Research On The Actuator Design And The Tuning Control Of Wireless Power Transfer Module Of Micro-robot

Recently,micro-pipe robot is extensively studied,due to the development of micro/nano technology.It is important to choose the actuator and the electric supply of micro-pipe robot.On the one hand,working range of robots powered by cable or battery are largely limited.On the other hand,the robot of micro volume and limited electricity can hardly work without efficient actuator.In this paper,a study on the electromagnetic-mechanical synchronous resonance system based on giant magnetostrictive material(GMM)and wireless power transmission by magnetic coupling resonance(MCR WPT)is conducted.What's more,a control strategy of the tuning control of MCR WPT is proposed based on the analysis of impedance characteristic of Giant Magnetostrictive Actuator(GMA).Main points of this paper are as follows:(1)The coupled mode theory and electromagnetic wave theory of MCR WPT are analyzed and compared.Then working principles of electromagnetic wave theory are deeply studied,and the leakage inductance models of capacitance compensation circuits of two-coils are set up.The model of capacitance compensation is determined by the calculation of equivalent impedance of transmitting coil and receiving coil.What's more,the effects of load,mutual inductance,coupling coefficient to the power and efficiency of system are calculated.(2)According to the working characteristics,the structure of giant magnetostrictive actuator(GMA)is designed,including GMM geometric parameter,electromagnetic structure,pre-pressure system and cooling system.The 3D model of GMA is built and the magnetic field of GMA is simulated by using Ansoft Maxwell software.Moreover,the effects of shielding box of different materials and thickness to magnetic field of GMA are also analyzed.(3)The tuning control strategy is put forward based on phase controlled capacitance technology by sampling the phase of voltage and current of transmitting coil.The modules of drive frequency modulation,sampling,phase controlled capacitance,coupling coils are designed in Matlab/Simulink software.The simulation proved that the strategy is feasible.(4)The MCR WPT electromagnetic-mechanical synchronous resonance prototype is built and the vibration displacement of GMA is measured by using the laser displacement sensor with high sampling rate and high precision to test the tuning control system.Therefore,feasibility and effectiveness of electromagnetic-mechanical synchronous resonance is proved.An electromagnetic-mechanical synchronous resonance model of micro-pipe robot is raised inthis paper.A possible solution is provided to the design of efficient actuator and power supply module.And the achievement of this research has important theoretical and practical value.