Teaching experiment design for computer control systems based on the ophthalmic surgical robot
[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 control theory but also cultivates their ability to troubleshoot and optimize control systems in real-world applications.Simultaneously,minimum cycle control,as another critical component,will teach students how to maintain system stability and rapid response under strict time constraints,which is crucial in certain scenarios,such as medical device control requiring immediate dynamic adjustments.By learning minimum cycle control,students will understand how to optimize system response times within defined control cycles,ensuring stability without compromising performance.Finally,experiments with Dahlquist control will guide students in exploring and applying nonlinear control strategies to address complex dynamic characteristics within practical systems.This integration of theory and practice will not only deepen students'understanding of control theory but also foster innovative thinking and problem-solving skills essential for tackling engineering challenges.[Results]These experiments are not merely about imparting theoretical knowledge but are designed to enable students to apply their learning flexibly in practical engineering applications,addressing complex control challenges.Through interaction with ophthalmic surgical robots,students will gain invaluable practical experience,preparing them comprehensively for future work in fields requiring high-precision applications.[Conclusions]The experimental platform based on ophthalmic surgical robots fills current gaps in teaching,providing students with comprehensive and practical learning opportunities.This initiative not only enhances their understanding and achievements in technology innovation and engineering applications but also nurtures a new generation of capable professionals ready to tackle real-world engineering challenges.
computer control systemsophthalmologic robotminimum cycle controlDahllin controlexperimental platform
万方数据
维普
