空间万向均匀旋转磁矢量的反相位信号叠加控制原理

Based on magnetic vector superposition principle, sequential quadratic programming method, electro-magnetics and computer control technology, antiphase superposition control theorem of a spatial universal rotating uniform magnetic vector,superimposed inside three axis orthogonal square Helmholtz coils driven by triphase sine signals, will be investigated. Physical essence of change rule between orientation and rotating direction of a spatial universal rotating magnetic field and drive combinations of three antiphase current signals will be revealed, antiphase current superposition theorem will be generalized, controllability of orientation and rotational direction of a saptial universal rotating magnetic field will be explored, as a result,by simulations and experiments, design mothod and control theory for rotating magnetic vector generating device with adjustable rotating speed, orientation of normal vector,magnetic field intensity and rotating direction by digital control will be formed. With a general physical significance and as a technical bottleneck for micro robot applied in intestine and vascular intervention,etc.，a spatial universal rotating uniform magnetic field generating technology employing antiphase current superposition is the need of the development of modern physics.

以空间矢量叠加原理、序列二次规划法、电磁学及计算机控制技术为基础，研究三相正弦电流信号驱动三轴正交嵌套方形亥姆霍兹线圈叠加空间万向均匀旋转磁矢量的反相位控制原理，揭示三相反相位正弦电流信号组合驱动方式与旋转磁矢量方位及旋向变化规律的物理本质，归纳反相位电流叠加定律，探索万向旋转磁矢量方位与旋向的可控性，通过仿真与实验验证，最终形成转速、方位、场强和旋向均可数字化调整的空间万向旋转磁矢量叠加装置的设计方法与控制理论。空间万向旋转磁矢量反相位叠加控制原理具有普遍物理意义，是现代物理学发展的需要，也是肠道胶囊机器人和血管等介入医疗技术的最大瓶颈。

为了实现三轴正交嵌套亥姆霍兹线圈内叠加旋转磁矢量方位的任意调整，本项目提出空间万向旋转磁矢量的反相位电流叠加定律，揭示了正弦电流信号反相位组合方式与磁矢量方位与转向的变化规律，解决了磁矢量任意方位与旋向的唯一性控制问题，具体采用了基本电流叠加公式的反相位电流组合方式和构建四个反向磁矢量，解决了八个象限内叠加空间万向旋转磁矢量方位与旋向控制问题，通过数字化控制实现空间万向旋转磁矢量方位、旋向、强度、转速的任意调整；针对磁矢量方位误差和均匀度补偿问题，在建立了磁矢量方位和均匀度误差数学模型的基础上，提出双误差补偿方法，即基于三组线圈结构参数的电流幅度补偿法和基于相位直线极化法的相对相位差补偿法，解决了线圈结构参数不匹配与电流相位差导致的旋转磁矢量方位与均匀度误差的补偿问题。空间万向旋转磁矢量反相位叠加控制原理具有普遍物理意义，在空间万向电机以及肠道胶囊机器人和血管等介入医疗技术领域具有重要应用前景。