Mapping method of magnetic gradient force error caused by angle deviation of dual synchronous rotating permanent magnet

Abstract

The application discloses a kind of mapping method and system of magnetic gradient force error caused by angle deviation of double synchronous rotating permanent magnet, comprising: obtaining double synchronous rotating permanent magnet and micro-nano robot parameter and instruction rotation phase;Under ideal synchronization state, calculate theoretical magnetic gradient force;Each permanent magnet angle deviation is decoupled and decomposed into common angle deviation and differential synchronization angle deviation;Based on deviation, determine the actual magnetic moment direction and calculate perturbation magnetic gradient force;According to the difference between perturbation and theoretical magnetic gradient force, determine magnetic gradient force error;The error mapping result of two kinds of deviations is generated respectively, and the synchronization control evaluation result is output.The application can distinguish the influence of phase tracking error and relative synchronization mismatch on magnetic gradient force, and provide accurate basis for synchronization control.

Description

Technical Field

[0001] This invention relates to the field of motion control and magnetic field mechanical error analysis technology for magnetically driven micro-nano robots, specifically to a mapping method for magnetic gradient force errors caused by angular deviations of dual synchronous rotating permanent magnets. Background Technology

[0002] In the field of magnetically driven micro / nano robot manipulation, dual synchronous rotating permanent magnet systems are often used to generate programmable magnetic fields to drive the movement of micro / nano robots. During actual operation, due to limitations in motor control precision, mechanical transmission backlash, or external interference, the two rotating permanent magnets often struggle to maintain absolute ideal synchronization, resulting in an angular deviation relative to the commanded rotation phase. Existing force analysis and error assessment methods typically treat this angular deviation as a single scalar error or focus only on theoretical force calculations under ideal synchronization conditions. However, in actual physical systems, the angular deviation actually contains two dimensions of information: first, the common angular deviation where both permanent magnets simultaneously lead or lag behind the commanded phase, which primarily reflects the overall phase tracking performance of the system; and second, the differential synchronization angular deviation due to the relative phase inconsistency between the two permanent magnets, which directly alters the relative magnetic moment direction between the two magnets and perturbs the magnetic field superposition relationship. Existing technologies have failed to effectively decouple these two types of deviations, making it impossible to accurately quantify their independent contributions to the magnetic gradient force error. Consequently, subsequent phase tracking control parameter tuning, dual-magnet synchronous control strategy optimization, and trajectory safety verification lack precise basis, affecting the driving accuracy and safety of micro-nano robots. Summary of the Invention

[0003] The purpose of this invention is to provide a mapping method for magnetic gradient force errors caused by angular deviations in dual synchronous rotating permanent magnets. This invention can distinguish the effects of phase tracking errors and relative synchronization mismatches on the magnetic gradient force, providing a precise basis for synchronization control.

[0004] The technical solution of this invention: a mapping method for magnetic gradient force error caused by angular deviation of dual synchronous rotating permanent magnets, comprising: Step 1: Obtain the arrangement parameters and magnetic moment parameters of the dual synchronous rotating permanent magnets, the theoretical position and magnetic moment parameters of the micro / nano robot, and the commanded rotation phase; Step 2: Under ideal synchronization, calculate the theoretical total magnetic field generated by the dual synchronous rotating permanent magnets at the theoretical position, and calculate the theoretical magnetic gradient force based on the condition that the magnetic moment direction of the micro-nano robot is aligned with the direction of the theoretical total magnetic field. Step 3: Obtain the angular deviation of each permanent magnet in the dual synchronous rotating permanent magnet relative to the command rotation phase, and decouple and decompose the angular deviation into common angular deviation and differential synchronous angular deviation. Step 4: Determine the actual magnetic moment direction of each permanent magnet based on the common angle deviation and the differential synchronization angle deviation, and calculate the perturbation magnetic gradient force; Step 5: Determine the magnetic gradient force error based on the difference between the perturbed magnetic gradient force and the theoretical magnetic gradient force; Step 6: Based on the independent changes of the common angle deviation and the differential synchronization angle deviation, generate the common angle deviation error mapping result and the differential synchronization angle deviation error mapping result respectively, and output the synchronization control evaluation result.

[0005] The above-mentioned mapping method for magnetic gradient force error caused by angular deviation of dual synchronous rotating permanent magnets decouples and decomposes the angular deviation into common angular deviation and differential synchronous angular deviation, including: The common angle deviation and relative synchronization deviation vectors are calculated using the following formulas: ; ; in, and These represent the angular deviations of the first and second permanent magnets relative to the commanded rotation phase, respectively. For common angular deviation, This is the relative synchronization deviation vector. For the reason and The resulting angular deviation vector.

[0006] In the aforementioned mapping method for magnetic gradient force error caused by angular deviation of dual synchronous rotating permanent magnets, the sum of the two components of the relative synchronization deviation vector is zero, and the differential synchronization angular deviation is calculated according to the following formula: ; ; in, and These are the two components of the relative synchronization deviation vector. The differential synchronization angle deviation is used to characterize the degree of relative phase mismatch between the two permanent magnets in the dual synchronous rotating permanent magnet.

