The invention discloses a method for quickly estimating the upper and lower bounds of the maximum magnetic force of a micro-nano
robot in a double-synchronous
rotating magnetic field. The method comprises the following steps: acquiring position vectors, common
magnetic moment vectors, common rotating shaft unit vectors and to-be-estimated position points of two permanent magnets; calculating and superposing a total
magnetic field generated by each permanent
magnet at the to-be-estimated position point and a
magnetic field rotating shaft; the
magnetic gradient force borne by the micro-nano
robot is expressed as a calculation formula related to the
magnetic moment direction of the permanent
magnet and the
magnetic moment direction of the micro-nano
robot; constructing a
symmetric matrix related to a common rotating shaft of the permanent magnets and a
magnetic field rotating shaft at the position point to be estimated, and taking a characteristic value of the
symmetric matrix as a candidate upper bound of the normalized maximum magnetic force; constructing an auxiliary matrix based on the eigenvectors, and taking eigenvalues of the auxiliary matrix as a candidate lower bound of the normalized maximum magnetic force; and obtaining an
estimation interval of the normalized
magnetic gradient force maximum square according to the candidate upper and lower bounds, and outputting a modulus length
estimation range. According to the method, rapid
estimation of the maximum magnetic force is realized on the premise of ensuring the calculation efficiency.