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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Design and Precision Position/Force Control of a Piezo-Driven Microinjection System
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Design and Precision Position/Force Control of a Piezo-Driven Microinjection System

机译：压电驱动显微注射系统的设计和精确位置/力控制

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摘要

This paper presents the design and development of a piezo-driven cell injection system with the fusion of force and position control. By integrating a polyvinylidene fluoride force sensor for detecting the penetration force of biological cells and a strain-gage sensor for measuring the micropipette relative position in real time, the entire cell micromanipulation system features low cost, convenient installation, and easy maintenance. The challenge of transition jerk between the force and position controller switching is reduced by introducing a weight coefficient method. An adaptive sliding mode control with parameter estimation scheme is implemented to compensate for the hysteresis nonlinearity and disturbance of the piezoelectric actuator. The injection force is controlled by realizing an incremental proportional-integral-derivative controller. The effectiveness of the developed cell injection system is experimentally verified by penetrating zebrafish embryos. The experimental results lay a foundation for the further biological manipulation research, such as the automatic batch injection of zebrafish embryos.
机译：本文介绍了结合力和位置控制的压电驱动细胞注射系统的设计和开发。通过集成用于检测生物细胞穿透力的聚偏二氟乙烯力传感器和用于实时测量微量移液器相对位置的应变仪传感器，整个细胞显微操作系统具有成本低，安装方便和易于维护的特点。通过引入权重系数方法，可以减小力和位置控制器切换之间的过渡跳动的挑战。实施带有参数估计方案的自适应滑模控制，以补偿压电致动器的磁滞非线性和干扰。通过实现增量比例积分微分控制器来控制注射力。通过穿透斑马鱼胚胎，实验证明了开发的细胞注射系统的有效性。实验结果为进一步的生物操纵研究奠定了基础，例如自动分批注射斑马鱼胚胎。

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