[0007] The aforementioned mapping method for magnetic gradient force errors caused by angular deviations of dual synchronous rotating permanent magnets, wherein the calculation of the theoretical magnetic gradient force includes: The theoretical total magnetic field is obtained by vector superposition of the magnetic fields generated by each permanent magnet in the dual synchronous rotating permanent magnet system. The unit vector of the magnetic moment direction of the micro / nano robot is determined according to the following formula, and the theoretical magnetic gradient force is calculated: ; ; ; in, For the theoretical total magnetic field, For the first The magnetic field generated by a permanent magnet. Let be the unit vector of the magnetic moment direction of the micro / nano robot. Represents the L2 norm, The scaling factor for the common force. For a compact gradient force matrix, This is the theoretical magnetic gradient force.

[0008] The aforementioned mapping method for magnetic gradient force error caused by angular deviation of dual synchronous rotating permanent magnets, the first... The magnetic field generated by a permanent magnet Calculate using the following formula: ; ; ; ; ; in, This represents the theoretical position of micro / nano robots. For the first The position of the permanent magnet. For from the first The relative position vector of each permanent magnet pointing to its theoretical position. For the first The distance between each permanent magnet and its theoretical position It is a unit vector of relative position. For the first The field matrix corresponding to each permanent magnet. It is a third-order identity matrix. The permeability of free space, The magnitude of the magnetic moment of the permanent magnet. This refers to the direction of the unit magnetic moment shared by the two permanent magnets under ideal synchronous rotation. Rotate the phase for the command.

[0009] The aforementioned mapping method for magnetic gradient force errors caused by angular deviations of dual synchronous rotating permanent magnets, wherein generating common angular deviation error mapping results and differential synchronous angular deviation error mapping results respectively includes: Calculate the magnitude of the magnetic gradient force error caused by the common angular deviation and the differential synchronization angular deviation using the following formulas: ; ; in, This represents the magnitude of the magnetic gradient force error caused by the common angular deviation. This represents the magnitude of the magnetic gradient force error caused by the differential synchronization angle deviation. For L2 norm operations, To rotate the phase as instructed, Let be the angular deviation vector formed by common angular deviations. This is the relative synchronization deviation vector. This is the error vector between the perturbation magnetic gradient force and the theoretical magnetic gradient force.

[0010] The aforementioned mapping method for magnetic gradient force errors caused by angular deviations of dual synchronous rotating permanent magnets, wherein the output synchronous control evaluation results include: The absolute values ​​of different common angle deviations, differential synchronization angle deviations, and command rotation phases are sampled, and the upper envelope of the common angle deviation error sampling is extracted respectively. Sampling envelope of differential synchronization angle deviation error ; Based on the common angle deviation error sampling upper envelope Sampling envelope of differential synchronization angle deviation error The phase tracking accuracy requirements and relative synchronization accuracy requirements of the dual synchronous rotating permanent magnets are determined.

[0011] The aforementioned mapping method for magnetic gradient force errors caused by angular deviations of dual synchronous rotating permanent magnets, wherein the calculation of the perturbed magnetic gradient force includes: The perturbed magnetic field and the perturbed magnetic gradient force are calculated using the following formulas: ; ; in, To disturb the magnetic field, For the first The direction of the unit magnetic moment of a permanent magnet under actual angular deviation. For the first Angular deviation of the permanent magnet For the perturbation compact gradient force matrix, Let be the unit vector of the magnetic moment direction of the micro / nano robot under perturbed conditions. To disturb the magnetic gradient force, The scaling factor for the common force. The permeability of free space, The magnitude of the magnetic moment of the permanent magnet. For the first The distance between each permanent magnet and its theoretical position For the first The field matrix corresponding to each permanent magnet.

[0012] A mapping system for magnetic gradient force errors caused by angular deviations of dual synchronous rotating permanent magnets, comprising: The parameter acquisition module is used to acquire the arrangement parameters and magnetic moment parameters of the dual synchronous rotating permanent magnets, the theoretical position and magnetic moment parameters of the micro-nano robot, and the command rotation phase. An angle deviation decomposition module is used to obtain the angle deviation of each permanent magnet in the dual synchronous rotating permanent magnet relative to the command rotation phase, and decouple and decompose the angle deviation into a common angle deviation and a differential synchronous angle deviation. The magnetic gradient force calculation module is used to calculate the theoretical total magnetic field generated by the dual synchronous rotating permanent magnets at the theoretical position under ideal synchronization conditions, and to calculate the theoretical magnetic gradient force based on the condition that the magnetic moment direction of the micro-nano robot is aligned with the direction of the theoretical total magnetic field; and to determine the actual magnetic moment direction of each permanent magnet based on the common angle deviation and the differential synchronization angle deviation, and to calculate the perturbation magnetic gradient force. The error mapping module is used to determine the magnetic gradient force error based on the difference between the perturbed magnetic gradient force and the theoretical magnetic gradient force, and to generate the common angle deviation error mapping result and the differential synchronization angle deviation error mapping result based on the independent changes of the common angle deviation and the differential synchronization angle deviation, respectively. The output module is used to output the common angle deviation error mapping result, the differential synchronization angle deviation error mapping result, and the synchronization control evaluation result.

