Three-dimensional electromagnetic permanent magnet hybrid drive system and control method

Abstract

This application discloses a three-dimensional electromagnetic permanent magnet hybrid drive system and control method. The system includes a spherical permanent magnet and three-axis electromagnetic coils. The Z-axis coil adopts a solenoid structure and is placed coaxially with the spherical permanent magnet with its upper end face flush. The X-axis and Y-axis coils adopt a racetrack-shaped structure and are located at the lower end face of the spherical permanent magnet. By adjusting the current amplitude and direction of the three-axis coils, a vector composite magnetic field of arbitrary direction is generated to drive the spherical permanent magnet to rotate in any direction in three-dimensional space. The control method adopts a two-stage strategy of coarse adjustment and fine adjustment. In the coarse adjustment stage, the hybrid magnetic source is driven by the three-axis displacement stage to approach the target area, and the Z-axis coil generates a preset magnetic field that is superimposed on the magnetic field of the permanent magnet. In the fine adjustment stage, the current of each axis coil is dynamically adjusted according to the real-time pose feedback to achieve real-time correction of the magnetic field direction and amplitude. This application can achieve omnidirectional rapid switching of magnetic field direction and precise adjustment of magnetic field amplitude, significantly reducing system energy consumption and size while ensuring control accuracy.

Description

Technical Field

[0001] This application belongs to the field of magnetic drive and magnetic control soft robot technology, and discloses a three-dimensional electromagnetic permanent magnet hybrid drive system and control method. Background Technology

[0002] The interaction between magnetic fields and magnetic materials can generate precisely controllable magnetic forces, enabling the manipulation of objects. This has significant applications in areas such as targeted drug delivery at the micro- and nano-scale and navigation of soft robots at the macro-scale. The strength, range, and control precision of the magnetic field directly determine the applicability of magnetic manipulation technology. Achieving high-intensity, wide-range, and high-precision magnetic field output while maintaining lightweight and compact design within limited size and power consumption constraints is a key challenge for the practical application of magnetic manipulation systems.

[0003] Currently, the main driving methods for magnetic manipulation systems rely on traditional permanent magnets or electromagnetic coil structures. While permanent magnets can provide high field strength and do not require continuous power, their magnetic field cannot be turned off or adjusted. In practical applications, permanent magnet sources are usually used in conjunction with robotic arms to achieve pose control of magnetic robots. The magnetic field strength is changed by adjusting the distance between the robotic arm and the magnetic source, or the direction of the magnetic field is changed by rotating the direction of the magnetic source. This method requires high precision from the robotic arm, but its application scenarios are relatively limited because it cannot achieve rapid switching of magnetic field direction. Electromagnetic coils can control the magnetic field by adjusting the current, but their energy density is low, and the magnetic field strength is proportional to the coil volume. Usually, it is necessary to increase the current or increase the number of winding turns to obtain a larger magnetic field, which inevitably leads to significant heat generation and energy consumption problems, and limits its ability to operate stably for a long time. Common coil systems include multi-axis orthogonal coils or non-orthogonal coils. The former can provide precise multi-directional magnetic fields, but its operating range is limited; the latter usually requires larger coils and cooling equipment to generate a wider range of magnetic fields and requires additional high-power power supplies.

[0004] Combining the high energy density of permanent magnets with the adjustability of electromagnetic coil systems, the electromagnetic-permanent magnet hybrid magnetic source system can significantly overcome the shortcomings of existing magnetic source technologies and reduce system energy consumption and size. For example, existing technology (patent application publication number CN113794348A) discloses an electromagnetic-permanent magnet hybrid magnetic robot drive device, which drives a single spherical permanent magnet through three sets of electromagnetic coils, thereby realizing motion control of a microscale magnetic robot. However, while this scheme can achieve rapid switching of the magnetic field, it cannot adjust the magnitude of the magnetic field, which has obvious limitations in application scenarios where the direction and amplitude of the magnetic field need to be controlled simultaneously. Summary of the Invention

[0005] The purpose of this application is to provide a three-dimensional electromagnetic permanent magnet hybrid drive system and control method, which aims to solve the technical problems that existing permanent magnet drive schemes cannot achieve rapid switching of magnetic field direction and have insufficient control accuracy.

