with two processes for determining the orientation of a pre-applied universal magnetic spin vector is proposed.To realize quick and non-contact steering swimming,a fuzzy comprehensive evaluation method for optimizing the steering driving angle is presented based on two evaluation indexes including the average steering speed and the average steering trajectory deviation,achieving the initial optimal orientation of a universal magnetic spin vector.To further reduce robotic magnetic vibration,a main target method for optimizing its final orientation,which is used for fine adjustment,is employed under the constrains of the magnetic moments.Swimming experimental results in curve pipe verified the effectiveness of the optimization method,which can be effectively used to realize non-contact steering swimming of the petal-shaped robot and reduce its vibration.