[0013] The aforementioned mapping system for magnetic gradient force error caused by angular deviation of dual synchronous rotating permanent magnets has an output module that is communicatively connected to the magnetically driven micro / nano robot control system. The output module is also used to generate phase tracking parameter correction information, dual magnet synchronous control parameter correction information, or trajectory safety verification information based on the synchronous control evaluation results, and send them to the magnetically driven micro / nano robot control system.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention decouples and decomposes the angular deviation of the dual synchronous rotating permanent magnets into common angular deviation and differential synchronous angular deviation. From a physical mechanism perspective, it distinguishes the two different error sources, namely overall phase tracking error and relative synchronous mismatch of the two magnets. This avoids the evaluation ambiguity caused by the existing technology of mixing the two types of errors into a single scalar, and lays a mathematical foundation for accurately quantifying the impact of various deviations.

[0015] 2. In calculating the theoretical magnetic gradient force and the perturbed magnetic gradient force, this invention adopts a consistent magnetic dipole model, a compact gradient force matrix, and instantaneous magnetic field alignment conditions to ensure the uniformity of the error calculation benchmark. On this basis, by independently changing the common angle deviation and the differential synchronization angle deviation to perform error mapping, the magnetic gradient force error distribution law corresponding to the two types of deviations can be obtained respectively, thereby clearly identifying which type of deviation is the dominant factor of the current force error.

[0016] 3. By extracting the upper envelope of the common angle deviation error sampling and the upper envelope of the differential synchronization angle deviation error sampling, this invention can transform complex error mapping results into intuitive accuracy requirement indicators, directly guiding the parameter tuning and safety verification of the magnetically driven micro-nano robot control system. When the system detects that a specific type of error exceeds the limit, it can output phase tracking parameter correction or dual magnet synchronization control parameter correction information in a targeted manner, realizing accurate feedback from error analysis to closed-loop control, effectively improving the driving accuracy and trajectory safety of the micro-nano robot. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the process of the present invention; Figure 2 This is a schematic diagram of the decomposition of common angle deviation and differential synchronization angle deviation. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments, but the present invention is not limited to the following embodiments.

[0019] Example 1: This example provides a mapping method for magnetic gradient force errors caused by angular deviations in dual synchronous rotating permanent magnets. This method achieves accurate quantification and independent mapping of the magnetic gradient force error source by decoupling the common angular deviation from the differential synchronous angular deviation. The following section combines... Figure 1 The specific implementation steps of this method are explained in detail.

[0020] Step 1: Obtain the arrangement parameters and magnetic moment parameters of the dual synchronous rotating permanent magnets, the theoretical position and magnetic moment parameters of the micro / nano robot, and the commanded rotation phase.

[0021] Specifically, the arrangement parameters include the spatial distribution of the permanent magnets in a fixed coordinate system. As a preferred embodiment, the two synchronously rotating permanent magnets can be arranged symmetrically along the x-axis, and the position vectors of the two permanent magnets are respectively represented as... and ,in The characteristic spacing of the dual synchronously rotating permanent magnets. It should be understood that the above symmetrical arrangement is only one specific example; in other embodiments, the permanent magnets can also be arranged asymmetrically or with other geometric configurations, as long as the relative relationship between each permanent magnet and the theoretical position of the micro / nano robot can be clearly defined. Magnetic moment parameters include the magnitude of the magnetic moment of the permanent magnets. And the magnetic moment parameters of the micro / nano robot. Command rotation phase. The ideal synchronous rotation angle command issued by the control system. The theoretical position of the micro / nano robot. The coordinates are the spatial coordinates that the micro-nano robot is expected to reach at the current moment.

[0022] Step 2: Under ideal synchronization, calculate the theoretical total magnetic field generated by the dual synchronous rotating permanent magnets at the theoretical position, and calculate the theoretical magnetic gradient force based on the condition that the magnetic moment direction of the micro-nano robot is aligned with the direction of the theoretical total magnetic field.

[0023] Specifically, the calculation of the theoretical magnetic gradient force is based on the magnetic dipole model. First, regarding the first... One permanent magnet ( Calculate the geometric relationship parameters between its position and the theoretical position of the micro / nano robot. Calculate the relative position vector, distance, and relative position unit vector according to the following formulas: ; ; ; in, This represents the theoretical position of micro / nano robots. For the first The position of the permanent magnet. For from the first The relative position vector of each permanent magnet pointing to its theoretical position. For the first The distance between each permanent magnet and its theoretical position It is a unit vector representing relative position.

[0024] Based on the above geometric parameters, construct the first... The field matrix corresponding to each permanent magnet The calculation formula is as follows: ; in, It is a third-order identity matrix.

[0025] Furthermore, calculate the first The magnetic field generated by a permanent magnet at its theoretical position : ; in, The permeability of free space, The magnitude of the magnetic moment of the permanent magnet. This refers to the direction of the unit magnetic moment shared by the two permanent magnets under ideal synchronous rotation. This is the command rotation phase. Under ideal synchronization, the two permanent magnets rotate precisely following the command phase, thus sharing the same unit magnetic moment direction. .