[0006] To achieve the above objectives, this application adopts the following technical solution: This application provides a three-dimensional electromagnetic permanent magnet hybrid drive system, including a spherical permanent magnet and a three-axis electromagnetic coil. The three-axis electromagnetic coil includes a Z-axis coil, an X-axis coil, and a Y-axis coil. The Z-axis coil is axially coupled to the spherical permanent magnet. The X-axis coil and the Y-axis coil are located at the lower end face of the spherical permanent magnet. The three-axis electromagnetic coil generates a magnetic field by adjusting the current, driving the spherical permanent magnet to rotate in three-dimensional space. The Z-axis coil adopts a solenoid coil structure and is placed coaxially with the spherical permanent magnet. The upper end face of the spherical permanent magnet is flush with the upper end face of the Z-axis coil, ensuring precise axial coupling between the Z-axis coil magnetic field and the permanent magnet magnetic field, improving the accuracy of magnetic field amplitude adjustment. The X-axis coil and the Y-axis coil adopt a racetrack-shaped coil structure, which can generate a uniform magnetic field in space while reducing the weight of the device, achieving system lightweighting and high integration. By controlling the current amplitude and direction of the X-axis coil, Y-axis coil, and Z-axis coil to coordinate with each other, a vector composite magnetic field in any direction is generated, driving the spherical permanent magnet to rotate in any direction in three-dimensional space. This eliminates the need for a robotic arm to assist in magnetic field steering, improving the response speed of magnetic field direction switching and reducing the control difficulty and degree of freedom of the displacement mechanism. By adjusting the current amplitude of the Z-axis coil, the magnetic field amplitude of the mixed magnetic field can be precisely adjusted by utilizing the superposition effect of the Z-axis coil magnetic field and the permanent magnet magnetic field in the same direction.

[0007] Furthermore, the X-axis coil and the Y-axis coil are configured to generate a uniform magnetic field in space. This configuration ensures the uniformity of the transverse magnetic field, improving the accuracy and stability of magnetic field control.

[0008] Furthermore, the spherical permanent magnet is magnetized along the axial direction. The axially magnetized spherical permanent magnet can achieve optimal coupling with the axial magnetic field of the Z-axis coil, and can also rotate in any direction under the action of the transverse magnetic field of the X and Y-axis coils.

[0009] Furthermore, the spherical permanent magnet is embedded within the coil frame of the Z-axis coil, and the spherical permanent magnet can rotate freely within the coil frame. This embedded structure makes the entire device more compact while ensuring the freedom of motion of the permanent magnet, enabling it to achieve omnidirectional rotation under the drive of the triaxial coil magnetic field.

[0010] Furthermore, the X-axis coil, Y-axis coil, and Z-axis coil are configured to generate a vector composite magnetic field in any direction by adjusting the current amplitude and direction. According to the principle of vector composition, by controlling the current amplitudes Ix, Iy, and Iz and the direction of the three-axis coils, a composite magnetic field in any direction can be generated in three-dimensional space, thereby achieving precise control over the rotation direction of the permanent magnet.

[0011] Furthermore, the Z-axis coil is configured to adjust the magnetic field amplitude of the mixed magnetic field by adjusting the current amplitude. When it is necessary to increase the magnetic field amplitude, the Z-axis coil current is increased. By utilizing the superposition of the magnetic field of the Z-axis coil and the magnetic field of the permanent magnet in the same direction, the magnetic field amplitude of the target area can be precisely controlled, achieving a wide adjustment range of 30mT to 70mT.

[0012] Furthermore, both the X-axis coil and the Y-axis coil are racetrack-shaped coils. Compared to traditional circular or square coils, racetrack-shaped coils can significantly reduce coil weight while ensuring magnetic field uniformity, thus improving the system's lightweight design.

[0013] Furthermore, the three-dimensional electromagnetic permanent magnet hybrid drive system, in conjunction with a three-axis displacement device, is used for the drive control of a magnetically controlled soft robot. This system can be installed on the three-axis displacement device, enabling coarse adjustment of the spatial position through the displacement device and fine adjustment of the magnetic field direction and amplitude through the coordinated control of the three-axis coils, thereby achieving precise control of the magnetically controlled soft robot.

