Modeling and Configuration Design of Electromagnetic Actuation Coil for a Magnetically Controlled Microrobot

Non-contact actuated microbeads have attracted a lot of attention in recent years because of its enormous potential in medical, biological, and industrial applications. Researchers have proposed a multitude of electromagnetic actuation(EMA) systems consisting of a variety of coil pairs. However, a unified method to design and optimize a coil pair according to technical specifications still does not exist. Initially, this paper presented the modeling of an untethered ferromagnetic particle actuated by externally applied magnetic field. Based on the models, a simple method of designing and optimizing the EMA coil pair according to technical specifications, was proposed. A loop-shaped coil pair generating uniform magnetic and gradient fields was chosen to demonstrate this method clearly and practically. The results of the optimization showed that the best distance to radius ratio of a loop-shaped coil pair is 1.02 for a uniform magnetic field and 1.75 for a uniform gradient field. The applicability of the method to other shapes of coil configuration was also illustrated. The best width to distance ratio for a square-shaped coil pair is 0.558 and 0.958 for uniform magnetic and gradient fields, respectively. The best height to width ratio and distance to width ratio for a rectangle-shaped coil pair is h/w = [0.9,1.1], d/w = [0.5,0.6] for uniform magnetic field and h/w = [1.0,1.2], d/w = [0.9,1.1] for uniform gradient field. Furthermore, simulations of a microparticle tracking the targeted trajectory were conducted to analyze the performance of the newly designed coils. The simulations suggested the ability of manipulating microparticles via the coils designed by our proposed method. The research mainly proposed a unified design and optimization method for a coil pair, which can support researchers while designing a specific coil pair according to the technical requirements. This study is aimed at researchers who are interested in EMA system and microrobots.     

Uniformity condition for a rectangular field coil with a split winding

A generalized Helmholtz condition for field uniformity is derived from the closed form solution of the magnetic field in a multilayer rectangular coil pair as a function of coil dimensions and pair separation. The relation among the dimensions satisfying this condition is found and plotted in parametric form for single layer coils and for a multilayer coil with a specific winding thickness. For square coils of cross section small compared to their mean radius, the gap separation approaches half the coil radius, analogous to the classical condition for circular coils. Comparison between theoretical and measured values for tolerances within +/-5% of the field at the system center agree within a 6% maximum deviation. For the experimental coil, the area enclosed by the +/-5% contour was 58% of the area of the full coil.     

基于Maxwell的磁场发生装置设计及分析

为了实现混有钕铁硼粉末的水凝胶磁化,设计了一种基于亥姆霍兹线圈的新式磁场发生装置.利用Maxwell软件3D模块绘制出磁场系统的三维模型,采用Magnetostatic静磁场求解器分析了增设的辅助线圈距离变化对场强的影响,得到了磁场发生装置的优化结构;再对比磁场发生装置和亥姆霍兹线圈的中心磁场强度和磁感线分布密度,验证...     

In situ calibration of rotating sensor coils for magnet testing

An in situ procedure for calibrating equivalent magnetic area and rotation radius of rotating coils is proposed for testing accelerator magnets shorter than the measuring coil. The procedure exploits measurements of magnetic field and mechanical displacement inside a reference quadrupole magnet. In a quadrupole field, an offset between the magnet and coil rotation axes gives rise to a dipole component in the field series expansion. The measurements of the focusing strength, the displacement, and the resulting dipole term allow the equivalent area and radius of the coil to be determined analytically. The procedure improves the accuracy of coils with large geometrical irregularities in the winding. This is essential for short magnets where the coil dimensions constrain the measurement accuracy. Experimental results on different coils measuring small-aperture permanent magnets are shown.     