[0026] The theoretical total magnetic field is obtained by vector superposition of the magnetic fields generated by each permanent magnet in the dual synchronous rotating permanent magnet system. The unit vector of the magnetic moment direction of the micro / nano robot is determined according to the following formula. And calculate the theoretical magnetic gradient force : ; ; ; in, For the theoretical total magnetic field, For the first The magnetic field generated by a permanent magnet. Let be the unit vector of the magnetic moment direction of the micro / nano robot. Represents the L2 norm, The scaling factor for the common force. For a compact gradient force matrix, This is the theoretical magnetic gradient force. This step establishes the baseline force state without angular deviation, providing a unified reference for subsequent error calculations.

[0027] Step 3: Obtain the angular deviation of each permanent magnet in the dual synchronous rotating permanent magnet system relative to the commanded rotation phase. Decouple and decompose the angular deviation into a common angular deviation and a differential synchronous angular deviation, such as... Figure 2 As shown.

[0028] Specifically, the decoupling and decomposition of angular deviations is the key step in this embodiment to distinguish different error sources. Let the angular deviations of the first and second permanent magnets relative to the commanded rotation phase be respectively... and The angular deviation vector formed by these two deviations is Calculate the common angle deviation using the following formula. and relative synchronization deviation vector : ; ; in, The common angular deviation characterizes the degree to which the two permanent magnets as a whole lead or lag behind the command phase; The relative synchronization deviation vector represents the phase mismatch between the two permanent magnets.

[0029] Furthermore, the two components of the relative synchronization deviation vector and The constraint condition that the sum is zero must be satisfied, that is: ; At the same time, the differential synchronization angle deviation is defined. The relative phase mismatch between the two magnets is quantified using the following formula: ; in, and These are the two components of the relative synchronization deviation vector. This refers to the differential synchronization angle deviation. Through the above decomposition, the originally coupled angle deviation is orthogonally separated into components reflecting the global phase tracking performance. and reflecting the synchronization consistency of the two magnets (and its vector form) This avoids the evaluation ambiguity problem caused by single scalar error processing.

[0030] Step 4: Determine the actual magnetic moment direction of each permanent magnet based on the common angle deviation and the differential synchronization angle deviation, and calculate the perturbation magnetic gradient force.

[0031] Specifically, when an angular deviation actually exists, the magnetic moment direction of each permanent magnet is no longer aligned with the ideal direction. Consistent. Calculate the disturbed magnetic field using the following formula. and perturbation magnetic gradient force : ; ; in, The disturbance magnetic field. For the first The direction of the unit magnetic moment of a permanent magnet under actual angular deviation. For the first Angular deviation of the permanent magnet For the perturbation compact gradient force matrix, Let be the unit vector of the magnetic moment direction of the micro / nano robot under perturbed conditions. The perturbation magnetic gradient force, The scaling factor for the common force. The permeability of free space, The magnitude of the magnetic moment of the permanent magnet. For the first The distance between each permanent magnet and the theoretical position. For the first The field matrix corresponding to each permanent magnet. Here. Phase rotation by command and the specific angular deviation of the permanent magnet The joint determination reflects the direct disturbance of the deviation on the superposition relationship of magnetic fields.

[0032] Step 5: Determine the magnetic gradient force error based on the difference between the perturbed magnetic gradient force and the theoretical magnetic gradient force.

[0033] Specifically, the perturbation magnetic gradient force calculated in step 4 The theoretical magnetic gradient force calculated in step 2 By performing vector subtraction, the magnetic gradient force error vector is obtained. This error vector comprehensively reflects the degree of force deviation caused by the synchronization angle deviation.

[0034] Step 6: Based on the independent changes of the common angle deviation and the differential synchronization angle deviation, generate the common angle deviation error mapping result and the differential synchronization angle deviation error mapping result respectively, and output the synchronization control evaluation result.

[0035] Specifically, to distinguish the independent contributions of the two types of deviations to the error, this embodiment constructs a specific input vector for decoupling mapping. The magnitudes of the magnetic gradient force error caused by the common angle deviation and the differential synchronization angle deviation are calculated according to the following formulas: ; ; in, This represents the magnitude of the magnetic gradient force error caused by the common angular deviation. This represents the magnitude of the magnetic gradient force error caused by the differential synchronization angle deviation. For L2 norm operations, To rotate the phase as instructed, It is the angular deviation vector composed of common angular deviations (at this time, the deviations of the two magnets are the same, and only the common component is contained). This is the relative synchronization deviation vector (at this time, the deviations of the two magnets are opposites of each other, containing only the differential component). This represents the error vector between the perturbation magnetic gradient force and the theoretical magnetic gradient force. By constructing this differentiated input vector, complete decoupling and independent quantization of the two error sources are achieved mathematically.

