基于视觉反馈的毫米级颗粒超声操控研究  

Ultrasonic control of millimeter particles based on visual feedback

作　　者：吴昊阳 闵新杰 吴森 WU Hao-yangy;MIN Xin-jie;WU Sen(School of Precision Instrument and Opto-Electronics Engineering,Tianjin University,Tianjin 300072,China)

机构地区：[1]天津大学精密仪器与光电子工程学院,天津300072

出　　处：《控制与决策》2023年第10期2905-2911,共7页Control and Decision

基　　金：国家自然科学基金面上项目(61973233)。

摘　　要：声波具有良好的穿透性与较广的波长范围,能够突破传统光镊、磁镊、微流控技术的操控颗粒尺寸限制,因此非接触超声操控技术成为研究热点之一.为克服传统驻波声镊的应用局限性,深入探讨基于单面全息声镊系统实现的毫米级颗粒轨迹操控技术.根据Twin声阱模型提出求解相应相位矩阵的快速实现算法,以保证后续轨迹操控的实时性;根据被控颗粒受力模型及自平衡时长设定轨迹操控策略,以保证操控的稳定性;为确保声镊系统驱动信号的同步性,基于处理器FPGA设计相应复用电路;为提升实际轨迹的准确性,基于FPGA实时视觉测量功能实现闭环反馈.实验通过所设计的声镊系统成功完成直径3 mm聚苯乙烯小球的正方形轨迹移动操控.结果表明,所提出系统声场生成和视觉检测计算效率高,轨迹操控快速同步,实时可靠,轨迹形状与目标轨迹一致性好.Ultrasound has good penetration and a wide wavelength range,which can break through the size limitation of controlled particles by traditional optical tweezers,magnetic tweezers and microfluidic technology.Therefore,ultrasonic control technology has developed.In order to overcome defects of traditional standing wave acoustic tweezers,we discuss the millimeter particle trajectory control method based on single-axis holographic acoustic tweezers.On account of the Twin trap,a fast implementation algorithm for calculating the corresponding phase matrix is proposed to ensure the real-time performance of trajectory control.Meanwhile,according to the force model and self-balancing time of particles,the trajectory control strategy is set for stability.For ensuring the synchronization of drive signals,corresponding multiplexing circuit is designed based on the processor FPGA.For improving the accuracy of actual trajectory,closed-loop feedback is realized based on the real-time vision measurement function.In the experiment,the square track movement of a PP ball with a diameter of 3 mm is successfully finished.The results show that the proposed system has high computational efficiency in the generation of acoustic field,visual measurement,fast synchronization,real-time reliability of trajectory control,and good consistency between actual and target trajectory.

关 键 词：声全息 声镊 超声悬浮 超声操控 Twin型声阱 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]