[0014] This application also provides a control method for a three-dimensional electromagnetic permanent magnet hybrid drive system, including the following steps: Coarse adjustment step: A three-axis displacement stage drives the hybrid magnetic source to approach the target area, while the Z-axis coil generates a preset magnetic field. This preset magnetic field is superimposed on the permanent magnet's magnetic field in the axial direction to generate an initial magnetic field. In this step, the spatial position of the hybrid magnetic source is adjusted by moving the three-axis displacement stage. At the same time, the Z-axis coil generates a preset magnetic field through a preset current waveform, which is superimposed on the constant magnetic field of the permanent magnet to form an initial driving magnetic field, causing the controlled object to achieve initial movement under the drive of the initial magnetic field.

[0015] Fine-tuning step: Based on the real-time pose information feedback of the controlled object, the current of the X-axis, Y-axis, and Z-axis coils is dynamically adjusted to achieve real-time correction of the direction and amplitude of the driving magnetic field. In this step, the displacement stage stops working after reaching the target area, and the system switches to coil-dominated fine-tuning mode. The real-time position and attitude information of the controlled object is acquired through sensors, and the control system dynamically adjusts the current amplitude and direction of the three-axis coils according to the feedback information to generate a vector composite magnetic field in any direction, achieving real-time and precise control of the magnetic field direction and amplitude.

[0016] In the coarse adjustment step, the Z-axis coil generates a preset magnetic field through a preset current waveform. The preset current waveform can be linearly increasing, step-like, or other waveforms designed according to application requirements. By precisely controlling the current waveform, a smooth transition and rapid response of the magnetic field can be achieved.

[0017] Furthermore, in the fine-tuning step, the current amplitude and direction of the X-axis coil, Y-axis coil, and Z-axis coil are dynamically adjusted according to the magnetic field vector synthesis formula to generate a vector synthesized magnetic field in any direction. By calculating the required magnetic field direction and amplitude in real time and decomposing it into components along the X, Y, and Z axes, and then adjusting the current of the corresponding coils, omnidirectional precise control of the magnetic field can be achieved.

[0018] Furthermore, the real-time pose information is acquired through sensors. These sensors can be visual sensors, magnetic sensors, ultrasonic sensors, inertial measurement units, or combinations thereof, capable of acquiring the position and attitude information of the controlled object in real time and accurately, providing feedback for closed-loop control.

[0019] Furthermore, the control method is applied to the motion control of a magnetically controlled capsule robot. This control method is particularly suitable for the precise positioning and attitude adjustment of the magnetically controlled capsule robot within the digestive tract. Through a two-stage control strategy of coarse adjustment and fine adjustment, it ensures both the efficiency of rapidly approaching the target area and achieves high-precision control for localized fine operations.

[0020] This application also provides a magnetically controlled soft robot drive control system, including the aforementioned three-dimensional electromagnetic permanent magnet hybrid drive system and a three-axis displacement device. This drive control system organically combines the hybrid magnetic source with the displacement device, achieving coordinated control of coarse spatial position adjustment and fine magnetic field direction amplitude adjustment, and has the advantages of high control accuracy, fast response speed, low energy consumption, and small size.

[0021] This application also provides a magnetic field generating device, including a spherical permanent magnet, a Z-axis coil, an X-axis coil, and a Y-axis coil. The Z-axis coil is coaxially placed with the spherical permanent magnet, and the upper surface of the spherical permanent magnet is flush with the upper surface of the Z-axis coil. The X-axis coil and the Y-axis coil are located at the lower surface of the spherical permanent magnet. This magnetic field generating device has a compact structure and a reasonable spatial arrangement of its components, enabling efficient generation and precise control of the magnetic field.

[0022] Furthermore, the Z-axis coil is a solenoid coil, while the X-axis and Y-axis coils are both racetrack-shaped coils. Solenoid coils can generate a uniform axial magnetic field, while racetrack-shaped coils can generate a uniform transverse magnetic field. The combination of these two coil types achieves efficient generation of a three-dimensional spatial magnetic field.

[0023] Furthermore, the Z-axis coil has a coil frame that accommodates the spherical permanent magnet. The spherical permanent magnet is embedded within the coil frame and can rotate freely within it. The upper surface of the spherical permanent magnet is flush with the upper surface of the coil frame. This structural design ensures optimal coupling between the permanent magnet and the Z-axis coil, while also guaranteeing the permanent magnet's degrees of freedom of motion, enabling it to achieve omnidirectional rotation under the drive of the triaxial coil's magnetic field.

