TY - GEN
T1 - Closed-Loop Control of a Helmholtz Coils System for 3-axis Magnetic Field Generation with High Precision
AU - Jiang, Jialin
AU - Yang, Lidong
AU - Zhang, Li
N1 - Funding Information:
This research is financially supported by Innovation and Technology Fund (project number: MRP/036/18X), and the direct grant(project number: 4055111).
Publisher Copyright:
© 2020 IEEE.
PY - 2020/12
Y1 - 2020/12
N2 - 3-axis Helmholtz coils system is capable of generating spatial uniform magnetic field, and has been widely used in biomedical applications for magnetic micro/nanorobot actuation and steering. This paper reports a control scheme for 3-axis Helmholtz coils system to realize precise and fast current tracking. The controller is based on model predict control (MPC) algorithm, and the nominal mathematical model of the coil series connected with the amplifier is obtained by sweeping frequency method, and a 4th-order super-twisting sliding mode observer (STSMO) is proposed for disturbance and state value observation. Moreover, we perform different experiments to validate the feasibility of the proposed scheme. The results show that the electromagnetic coils system can achieve accurate tracking for sine and square current reference. The bandwidth and precision of the system are significantly improved with the proposed control scheme.
AB - 3-axis Helmholtz coils system is capable of generating spatial uniform magnetic field, and has been widely used in biomedical applications for magnetic micro/nanorobot actuation and steering. This paper reports a control scheme for 3-axis Helmholtz coils system to realize precise and fast current tracking. The controller is based on model predict control (MPC) algorithm, and the nominal mathematical model of the coil series connected with the amplifier is obtained by sweeping frequency method, and a 4th-order super-twisting sliding mode observer (STSMO) is proposed for disturbance and state value observation. Moreover, we perform different experiments to validate the feasibility of the proposed scheme. The results show that the electromagnetic coils system can achieve accurate tracking for sine and square current reference. The bandwidth and precision of the system are significantly improved with the proposed control scheme.
UR - http://www.scopus.com/inward/record.url?scp=85092606886&partnerID=8YFLogxK
U2 - 10.1109/ICARM49381.2020.9195388
DO - 10.1109/ICARM49381.2020.9195388
M3 - Conference article published in proceeding or book
AN - SCOPUS:85092606886
T3 - ICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics
SP - 495
EP - 500
BT - ICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2020
Y2 - 18 December 2020 through 21 December 2020
ER -