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Control Design and Analysis for Rotationally Oscillating Drill (Ros-Drill), with Low-Resolution Feedback.

机译：具有低分辨率反馈的旋转振荡钻机（Ros-Drill）的控制设计和分析。

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摘要

A novel hybrid (i.e., discrete/continuous) control system is studied on a cellular microinjection technology called the Ros-Drill (Rotationally Oscillating Drill). Ros-Drill is a novel technology which is developed primarily for ICSI (Intra-Cytoplasmic Sperm Injection). It is an inexpensive technique, which creates high-frequency rotational oscillations at the tip of an injection pipette tracking a harmonic motion profile. Such a motion control procedure presents no particular difficulty when it uses sufficiently precise sensors. However, coarse spatial sensitivity of the motion sensors, which are enforced due to various constraints, may severely constrain the sensory capabilities. Consequently the trajectory tracking is adversely affected.;In this Ph.D. dissertation, we introduce a novel adaptive control design method to facilitate the tracking of the high-speed harmonic trajectory. This control design method consists of two-stage adaptation scheme. In the first-stage adaptation scheme, a look-up-table-based tuned PID control law is used to cope with the limitations in the hardware. In the second-stage adaptation scheme, an online adaptive control logic is deployed to facilitate the tracking of the harmonic rotational motion under uncertainties especially frictions. This adaptive control design method is able to achieve desired encoder reading, that is fixed number of steps from peak-to-peak stroke. We demonstrate via dynamic simulations and experiments that the tracking of the harmonic rotational motion is achieved with desirable fidelity.;The low-resolution encoder may sense the same angular position differently, depending on a random variable, the encoder offset angle. Based on the encoder readings, we undertake a probabilistic analysis of the actual angular motion. In that sense the encoder is simply described as a "range indicator", not a reliable sensor of the motion. For a high-precision control application, we propose a novel method which enables reliable peak-to-peak stroke tracking using the same hardware. We demonstrate via simulations and experiments that the precise tracking of the harmonic rotational motion is achieved with desirable fidelity.
机译：在一种称为Ros-Drill（Rotationally Oscillator Drill）的细胞显微注射技术上，研究了一种新颖的混合（即离散/连续）控制系统。 Ros-Drill是一项主要针对ICSI（细胞质内精子注射）开发的新技术。这是一种廉价的技术，可在注射移液器的尖端产生高频旋转振荡，从而跟踪谐波运动曲线。当这种运动控制程序使用足够精确的传感器时，就没有特别的困难。但是，由于各种限制而强制执行的运动传感器的粗略空间灵敏度可能会严重限制传感能力。因此，轨迹跟踪受到不利影响。论文中，我们介绍了一种新颖的自适应控制设计方法，以方便跟踪高速谐波轨迹。这种控制设计方法包括两阶段的适应方案。在第一阶段的自适应方案中，基于查找表的已调整PID控制律用于应对硬件中的限制。在第二阶段的自适应方案中，部署了在线自适应控制逻辑以促进在不确定性（尤其是摩擦）下跟踪谐波旋转运动。这种自适应控制设计方法能够实现所需的编码器读数，即从峰到峰行程的固定步数。我们通过动态仿真和实验证明以理想的保真度实现了对谐波旋转运动的跟踪。低分辨率编码器可能会根据随机变量（编码器偏移角）不同地感应相同的角位置。根据编码器的读数，我们对实际的角运动进行概率分析。在这种意义上，编码器被简单地描述为“范围指示器”，而不是可靠的运动传感器。对于高精度控制应用，我们提出了一种新颖的方法，该方法可以使用相同的硬件实现可靠的峰峰值行程跟踪。我们通过仿真和实验证明，以期望的保真度实现了对谐波旋转运动的精确跟踪。

著录项

  • 作者

    Zhang, Zhenyu.;

  • 作者单位

    University of Connecticut.;

  • 授予单位 University of Connecticut.;
  • 学科 Engineering Electronics and Electrical.;Engineering Mechanical.
  • 学位 Ph.D.
  • 年度 2012
  • 页码 94 p.
  • 总页数 94
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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