[0024] Compared with the prior art, this application has the following beneficial effects: (1) By employing a solenoid coil in the Z-axis coil and placing it coaxially with the spherical permanent magnet with its upper surface flush, the precise axial coupling between the magnetic field of the Z-axis coil and the magnetic field of the permanent magnet is ensured, improving the accuracy of magnetic field amplitude adjustment. By employing a racetrack-shaped coil in the X and Y-axis coils, the device weight is reduced while ensuring the uniformity of the transverse magnetic field, achieving lightweight and high integration of the system. Compared with the existing technology that uses traditional circular or square coils, the coil structure design of this application can reduce the weight and size of the system while maintaining good magnetic field control performance.

[0025] (2) By controlling the current amplitude and direction of the X, Y, and Z axis coils to generate a vector composite magnetic field in any direction, the spherical permanent magnet is driven to rotate in any direction in three-dimensional space without the need for a robotic arm to assist in magnetic field steering. This improves the response speed of magnetic field direction switching and reduces the control difficulty and degree of freedom of the displacement mechanism. Compared with the existing technology that requires a six-degree-of-freedom robotic arm to assist in magnetic field steering, this application reduces the magnetic field direction switching time from seconds to milliseconds, increases the response speed by 24 times, and reduces the degree of freedom of the displacement mechanism from six degrees of freedom to three degrees of freedom, significantly reducing the complexity and cost of the system.

[0026] (3) The coarse adjustment stage involves a three-axis displacement stage driving a hybrid magnetic source to approach the target area, while the Z-axis coil generates an initial magnetic field by combining a preset current waveform with the permanent magnet's magnetic field. The fine adjustment stage involves a control method that dynamically adjusts the current of each axis coil based on real-time pose information feedback to achieve real-time correction of the magnetic field direction and amplitude. This approach balances the system's rapid response and precise control, avoiding the response delay caused by relying entirely on the displacement stage and the limited workspace caused by relying entirely on the coils. Compared to the single control mode scheme in the prior art, the two-stage control method of this application enables the system to reduce power consumption while ensuring control accuracy, achieving an organic unity of low energy consumption and high precision.

[0027] (4) This application fully utilizes the high energy density of permanent magnets and the adjustability of electromagnetic coils. By adjusting the Z-axis coil current, a wide adjustment range of 30mT to 70mT is achieved, overcoming the deficiency of the non-adjustable magnetic field of existing permanent magnets. Through the coordinated control of three-axis coils, omnidirectional rapid switching of magnetic field direction is achieved, overcoming the problem of limited working space in existing electromagnetic coil systems. The comprehensive performance proves that this application has significant advantages in terms of magnetic field control flexibility, system lightweight, and low energy consumption, and is particularly suitable for applications requiring high-precision magnetic field control, such as magnetically controlled soft robots and magnetically controlled capsule robots. Attached Figure Description

[0028] Figure 1 The front view of the three-dimensional electromagnetic permanent magnet hybrid drive system provided in this application.

[0029] Figure 2 This is a schematic diagram of the structure of the three-dimensional electromagnetic permanent magnet hybrid drive system used in the embodiments of this application.

[0030] Figure 3 This is a schematic diagram of the coarse-fine adjustment control strategy for magnetic field amplitude in this application example.

[0031] Figure 4 This is a schematic diagram showing the relationship between some coil current combinations and permanent magnet deflection angle in the embodiments of this application.

[0032] Among them, 1 is a spherical permanent magnet, 2 is a Z-axis coil, 3 is an X-axis coil, and 4 is a Y-axis coil. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0034] Example 1 like Figure 1 and Figure 2 As shown, the three-dimensional electromagnetic permanent magnet hybrid drive system provided in this application includes: a spherical permanent magnet 1, a Z-axis coil 2, an X-axis coil 3, and a Y-axis coil 4. The spherical permanent magnet 1 is magnetized along the axial direction, embedded in the coil frame of the Z-axis coil 2, and can rotate freely within the coil frame. The upper end face of the spherical permanent magnet 1 is flush with the upper end face of the Z-axis coil 2. The Z-axis coil 2 adopts a solenoid coil structure and is placed coaxially with the spherical permanent magnet 1. This structural design ensures precise axial coupling between the magnetic field of the Z-axis coil and the magnetic field of the permanent magnet.

[0035] Both the X-axis coil 3 and the Y-axis coil 4 adopt a racetrack-shaped coil structure and are located at the lower end face of the spherical permanent magnet 1. The racetrack-shaped coil can generate a uniform transverse magnetic field in space, while significantly reducing the mass of the device compared to traditional circular or square coils.

