Planar Steering of a Single Ferrofluid Drop by Optimal Minimum Power Dynamic Feedback Control of Four Electromagnets at a Distance.
Planar Steering of a Single Ferrofluid Drop by Optimal Minimum Power Dynamic Feedback Control of Four Electromagnets at a Distance.
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DOI：
10.1016/j.jmmm.2010.08.024
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发表时间：
2011-04-01
影响因子：
2.7
通讯作者：
Shapiro B
中科院分区：
文献类型：
--
作者：
Probst R;Lin J;Komaee A;Nacev A;Cummins Z;Shapiro B
任何单一的永磁体或电磁体都会吸引磁性流体。由于这个原因，很难精确地定位和操纵远离磁体的磁流体。我们开发并实验演示了通过4个外部电磁铁的反馈控制来实现对单个磁流体液滴的最佳(最小电功率)二维操纵。我们开发的控制算法考虑了磁体如何驱动磁流体的非线性(空间快速衰减，磁体强度为二次)的性质，并对电磁充电时间延迟进行了校正。有了这种控制，我们证明了在磁区外保持的电磁铁的动态激励可以用来将磁流体液滴定位到任何所需的位置，并沿着该磁区内的任何所需路径引导它--这是通过磁体在一定距离作用来精确控制磁流体的一个例子。
Any single permanent or electro magnet will always attract a magnetic fluid. For this reason it is difficult to precisely position and manipulate ferrofluid at a distance from magnets. We develop and experimentally demonstrate optimal (minimum electrical power) 2-dimensional manipulation of a single droplet of ferrofluid by feedback control of 4 external electromagnets. The control algorithm we have developed takes into account, and is explicitly designed for, the nonlinear (fast decay in space, quadratic in magnet strength) nature of how the magnets actuate the ferrofluid, and it also corrects for electro-magnet charging time delays. With this control, we show that dynamic actuation of electro-magnets held outside a domain can be used to position a droplet of ferrofluid to any desired location and steer it along any desired path within that domain – an example of precision control of a ferrofluid by magnets acting at a distance.
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