[0036] Furthermore, in order to guide the tuning of actual control parameters, the absolute values ​​of different common angle deviations are considered. Differential synchronization angle deviation and command to rotate phase Sampling was performed, and the upper envelope of the common angle deviation error sampling was extracted respectively. Sampling envelope of differential synchronization angle deviation error : ; ; Based on the common angle deviation error sampling upper envelope Sampling envelope of differential synchronization angle deviation error This determines the phase tracking accuracy requirements and relative synchronization accuracy requirements of the dual synchronous rotating permanent magnets. For example, if... Significantly greater than If the overall phase tracking accuracy is high, it indicates that the system is more sensitive to overall phase tracking accuracy, and the phase loop parameters of the main motor should be optimized first; conversely, if the overall phase tracking accuracy is low, the focus should be on the synchronous coordination control between the two motors. This envelope-based evaluation method transforms complex error mapping into intuitive engineering design indicators, effectively improving the system's control performance and safety.

[0037] Example 2: This example provides a mapping system for magnetic gradient force error caused by angular deviation of dual synchronous rotating permanent magnets. The system is used to execute the mapping method described in Example 1 and realizes real-time decoupling evaluation and control feedback of magnetic gradient force error source through modular architecture.

[0038] Specifically, the system includes a parameter acquisition module, an angle deviation decomposition module, a magnetic gradient force calculation module, an error mapping module, and an output module. The parameter acquisition module acquires the arrangement parameters and magnetic moment parameters of the dual synchronous rotating permanent magnets, the theoretical position and magnetic moment parameters of the micro / nano robot, and the commanded rotation phase. In actual deployment, the parameter acquisition module can communicate with external sensors and controllers via a high-speed bus or dedicated interface. For example, the arrangement parameters and magnetic moment parameters can be pre-stored in the system configuration file or automatically read during initialization; the theoretical position of the micro / nano robot can be issued in real time by the host computer trajectory planner; and the commanded rotation phase is directly derived from the command channel of the motor driver. It should be understood that the parameter acquisition module is not limited to passively receiving data; it can also include data preprocessing functions, such as filtering the raw position signal or performing temperature compensation correction on the magnetic moment parameters to ensure the accuracy of subsequent calculation benchmarks.

[0039] The angle deviation decomposition module is used to obtain the angular deviation of each permanent magnet in the dual synchronous rotating permanent magnet system relative to the commanded rotation phase, and decouples the angular deviation into a common angular deviation and a differential synchronous angular deviation. This module is a key hub connecting the lower-level sensing data and the upper-level error assessment. Specifically, the angle deviation decomposition module receives the actual rotation angle feedback from the encoder or Hall sensor, and subtracts it from the commanded rotation phase to obtain the original angular deviation vector. Then, following the decomposition logic in step 3 of Example 1, it orthogonally separates it into a common angular deviation representing the overall phase lag and a differential synchronous angular deviation representing the relative mismatch between the two magnets. This decoupling process allows subsequent modules to independently identify two different types of error sources, avoiding the confusion of control strategies caused by error coupling in traditional systems.

[0040] The magnetic gradient force calculation module is used to calculate the theoretical total magnetic field generated by dual synchronous rotating permanent magnets at their theoretical positions under ideal synchronization conditions. It calculates the theoretical magnetic gradient force based on the alignment of the magnetic moment direction of the micro / nano robot with the theoretical total magnetic field direction. It also determines the actual magnetic moment direction of each permanent magnet based on common angular deviation and differential synchronization angular deviation, and calculates the perturbation magnetic gradient force. In its implementation, the module can be configured with parallel theoretical calculation units and perturbation calculation units. The theoretical calculation unit establishes a force benchmark based on a preset magnetic dipole model and a compact gradient force matrix; the perturbation calculation unit uses the decoupling deviation output from the angular deviation decomposition module to update the unit magnetic moment direction of each permanent magnet in real time and recalculate the force state. Both calculation units use completely identical physical model parameters, ensuring strict comparability between the calculated theoretical and perturbation magnetic gradient forces, providing a unified benchmark for error quantification.

[0041] The error mapping module determines the magnetic gradient force error based on the difference between the perturbed magnetic gradient force and the theoretical magnetic gradient force. It then generates common angle deviation error mapping results and differential synchronization angle deviation error mapping results based on the independent changes in the common angle deviation and differential synchronization angle deviation, respectively. This module achieves complete isolation of error sources at the mathematical level by constructing differentiated input vectors. For example, when generating the common angle deviation error mapping result, the module sets the differential components to zero, retaining only the common component as input; conversely, when generating the partial error mapping results, it sets the common component to zero. This independent mapping mechanism allows the system to accurately distinguish whether the current force error originates from poor overall phase tracking or from a failure in synchronization coordination between the two magnets, providing a clear basis for subsequent targeted control.

[0042] The output module is used to output the common angle deviation error mapping result, the differential synchronization angle deviation error mapping result, and the synchronization control evaluation result. Furthermore, the output module is communicatively connected to the magnetically driven micro / nano robot control system. The output module is also used to generate phase tracking parameter correction information, dual-magnet synchronization control parameter correction information, or trajectory safety verification information based on the synchronization control evaluation result, and send these to the magnetically driven micro / nano robot control system.