[0036] During operation, the spherical permanent magnet 1 generates a constant axial magnetic field. Controllable currents are passed through the X-axis coil 3, Y-axis coil 4, and Z-axis coil 2, producing an adjustable electromagnetic field. The magnetic fields generated by the three-axis coils are vector-combined with the permanent magnet's magnetic field, driving the spherical permanent magnet 1 to rotate in three-dimensional space. After the permanent magnet rotates, the direction of the mixed magnetic field changes accordingly. By adjusting the current amplitude of the Z-axis coil 2, and utilizing the superposition effect of the Z-axis coil's magnetic field and the permanent magnet's magnetic field in the same direction, the magnetic field amplitude in the target area can be precisely controlled.

[0037] Because the Z-axis coil 2 is placed coaxially with the spherical permanent magnet 1 and its upper surface is flush, the magnetic field coupling accuracy is ensured. The X-axis coil 3 and Y-axis coil 4 adopt racetrack-shaped coils, which reduces the system size and weight while ensuring magnetic field strength.

[0038] This structure achieves a balance between lightweight design and high-precision magnetic field control, reducing system size and energy consumption while ensuring magnetic field strength.

[0039] Example 2 This second embodiment, based on the first embodiment, further illustrates the specific implementation of the three-axis coils collaboratively generating a vector composite magnetic field in any direction.

[0040] like Figure 4 As shown, when only the Z-axis coil 2 is working, the magnetic field of the Z-axis coil is superimposed in the same direction as the axial magnetic field of the spherical permanent magnet 1, and the direction of the spherical permanent magnet 1 is vertically upward.

[0041] When the current in Z-axis coil 2 is reversed, the magnetic field of Z-axis coil is opposite to the magnetic field of permanent magnet, and the direction of spherical permanent magnet 1 is vertically downward.

[0042] When current is passed through X-axis coil 3 and Z-axis coil 2 with the same amplitude and direction, the magnetic field of X-axis coil and the magnetic field of Z-axis coil are vectored together, and spherical permanent magnet 1 deflects 45° toward the XOZ plane.

[0043] When the same current is applied to X-axis coil 3, Y-axis coil 4, and Z-axis coil 2, the magnetic field vectors of the three-axis coils are combined, and the spherical permanent magnet 1 deflects along the diagonal of the XYZ cube.

[0044] By adjusting the current amplitudes Ix, Iy, and Iz and directions of the X-axis coil 3, Y-axis coil 4, and Z-axis coil 2, according to the vector synthesis formula Bsynthesis = Bx + By + Bz, the spherical permanent magnet 1 can be rotated in any direction in three-dimensional space.

[0045] When it is necessary to increase the magnetic field amplitude, the current Iz of Z-axis coil 2 is increased. The magnetic field of Z-axis coil and the magnetic field of permanent magnet are superimposed in the same direction, so as to precisely control the magnetic field amplitude of the target area.

[0046] With coordinated control of three-axis coils, there is no need for a robotic arm to assist in magnetic field steering. The response speed for switching magnetic field direction is reduced from seconds of robotic arm rotation to milliseconds of current switching.

[0047] The control difficulty and degrees of freedom of the displacement mechanism have been reduced from a six-degree-of-freedom robotic arm to a three-degree-of-freedom displacement stage, which significantly reduces the complexity and cost of the system.

[0048] Example 3 This third embodiment illustrates a two-stage control method for coarse and fine adjustment of motion control of a magnetically controlled capsule robot using the system described in embodiment one: like Figure 3 As shown, the control method includes the following steps: S1 Coarse Adjustment Stage: The three-axis displacement stage drives the hybrid magnetic source to move from the initial position to the target area: During movement, the Z-axis coil 2 generates a preset magnetic field Bz_p through a preset current waveform Iz(t). The preset current waveform can be a linearly increasing or step waveform. The preset magnetic field Bz_p is superimposed with the magnetic field Bm of the spherical permanent magnet 1 to generate an initial magnetic field Bin = Bm + Bz_p. The magnetically controlled capsule robot achieves initial movement under the drive of the initial magnetic field.

[0049] After S2 reaches the target area, the three-axis displacement stage stops working. The magnetically controlled capsule robot continues to move under the drive of the initial magnetic field.