GMR array uniform eddy current probe for defect detection in conductive specimens

The usage of eddy current probes (ECP) with a single magnetic field sensor represents a common solution for defect detection in conductive specimens but it is a time consuming procedure that requires huge amount of scanning steps when large surface specimens are to be inspected. In order to speed-up the nondestructive testing procedure, eddy current probes including a single excitation coil and an array of sensing coils present a good solution. The solution investigated in this paper replaces the sensing coils for giant magneto-resistors (GMRs), due to their high sensitivity and frequency broadband response. Thus, the ECP excitation coil can be driven at lower frequencies than the traditional ones allowing defects to be detected in thicker structures.In this work an optimized uniform eddy current probe architecture including two planar excitation coils, a rectangular magnetic field biasing coil and a GMR magnetometer sensor array is presented. An ac current is applied to the planar spiral rectangular coil of the probe, while a set of GMR magnetometer sensors detects the induced magnetic field in the specimens under test. The rectangular coil provides the DC uniform magnetic field, assuring appropriate biasing of the GMR magnetometers of the probe, setting-up the functioning point on the linear region and at the same branch of the GMR static characteristics. The differences on the images obtained for the same specimen for each GMR are reduced if all sensors are biased on the same working point. Elements of the automated measurement system used to inspect the plate under test using the proposed eddy current probe, including a validation procedure based on a 2D template matching algorithm and the corresponding experimental results are included in the paper.     

永磁悬浮非接触回转驱动系统

提出一种永磁悬浮非接触回转驱动系统,该系统由悬浮部分和非接触回转驱动两部分构成。悬浮部分采用运动控制方式,利用音圈电动机驱动永磁铁实现悬浮物竖直方向的稳定悬浮;回转驱动部分由直流伺服电动机驱动径向磁化永磁铁回转,形成变化磁场,非接触驱动悬浮物回转。本系统未在悬浮物中加入任何磁性材料,仅利用悬浮物表面剩余磁化点实现悬浮物的非接触回转驱动。介绍系统的悬浮与驱动原理,建立非接触驱动数学模型,并利用仿真与试验分析系统的回转驱动特性。分析结果表明：悬浮物的非接触回转驱动可以由伺服电动机驱动盘状永磁铁旋转来实现。铁球是否旋转与磁铁的数量无关;驱动磁铁的数量与系统的响应速度成正比,驱动磁铁的数量增多,输入速度和输出速度之间的线性度相对提高,旋转稳定。明晰本系统的非接触驱动特性,为隔离环境下铁磁性物品或零件的非接触操纵和姿态控制奠定了理论基础。     

A magnetically driven reciprocating probe for tokamak scrape-off layer measurements

A new in situ reciprocating probe system has been developed to provide scrape-off layer measurements in the Tore Supra tokamak. The probe motion is provided by the rotation of an energized coil in the tokamak magnetic field. Simple analytic approximations to the exact numerical model were used to identify the important parameters that govern the dynamics of the system, and optimize the coil geometry, the electrical circuit, and the stiffness of the retaining spring. The linear speed of the probe is directly proportional to the current induced by the coil's rotation; its integral gives the coil position, providing a means to implement real-time feedback control of the probe motion. Two probes were recently mounted on a movable outboard antenna protection limiter in Tore Supra and provided automatic measurements during the 2011 experimental campaign.     

磁光/涡流实时成像检测系统的研究

介绍了磁光/涡流成像检测系统的基本工作原理及组成,给出了初步的实验结果,并对试验结果进行了相应的图像处理,实现了对表面及亚表面细小缺陷的可视化无损检测,克服了传统的涡流检测方法中探头尺寸相对较小而检测面积大,检测工作要消耗大量时间且不易操作的缺点,并具有探测结果可视化且直观易懂;易于保存;检测难度低;检测前不需要清除油漆等表面覆盖层,只需要保证待检测表面具有较好的反射性能;可对亚表面以及表面缺陷进行实时成像检测等优点。试验结果进一步验证了系统的正确性和重要性。     

An NMR Probe Coil

An NMR probe coil that produces a high-frequency magnetic field as uniform as the field provided by the well-known birdcage resonator, is described. Unlike the resonator, however, the coil can easily be tuned by varying a single variable capacitor.     