[0043] Specifically, the communication connection between the output module and the magnetically driven micro / nano robot control system can utilize various methods such as Ethernet, CAN bus, EtherCAT, or custom serial port protocols to adapt to different industrial hardware environments. The output module is not merely a data transmission channel, but also the decision-making and execution end of the closed-loop control strategy. Its specific logic for generating various correction information is as follows: When the synchronous control evaluation results show that the common angle deviation error is sampled on the envelope When the preset phase tracking threshold is exceeded, the output module generates phase tracking parameter correction information. This information may include suggested adjustments to the PID controller's proportional gain, integral time constant, or feedforward compensation coefficient, aiming to improve the dynamic response capability of the main drive shaft to the command phase and eliminate overall phase lag or lead.

[0044] When the synchronous control evaluation results show that the differential synchronization angle deviation error sampling envelope When the preset relative synchronization threshold is exceeded, the output module generates correction information for the dual-magnet synchronization control parameters. This information can indicate the fine-tuning amount of the electronic gear ratio, the gain adjustment value of the cross-coupling controller, or the slave shaft compensation torque command, specifically used to correct the relative phase mismatch between the two magnets and restore the ideal geometric relationship of magnetic field superposition.

[0045] When the combined evaluation result of the common angle deviation error and the differential synchronization angle deviation error exceeds the safe operating boundary, the output module generates trajectory safety verification information. This information can trigger the magnetically driven micro / nano robot control system to execute degraded operation strategies, such as reducing the target motion speed, pausing the execution of the current trajectory segment, or entering an emergency braking state, to prevent the micro / nano robot from going out of control, deviating from the predetermined path, or causing damage to surrounding tissues / devices due to excessive force errors.

[0046] Through the aforementioned closed-loop communication mechanism, the mapping system provided in this embodiment directly transforms abstract error analysis results into executable low-level control commands, thus establishing a technical link from "error perception" to "error management." Compared to existing technologies that can only issue alarms or rely on manual experience for parameter tuning, this system can automatically match the optimal correction strategy based on the specific type of error, significantly improving the adaptive capability, control accuracy, and operational safety of the magnetically driven micro-nano robot under complex working conditions. It should be understood that the generation logic of the above three types of correction information is only a preferred example. In other embodiments, the output module can also generate other types of control auxiliary information according to actual needs, as long as it is based on the synchronous control evaluation results obtained by decoupling in this application.

[0047] Example 3: This example provides a closed-loop control application scenario for magnetically driven micro / nano robots to illustrate the operational effectiveness and technological advancements of the aforementioned mapping method and system in actual industrial or scientific research environments. In this example, taking intravascular targeted delivery as an example, the micro / nano robot needs to move precisely along a predetermined trajectory within a complex vascular network, which places extremely high demands on the directional accuracy of the driving magnetic field and the stability of the gradient force. In this scenario, the system utilizes the mapping method described in Example 1 and the mapping system described in Example 2 to achieve real-time decoupling evaluation and targeted closed-loop control of the magnetic gradient force error caused by the angular deviation of the dual synchronously rotating permanent magnets.

[0048] Specifically, during the intravascular targeted delivery task performed by the micro / nano robot, the control system acquires the actual rotation angle feedback and command rotation phase of the dual synchronous rotating permanent magnets in real time, and decouples the real-time angle deviation into a common angle deviation and a differential synchronous angle deviation through step 3 in Example 1. Subsequently, based on the current theoretical position and command phase, the system calculates in real time the magnitude of the magnetic gradient force error caused independently by these two types of deviations, i.e., the upper envelope of the common angle deviation error sampling. Sampling envelope of differential synchronization angle deviation error This real-time decoupling mechanism enables the control system to clearly identify the physical source of the current force error, rather than obtaining only a fuzzy comprehensive error scalar as in existing technologies.

[0049] When the system detects the common angle deviation error sampling envelope When the preset phase tracking safety threshold is exceeded, it is determined that the current error mainly stems from the overall phase response lag or lead of the dual-magnet drive system. At this point, the output module generates phase tracking parameter correction information based on the synchronization control evaluation results and sends it to the magnetically driven micro / nano robot control system. Specifically, this correction information may include an instruction to increase the proportional gain of the spindle motor PID controller or an adjustment value for the speed feedforward compensation coefficient. Through this targeted adjustment, the control system can improve the dynamic tracking capability of the main drive shaft to high-frequency rotation commands, enabling the overall magnetic moment direction of the dual magnets to quickly return to the ideal command phase, thereby eliminating the magnetic gradient force direction deviation caused by the overall phase shift and ensuring that the micro / nano robot's forward direction within the blood vessel remains consistent with the planned path.

[0050] When the system detects the differential synchronization angle deviation error sampling envelope When the preset relative synchronization safety threshold is exceeded, it is determined that the current error mainly stems from the relative phase mismatch between the two permanent magnets, meaning that the two magnets no longer maintain an ideal synchronous rotational relationship. At this point, the output module generates correction information for the synchronization control parameters of the two magnets based on the synchronization control evaluation results and sends it to the magnetically driven micro / nano robot control system. Specifically, this correction information can be directed to the electronic gear ratio fine-tuning of the slave-axis motor or the synchronization error compensation gain of the cross-coupling controller. Since differential synchronization angle deviation directly disrupts the geometric symmetry of the superimposed magnetic fields of the two magnets, leading to distortion of the magnetic gradient force field and even unexpected lateral forces, an independent synchronization compensation loop must be used to correct the relative positional relationship between the two magnets. This approach avoids erroneously adjusting the overall phase parameters and masking the synchronization mismatch problem, effectively preventing the risk of the micro / nano robot rolling over or deviating from the blood vessel centerline due to force field distortion.

