基于眼科手术机器人的计算机控制系统教学实验设计  

Teaching experiment design for computer control systems based on the ophthalmic surgical robot

作　　者：郑昱 程艳云[1] 丁洁[1] 杨洋[2] ZHENG Yu;CHENG Yanyun;DING Jie;YANG Yang(College of Automation&College of Artificial Intelligence,Nanjing University of Posts and Telecommunications,Nanjing 210023,China;School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China)

机构地区：[1]南京邮电大学自动化学院人工智能学院,江苏南京210023 [2]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《实验技术与管理》2024年第10期180-185,共6页Experimental Technology and Management

基　　金：江苏省高等教育教改研究课题(2023JSJG445);江苏省产教融合型品牌专业资助项目(苏教办高函[2022]3号);南京邮电大学校级重点教改项目(JG00523JX12);教育部自动化类教指委专业教育教改研究课题(2024001);中国电子教育学会教育教学改革研究项目(DJY23008)。

摘　　要：数字PID控制、最小拍控制和大林控制是计算机控制系统中的核心教学内容。目前仅有针对数字PID开展教学实验的先例,缺乏基于实际工程问题、适合最小拍控制和大林控制的实验平台。针对这一问题,提出基于眼科手术机器人的计算机控制系统实验平台,结合精准控制“机器人-视网膜”接触力这一工程背景,设计接触模型辨识、数字PID控制、最小拍控制和大林控制实验,引导学生将计算机控制系统的相关知识与工程实践相结合,提升解决实际问题的能力。[Objective]The computer control system is a core course in the field of automation engineering,mainly focusing on the principles and methods of computers executing automated processes.This course extends the theory of automatic control to practical applications and is an important course that integrates theory with practice.Digital PID control,minimum cycle control,and Dahlquist control play significant roles in computer control system education,directly impacting the stability and response speed of engineering applications.However,current teaching practices exhibit notable shortcomings,particularly in the realm of digital PID control,with insufficient emphasis on platforms for teaching and experimenting with minimum cycle control and Dahlquist control.[Methods]To address this challenge,we proposed an innovative experimental platform based on ophthalmic surgical robots.Ophthalmic surgical robots represented typical examples of precise control systems,facing complex engineering challenges in controlling“robot–retina”contact forces.Through this platform,we planned to design multiple experimental projects covering different topics,such as contact model identification,digital PID control,minimum cycle control,and Dahlquist control.First,students will learn through experimentation and analysis how to understand and identify the complex contact models within ophthalmic surgical robot systems.This process extends beyond classroom theory,serving as crucial validation of precise control theory in practical engineering applications.By observing and measuring forces and positional relationships during robot–retina interactions,students will explore methods to accurately simulate and predict these interactions.Second,students will further explore the application of digital PID control algorithms and adjust the parameters of the PID controller,such as proportional,integral,and derivative coefficients,to achieve precise adjustment of contact forces.This practical experience not only deepens their understanding of PID c

关 键 词：计算机控制系统 眼科手术机器人 最小拍控制 大林控制 实验平台 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]