基于平面地磁感应线圈测量高速自旋弹丸转速的方法

针对高自旋弹丸的转速测试问题,推导了在三维转动中地磁感应线圈的输出公式,并在合理的假设下对高自旋弹丸的输出信号进行了简化,给出了输出信号的半周期确定方法及基于相位信息的转速测试原理。测试结果表明,利用本文方法得到的转速曲线和遥测结果是一致的。     

Optimization of dimensions of a device for circular magnetization of cylindrical components. III. Investigation of circular field component generated by a one-layer toroidal coil

The effect of dimensions of a toroidal coil and the number of turns in the coil on the circular magnetic field component within the region limited by the inside axial sections of the turns has been studied. The configuration of this field has been determined. Optimal dimensions of the coil have been calculated. In order to obtain a higher amplitude of the circular field, one should use coils with smaller numbers of turns. In the inner region of a one-layer toroidal coil close to the turns, the peaks of the circular field diminish with the number of turns, but the number of points where the field intensity is maximal becomes larger, i.e., the field becomes more uniform. Methods of further increase in the circular component of the magnetic field have been suggested.     

Analysis of the bulging process of an AZ31B magnesium alloy sheet with a uniform pressure coil

As the lightest metal material, magnesium alloy is widely used in the aerospace, automobile, and consumer electronic industries. However, magnesium alloy sheet has poor formability at room temperature. Electromagnetic forming is a high velocity forming technique that can promote the formability of low ductility materials, improve the strain distribution of workpieces, and reduce their wrinkling and springback. In this work, a uniform pressure coil was used to bulge AZ31B magnesium alloy sheets. The finite element method was then used to analyze this bulging process. The bulging contours and displacements of AZ31B magnesium alloy sheets were consistent with the experiment results. The distribution of the magnetic field intensity and magnetic field forces were found to be better than using a flat spiral coil. The deformation rule of AZ31B magnesium alloy sheet using the uniform pressure coil differed from that using the flat spiral coil. The largest strain occurred at the center of the sheet.     

活塞式磁性液体减振器的阻尼分析和实验研究

根据磁性液体的磁粘特性,当磁性液体周围施加垂直于其涡旋矢量方向的磁场时,磁性液体的粘度增加,利用磁性液体作为减振器的阻尼液,通过改变磁场可以调节振动系统的阻尼比,从而达到减振的目的。根据这一特性,提出一种活塞式磁性液体减振器。根据磁性液体的流动方程和连续性方程,建立了减振器中磁性液体的动力学模型,并得到减振器阻尼力与振动速度之间的表达式以及减振系统的阻尼比。设计实验,将磁性液体减振器安装在悬臂梁自由端,利用线圈对减振器施加均匀磁场,研究不同线圈电流时磁性液体减振器对梁振动阻尼比的影响。实验表明,在所假设的条件下,实验结果与理论结果的一致性较好。同时得出,在一定范围内,活塞式磁性液体减振器的阻尼效果随着线圈电流的增大而增大。     

正方形亥姆霍兹线圈的磁场均匀性

利用三个正方形亥姆霍兹线圈构建三维匀强磁场,并分析其匀强磁场区域特性。将正方形亥姆霍兹线圈视为四段载流导线,采取分段计算然后矢量叠加的方法,分析正方形亥姆霍兹线圈轴线上和空间磁场强度及其均匀性,及其仿真数据结果。最后得到正方形亥姆霍兹线圈三维匀强磁场的结构模型及相关数据分析,证明了三维亥姆霍兹线圈产生的磁场满足匀强磁场要求。     

高频加热线圈台阶对区熔炉磁场的影响

区熔法是生长单晶硅的重要方法之一,针对区熔法生长单晶硅过程因多晶硅熔化表面热量不均匀而出现“冷针”的问题,利用有限元法对生长区熔硅单晶进行了数值模拟。区熔法生长单晶硅采用高频感应加热,高频加热线圈是区熔炉最为关键的部件之一,线圈的结构、尺寸直接影响到磁场及焦耳热的分布及熔区形状。基于此,建立了有台阶线圈和无台阶线圈下的两种模型,对比了两种模型下熔区附近磁场分布和焦耳热分布,着重分析了高频加热线圈的台阶对磁场及焦耳热分布的影响。研究结果表明,高频加热线圈的结构会直接影响到熔区附近磁场的分布,进而影响熔区生成的焦耳热分布,线圈台阶可使磁场在熔区附近分布得更均匀,从而有效地解决了“冷针”问题。     