[0051] Furthermore, when the combined evaluation result of the common angle deviation error and the differential synchronization angle deviation error exceeds the maximum safety boundary allowed by the system, it indicates that the current magnetic field driving environment can no longer meet the requirements for precise control. At this time, the output module generates trajectory safety verification information, triggering the magnetically driven micro / nano robot control system to execute a degraded operation strategy. For example, the system can automatically reduce the target motion speed of the micro / nano robot to reduce the requirements for dynamic response to the magnetic field, or immediately suspend the execution of the current trajectory segment and maintain the current position until the angle deviation recovers to within the safe range. This safety mechanism fully utilizes the independent quantization capability of the two types of error sources in this application, avoiding blindly continuing to operate under a single scalar error processing mode due to the inability to identify high-risk differential mismatches, and significantly improving the safety of micro / nano robots operating in sensitive environments such as those involving humans.

[0052] It should be understood that the above-described intravascular targeted delivery scenario is merely illustrative. In other embodiments, the technical solutions of this application are also applicable to other magnetically driven micro / nano robot manipulation scenarios such as micro-assembly, cell sorting, or targeted drug release. Regardless of the specific application scenario, as long as it employs a technical means based on decoupling mapping of common angle deviation and differential synchronization angle deviation to guide closed-loop control parameter correction or safety verification, it falls within the protection scope of this application. Compared to the problem in the prior art where angle error is treated as a single scalar, leading to confusion or failure of the control strategy, this embodiment distinguishes between global phase tracking error and relative synchronization mismatch between the two magnets, achieving precise matching from error perception to control execution. This verifies the substantial progress made by this application in improving the driving accuracy and operational safety of micro / nano robots.

[0053] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of corresponding variations or substitutions within the technical scope disclosed in this application, and these variations or substitutions should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for mapping magnetic gradient force errors caused by angular deviations in dual synchronous rotating permanent magnets, characterized in that, include: Step 1: Obtain the arrangement parameters and magnetic moment parameters of the dual synchronous rotating permanent magnets, the theoretical position and magnetic moment parameters of the micro / nano robot, and the commanded rotation phase; Step 2: Under ideal synchronization, calculate the theoretical total magnetic field generated by the dual synchronous rotating permanent magnets at the theoretical position, and calculate the theoretical magnetic gradient force based on the condition that the magnetic moment direction of the micro-nano robot is aligned with the direction of the theoretical total magnetic field. Step 3: Obtain the angular deviation of each permanent magnet in the dual synchronous rotating permanent magnet relative to the command rotation phase, and decouple and decompose the angular deviation into common angular deviation and differential synchronous angular deviation. Step 4: Determine the actual magnetic moment direction of each permanent magnet based on the common angle deviation and the differential synchronization angle deviation, and calculate the perturbation magnetic gradient force; Step 5: Determine the magnetic gradient force error based on the difference between the perturbed magnetic gradient force and the theoretical magnetic gradient force; Step 6: Based on the independent changes of the common angle deviation and the differential synchronization angle deviation, generate the common angle deviation error mapping result and the differential synchronization angle deviation error mapping result respectively, and output the synchronization control evaluation result.

2. The mapping method for magnetic gradient force error caused by angular deviation of dual synchronous rotating permanent magnets according to claim 1, characterized in that, Decoupling and decomposing the angle deviation into common angle deviation and differential synchronization angle deviation includes: The common angle deviation and relative synchronization deviation vectors are calculated using the following formulas: ； ； in, and These represent the angular deviations of the first and second permanent magnets relative to the commanded rotation phase, respectively. For common angular deviation, This is the relative synchronization deviation vector. For the reason and The resulting angular deviation vector.

3. The mapping method for magnetic gradient force error caused by angular deviation of dual synchronous rotating permanent magnets according to claim 2, characterized in that, The sum of the two components of the relative synchronization deviation vector is zero, and the differential synchronization angle deviation is calculated according to the following formula: ； ； in, and These are the two components of the relative synchronization deviation vector. The differential synchronization angle deviation is used to characterize the degree of relative phase mismatch between the two permanent magnets in the dual synchronous rotating permanent magnet.

4. The mapping method for magnetic gradient force error caused by angular deviation of dual synchronous rotating permanent magnets according to claim 1, characterized in that, The calculation of the theoretical magnetic gradient force includes: The theoretical total magnetic field is obtained by vector superposition of the magnetic fields generated by each permanent magnet in the dual synchronous rotating permanent magnet system. The unit vector of the magnetic moment direction of the micro / nano robot is determined according to the following formula, and the theoretical magnetic gradient force is calculated: ； ； ； in, For the theoretical total magnetic field, For the first The magnetic field generated by a permanent magnet. Let be the unit vector of the magnetic moment direction of the micro / nano robot. Represents the L2 norm, The scaling factor for the common force. For a compact gradient force matrix, This is the theoretical magnetic gradient force.

