Abstract – A magnetic micromanipulator can be developed with the ability to produce the magnetic force required for different applications, and can manipulate micron-sized particles. This study was carried out on the design and application of an electromagnetic actuator based magnetic micromanipulator which consists of feedback control structures for effective and automatic micro-particle manipulation, and provides two-dimensional manipulation on the horizontal axis. In the design of the electromagnet, the applied control current and the magnet configuration determine the magnetic force and torque values, and therefore there is a need to develop the feedback control mechanism with the appropriate core structures for an optimal, strong and precise design. The magnetic actuators are intended to produce approximately 1 to 25 pN of force on the 8 μm diameter superparamagnetic particle. For this purpose, a configuration consisting of nickel-iron alloy core having 6 mm long cone shaped tip and four electromagnet made from 2000 copper coil has been obtained. The magnetic micromanipulator is modeled by the first principles and is controlled by a suitable feedback control design which linearizes non-linear terms in the model. It is shown by experimental studies that the designed controller stabilizes the closed-loop dynamics of the system, gives a fast transient response and a zero steady-state error. The designed electromagnetic micromanipulator has the capacity to operate in a wide range of fields, especially in biological separation, medicine and biosensor development. Özet –Bir manyetik mikromanipülatör farklı uygulamalar için gerekli manyetik kuvveti üretme kabiliyetine sahip olarak geliştirilebilir ve mikron boyutlu parçacıkları manipüle edebilir. Bu çalışma etkin ve otomatik mikro-parçacık manipülasyonu için geribeslemeli kontrol yapılarından oluşan ve yatay eksende iki boyutlu manipülasyon imkanı sağlayan bir elektromanyetik aktüatör tabanlı manyetik mikromanipülatör tasarımı ve uygulaması üzerine yapılmıştır. Elektromıknatıs tasarımında, uygulanan kontrol akımı ve elektromıknatıs konfigürasyonu manyetik kuvvet ve tork değerlerini belirlemektedir ve bundan dolayı en uygun, kuvvetli ve hassas bir tasarım için uygun nüve yapılarıyla beraber geribeslemeli kontrol mekanizmasının geliştirilmesine ihtiyaç vardır. Manyetik aktüatörlerin, 8 μm çaplı süperparamanyetik parçacık üzerinde yaklaşık olarak 1 ila 25 pN kuvvet üretmesi amaçlanmıştır. Bunun için 6 mm boyundaki koni şekilli uca sahip nikel-demir alaşımlı nüve ve 2000 bakır sarımından yapılmış dört elektromıknatıstan oluşan bir konfigürasyon elde edildi. Manyetik mikromanipülatör, ilk prensipler yoluyla modellendi ve modeldeki lineer olmayan terimleri doğrusallaştıran uygun bir geribeslemeli kontrol tasarımı ile kontrol edildi. Tasarlanan kontrolörün sistemin kapalı çevrimli dinamiğini kararlı hale getirdiği, hızlı geçici rejim yanıtı verdiği ve sıfır kararlı durum hatası verdiği deneysel çalışmalarla gösterilmiştir. Tasarlanan elektromanyetik mikromanipülatör özellikle biyolojik ayrıştırma, tıp ve biyosensör geliştirilmesi gibi alanlarda kullanılabilecek geniş bir kuvvet aralığında çalışabilme kapasitesine sahiptir.

Keywords - Micromanipulator, magnetic force, current control, control, modeling

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