[0050] S3 Fine-tuning Stage: The system switches to coil-driven fine-tuning mode. The real-time position information (x, y, z) and attitude information (α, β, γ) of the magnetically controlled capsule robot are obtained through visual sensors or magnetic sensors. The control system calculates the required magnetic field direction and amplitude based on the feedback information, and dynamically adjusts the currents Ix(t), Iy(t), and Iz(t) of X-axis coil 3, Y-axis coil 4, and Z-axis coil 2. The dynamic coordination of the current in the three-axis coil generates a vector composite magnetic field in any direction, enabling real-time correction of the magnetic field direction and amplitude.

[0051] like Figure 3As shown, during the coarse adjustment stage, the current Iz increases linearly, and the magnetic field Ba increases accordingly. During the fine adjustment stage, the currents Ix, Iy, and Iz fluctuate dynamically, and the magnetic field Ba is adjusted in real time. This staged control of coarse and fine adjustment balances the system's rapid response with precise control. The coarse adjustment stage is suitable for scenarios where the target area is far away and rapid approach is required; the fine adjustment stage is suitable for scenarios requiring precise local operations within the target area and high-precision control, such as the precise positioning and attitude adjustment of a magnetically controlled capsule robot within the digestive tract.

[0052] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A three-dimensional electromagnetic permanent magnet hybrid drive system, characterized in that, It includes a spherical permanent magnet and a triaxial electromagnetic coil. The triaxial electromagnetic coil includes a Z-axis coil, an X-axis coil and a Y-axis coil. The Z-axis coil adopts a solenoid coil structure and is placed coaxially with the spherical permanent magnet. The upper end surface of the spherical permanent magnet is flush with the upper end surface of the Z-axis coil. Both the X-axis coil and the Y-axis coil adopt a racetrack-shaped coil structure and are located at the lower end face of the spherical permanent magnet; The triaxial electromagnetic coil generates a vector composite magnetic field in any direction by adjusting the current amplitude and direction of each axis coil, driving the spherical permanent magnet to rotate in three-dimensional space.

2. The three-dimensional electromagnetic permanent magnet hybrid drive system according to claim 1, characterized in that, The X-axis coil and the Y-axis coil are configured to generate a uniform magnetic field in space.

3. The three-dimensional electromagnetic permanent magnet hybrid drive system according to claim 1, characterized in that, The spherical permanent magnet is magnetized along the axial direction.

4. The three-dimensional electromagnetic permanent magnet hybrid drive system according to claim 1, characterized in that, The spherical permanent magnet is embedded in the coil frame of the Z-axis coil, and the spherical permanent magnet can rotate freely within the coil frame.

5. The three-dimensional electromagnetic permanent magnet hybrid drive system according to claim 1, characterized in that, The X-axis coil, the Y-axis coil, and the Z-axis coil are configured to generate a vector composite magnetic field in any direction by adjusting the current amplitude and direction.

6. The three-dimensional electromagnetic permanent magnet hybrid drive system according to claim 5, characterized in that, The Z-axis coil is configured to adjust the magnetic field amplitude of the mixed magnetic field by adjusting the current amplitude.

7. The three-dimensional electromagnetic permanent magnet hybrid drive system according to claim 6, characterized in that, The Z-axis coil adjusts the current amplitude and utilizes the superposition effect of the magnetic field of the Z-axis coil and the magnetic field of the permanent magnet in the same direction to achieve the adjustment of the magnetic field amplitude of the mixed magnetic field within the range of 30mT~70mT.

8. A control method for a three-dimensional electromagnetic permanent magnet hybrid drive system, characterized in that, The control system performs the following steps: Coarse adjustment steps: The hybrid magnetic source is driven by a three-axis displacement stage to approach the target area, while the Z-axis coil generates a preset magnetic field. The preset magnetic field and the permanent magnet magnetic field are superimposed on each other in the axial direction to generate an initial magnetic field. Fine-tuning steps: Based on the real-time pose information feedback of the controlled object, dynamically adjust the current of the X-axis coil, Y-axis coil and Z-axis coil to achieve real-time correction of the direction and amplitude of the driving magnetic field.

9. The control method according to claim 8, characterized in that, In the fine-tuning step, the current amplitude and direction of the X-axis coil, the Y-axis coil, and the Z-axis coil are dynamically adjusted according to the magnetic field vector synthesis formula to generate a vector synthesis magnetic field in any direction.

10. The control method according to claim 8, characterized in that, The real-time pose information is acquired through sensors.

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