线性测微电感的精化

为提高测微电感传感器的测量精度,提出了基于赫姆霍兹线圈理论设计螺线管线圈的方法,改善了螺线管线圈内轴向上磁场的分布均匀性。首先,分析了螺线管线圈模型,建立了螺线管线圈参数与轴向磁场强度分布相互关系的广义函数模型。然后,通过线圈与磁芯的尺寸确定了系统轴向磁场强度分布函数模型,结合磁芯移动区间范围设置磁场均匀度最小误差目标函数,通过对目标函数寻优得到各螺线管线圈的各项参数。最后,搭建了测微电感传感器的测试系统,测试了传感器性能。实验结果表明:与传统线圈相比,改进型螺线管线圈在100μm测量范围内的线性度由0.46%提高到0.30%。实验显示通过对不同规格的螺线管线圈进行组合,可使得螺线管内轴向上磁场强度分布均匀,从而提高了测量精度。     

感应式磁声成像脉冲磁场的测量方法

阐述了利用电磁感应法测量脉冲磁场的磁感应强度,首先测量放置在标准的已知正弦波磁场里的探测线圈的线圈常数,再用这种已知线圈常数的探测线圈进行脉冲磁场的测量。介绍了微型磁场探测线圈的绕制和固定方法,设计了脉冲磁场的实际测量装置,给出了线圈平面的调整方法,利用该装置实际测量了感应式磁声成像系统中的脉冲磁场,并对测量结果进行了误差分析。     

用于胃肠道机器人的 C 型组合式无线能量 发射线圈的设计与实验

现有适用于胃肠道机器人的无线能量传输系统的能量传输效率低、接收功率低且接收能量的位置均匀性差,无法满足 功能复杂的新型胃肠道机器人的能量需求。 本文提出了一种新型 C 型组合式发射线圈结构,通过有限元仿真分析供能单元组 的磁感应强度大小和位置均匀性,确定供能单元组中线圈对间距的实验优化范围。 最后搭建实验平台,优化供能单元组中线圈 对间距,通过系统的能量传输效率、接收功率以及接收功率的位置均匀度对设计进行评估与验证。 实验结果表明:当线圈对间 距为 150 mm 时,中心位置的接收功率为 1 165. 34 mW,系统的能量传输效率为 6. 08% 。 系统的平均功率约为 1 100 mW,平均 能量传输效率达 6% 以上,接收功率的平均位置均匀度达 94% 。 新型 C 型结构磁芯以及采用同一时刻只有一个供能单元组工 作的组合式线圈结构,极大地改善了系统的接收功率与能量传输效率,并有较高的接收能量的位置均匀性。     

外加磁场对磁流体润滑油膜轴承的影响

为了研究磁流体润滑油膜轴承内磁场的分布情况,分别通过永磁铁、螺线管及亥姆赫兹线圈对其施加3种不同形式的外磁场。通过磁场二维实体有限元模型的数值仿真,分析在3种模型下磁流体润滑油膜轴承的磁场分布特性,并比较磁场在油膜区的分布情况。结果表明,永磁铁模型的磁场主要分布在永磁铁、油膜、轴承座以及靠近磁铁的轧辊部分,螺线管模型的磁场主要分布在油膜、轴承座以及靠近磁铁的轧辊部分,亥姆霍兹线圈模型的磁场主要分布在线圈以及油膜的端部;3种模型在油膜区磁场分布沿轴向均呈现中间小、两端大的不均匀现象,且具有端部效应;永磁铁模型和螺线管模型在油膜区磁场沿径向分布均匀,亥姆霍兹线圈模型沿径向分布不均匀。     

Magnetic pulser and sample holder for time- and spin-resolved photoemission spectroscopy on magnetic materials

A compact coil setup, in conjunction with a high power current pulser, is presented; developed especially for time- and spin-resolved photoemission spectroscopy measuring the sample in magnetic remanence at room temperature. A novel approach is presented where the sample is switched in the stray field of a coil pair. This enables the electrical biasing of the sample without altering the electron trajectories due to field gradients introduced by the coils. The pulser driving the coils reaches a peak power of 1 MW at 1 kA with a switching frequency up to 10 kHz suitable for experiments, for example, with state of the art repetition rates of femtosecond laser systems.