针对直径小于Φ20mm的小尺度弯管内壁质量检测和血管淤塞问题，提出了微小流体弯管的磁性小球电磁外驱动方法与控制理论。研究上下2组电磁铁作用下的磁性小球位移驱动机理，通过直线位移离散化的微失衡力控方法，实现磁性小球从平衡到失衡，再到平衡的力控原理；研究四周均布4组电磁铁非对称磁场作用下的磁性小球磁极偏置问题，探索磁场力和旋转向心力之间的力平衡原理，以及磁性小球磁极偏置后的位移驱动机理；研究磁性小球在外驱动体由水平转为垂直运动时的驱动结构变换与角度非线性调节的关系；探索在高粘度血液软管和低粘度燃油硬管中的磁性小球流体力学性能与运动特性，构建流体粘度、管道压力、流体速度、管道直径等物理参数与外磁驱动力的本构关系方程，探寻磁性小球的运动速度在不同的管道和流体参数下的变换规律。建立一套完整的力失衡驱动理论与控制系统，拓宽外磁驱动的理论范畴，为航空航天、血管类医学微小管道内的检测与运动控制提供新方法。

Arming to the inner-quality of bend pipe and the siltation of blood vessel with the size less than Φ20mm, a novel electromagnetic driving and controlling method for the magnetic ball outside the bend pipe is presented in this application. The straight displacement driving principle under two groups of electromagnetic irons will be investigated, and the straight displacement will be dispersed into micro-increment by using the micro-unbalance force controlling method to realize the magnetic ball from balance status to unbalance status, then to balance again. Under four groups of the electromagnetic irons even distributing around the ball, the magnetic pole bias will result in a new force balance status. Thus, the displacement driving principle will be modified because the force balance includes the magnetic force and rotating centrifugal force. The driving construct modification and the angle nonlinear change will be investigated when the ball is changed from the horizontal pipe to the vertical pipe. The high-viscosity blood vessel and low-viscosity oil pipe will be set up to research the mechanical property and motion characteristics of the magnetic ball driving. Furthermore, the relation function will be obtained among the fluid viscosity, fluid velocity, pipe diameter, pipe pressure, and the driving force. The change rules of the ball velocity under different pipe parameters and different fluid parameters will be presented. In final, a set of force unbalance driving theory and controlling system will be constructed, which will widen the outside magnetic driving theory and provide a novel measuring and controlling method for the micro pipe in the field of aerospace and cardiovascular medicine.