5. The mapping method for magnetic gradient force error caused by angular deviation of dual synchronous rotating permanent magnets according to claim 4, characterized in that, No. The magnetic field generated by a permanent magnet Calculate using the following formula: ； ； ； ； ； in, This represents the theoretical position of micro / nano robots. For the first The position of the permanent magnet. For from the first The relative position vector of each permanent magnet pointing to its theoretical position. For the first The distance between each permanent magnet and its theoretical position It is a unit vector of relative position. For the first The field matrix corresponding to each permanent magnet. It is a third-order identity matrix. The permeability of free space, The magnitude of the magnetic moment of the permanent magnet. This refers to the direction of the unit magnetic moment shared by the two permanent magnets under ideal synchronous rotation. Rotate the phase for the command.

6. The mapping method for magnetic gradient force error caused by angular deviation of dual synchronous rotating permanent magnets according to claim 1, characterized in that, The generation of common angle deviation error mapping results and differential synchronization angle deviation error mapping results respectively includes: Calculate the magnitude of the magnetic gradient force error caused by the common angular deviation and the differential synchronization angular deviation using the following formulas: ； ； in, This represents the magnitude of the magnetic gradient force error caused by the common angular deviation. This represents the magnitude of the magnetic gradient force error caused by the differential synchronization angle deviation. For L2 norm operations, To rotate the phase as instructed, Let be the angular deviation vector formed by common angular deviations. This is the relative synchronization deviation vector. This is the error vector between the perturbation magnetic gradient force and the theoretical magnetic gradient force.

7. The mapping method for magnetic gradient force error caused by angular deviation of dual synchronous rotating permanent magnets according to claim 6, characterized in that, The output synchronization control evaluation results include: The absolute values ​​of different common angle deviations, differential synchronization angle deviations, and command rotation phases are sampled, and the upper envelope of the common angle deviation error sampling is extracted respectively. Sampling envelope of differential synchronization angle deviation error ; Based on the common angle deviation error sampling upper envelope Sampling envelope of differential synchronization angle deviation error The phase tracking accuracy requirements and relative synchronization accuracy requirements of the dual synchronous rotating permanent magnets are determined.

8. The mapping method for magnetic gradient force error caused by angular deviation of dual synchronous rotating permanent magnets according to claim 1, characterized in that, The calculation of the perturbation magnetic gradient force includes: The perturbed magnetic field and the perturbed magnetic gradient force are calculated using the following formulas: ； ； in, To disturb the magnetic field, For the first The direction of the unit magnetic moment of a permanent magnet under actual angular deviation. For the first Angular deviation of the permanent magnet For the perturbation compact gradient force matrix, Let be the unit vector of the magnetic moment direction of the micro / nano robot under perturbed conditions. To disturb the magnetic gradient force, The scaling factor for the common force. The permeability of free space, The magnitude of the magnetic moment of the permanent magnet. For the first The distance between each permanent magnet and its theoretical position For the first The field matrix corresponding to each permanent magnet.

9. A mapping system for magnetic gradient force error caused by angular deviation of dual synchronous rotating permanent magnets, characterized in that, include: The parameter acquisition module is used to acquire the arrangement parameters and magnetic moment parameters of the dual synchronous rotating permanent magnets, the theoretical position and magnetic moment parameters of the micro-nano robot, and the command rotation phase. An angle deviation decomposition module is used to obtain the angle deviation of each permanent magnet in the dual synchronous rotating permanent magnet relative to the command rotation phase, and decouple and decompose the angle deviation into a common angle deviation and a differential synchronous angle deviation. The magnetic gradient force calculation module is used to calculate the theoretical total magnetic field generated by the dual synchronous rotating permanent magnet at the theoretical position under ideal synchronization, and to calculate the theoretical magnetic gradient force based on the condition that the magnetic moment direction of the micro-nano robot is aligned with the direction of the theoretical total magnetic field. And based on the common angle deviation and the differential synchronization angle deviation, the actual magnetic moment direction of each permanent magnet is determined, and the perturbation magnetic gradient force is calculated; The error mapping module is used to determine the magnetic gradient force error based on the difference between the perturbed magnetic gradient force and the theoretical magnetic gradient force, and to generate the common angle deviation error mapping result and the differential synchronization angle deviation error mapping result based on the independent changes of the common angle deviation and the differential synchronization angle deviation, respectively. The output module is used to output the common angle deviation error mapping result, the differential synchronization angle deviation error mapping result, and the synchronization control evaluation result.

10. The mapping system for magnetic gradient force error caused by angular deviation of dual synchronous rotating permanent magnets according to claim 9, characterized in that: The output module is communicatively connected to the magnetically driven micro-nano robot control system. The output module is also used to generate phase tracking parameter correction information, dual magnet synchronous control parameter correction information, or trajectory safety verification information based on the synchronous control evaluation results, and send them to the magnetically driven micro-nano robot control system.

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