Motor control device and method and ventricular assist device

Abstract

The invention provides a motor control device and method and a ventricular assist device, and relates to the field of medical instrument control. The motor control device comprises a motor working state monitoring module and an abnormity correction module, and the motor working state monitoring module is used for monitoring whether a motor is in an abnormal working state based on a motor working index; the abnormity correction module is used for generating a current impact instruction when the motor is in an abnormal working state; wherein the current impact instruction is used for adjusting the current current of the motor into impact current, and the impact current is greater than the current current. By using the motor control device provided by the embodiment of the invention, the correction of the abnormal working state of the motor can be realized under the conditions that the loss of the motor is relatively small and the influence on a human body is relatively small; the motor control device provided by the embodiment of the invention is used for controlling the motor of the ventricular assist device, so that the loss of the motor can be reduced, and the influence on human blood cells can also be reduced.

Description

Technical Field

[0001] The present application relates to the field of medical device control, and more particularly, to a motor control device, a method, and a ventricular assist device. Background Art

[0002] A ventricular assist device (VAD) includes a left ventricular assist device (LVAD), a right ventricular assist device (RVAD), a biventricular assist device (BiVAD), and a total artificial heart (TAH). The ventricular assist device is an ideal means for treating refractory heart failure or plays a role in temporarily replacing the heart during the waiting for a heart transplant.

[0003] During the operation of the ventricular assist device, due to the gaps on the motor assembly surface and the relatively high viscosity of blood, blood is likely to enter the motor seal ring and accumulate after a period of time, resulting in motor stalling or even stopping, thus causing the motor to fail and posing a life threat to the patient. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a motor control device, a method, and a ventricular assist device. The motor operating state monitoring module monitors the motor operating indicators to determine in real time whether the motor is stalled or stopped. When the motor is stalled or stopped, the abnormality correction module uses a larger convection to flush the motor multiple times or restart it. Through the control of the motor by this motor control device, it is possible to correct the abnormal operating state of the motor under the conditions of less motor loss and less damage to the human body.

[0005] In a first aspect, the embodiments of the present application provide a motor control device, which includes: a motor operating state monitoring module and an abnormality correction module; the motor operating state monitoring module is used to monitor whether the motor is in an abnormal operating state based on the motor operating indicators; the abnormality correction module is used to generate a current impact instruction when the motor is in an abnormal operating state; wherein, the current impact instruction is used to adjust the current of the motor to an impact current, and the impact current is greater than the current current.

[0006] In the above implementation process, the motor operating state monitoring module of the motor control device provided by the embodiments of the present application monitors the motor operating indicators in real time. When it is monitored that the motor is stalled or stopped, the abnormality correction module generates a current impact instruction, and this current impact instruction uses a larger current to flush or restart the motor. The motor control device provided by the embodiments of the present application can correct the abnormal operating state of the motor under the conditions of less motor loss and less damage to the human body, thereby improving the reliability and stability of the motor.

[0007] Optionally, in the embodiments of the present application, the abnormal operating state includes a stalled state; in the process of monitoring whether the motor is in an abnormal operating state based on the motor operating indicators, the motor operating state monitoring module is specifically configured to: monitor the current current and the current speed of the motor; if it is monitored that both the current current and the current speed of the motor are zero, it is determined that the motor is in a stalled state.

[0008] In the above implementation process, in the normal operating state, the motor should have non-zero current and speed; if the motor operating state monitoring module continuously monitors that both the current current and the current speed are zero, it can quickly identify that the motor is currently in a stalled state.

[0009] Optionally, in the embodiments of the present application, the abnormal operating state includes a locked-rotor state; in the process of monitoring whether the motor is in an abnormal operating state based on the motor operating indicators, the motor operating state monitoring module is further specifically configured to: monitor the current current and the current speed of the motor; if it is monitored that the current speed corresponding to the current current of the motor is not within the normal speed range and the current current and the current speed are not both zero at the same time; and / or if it is monitored that the current current corresponding to the current speed of the motor is not within the normal current range and the current current and the current speed are not both zero at the same time; it is determined that the motor is in a locked-rotor state.

[0010] In the above implementation process, the motor operating state monitoring module of the motor control device provided in the embodiments of the present application determines whether the motor is in a locked-rotor state by judging the relationship between the current and the speed; the motor operating state monitoring module judges the operating state of the motor through the relationship between the current current and the current speed of the motor, which is a simple and effective method, and helps to improve the stability and reliability of the motor and reduce the potential damage risk.

[0011] Optionally, in the embodiments of the present application, the abnormal correction module includes an inrush current determination unit and a current impact unit; in the process of adjusting the current current of the motor to the inrush current: the inrush current determination unit is used to divide the limit current I w into m current impact levels and determine the inrush current I wm corresponding to each current impact level; where m is a positive integer, and the value of m is positively correlated with the current value of the inrush current; the current impact unit is used to sequentially adjust the current current to the inrush current I wi according to the magnitude of the current value of the inrush current; where i ∈ [1, m].

[0012] In the above implementation process, the speed correction module of the motor control device provided by the embodiment of the present application includes an impact current determination unit and a current impact unit; the current impact unit controls the current of the motor to be the impact current determined by the impact current determination unit, and flushes or restarts the motor multiple times, realizing staged current impact on the motor; protecting the motor from the impact of excessive current and reducing the damage to the motor.

[0013] Optionally, in the embodiment of the present application, when sequentially adjusting the current to the impact current I according to the magnitude of the current value of the impact current wi : If during the process of adjusting the current to the impact current I wa , the motor working state monitoring module determines that the motor working index has not returned to normal; then after a preset time, the current impact unit adjusts the current to the impact current I w(a+1) , and controls the action time of the impact current I w(a+1) to be less than the action time of the impact current I wa ; where a ∈ [1, m - 1].

[0014] In the above implementation process, before the current impact unit flushes again, it waits for the surface temperature rise of the motor to drop. Generally, it adopts the method of multiple attempts to restart to achieve the startup of the motor at the lowest cost. During each flush or restart, the current impact unit increases the intensity of the impact current step by step to increase the chance of success, while avoiding excessive damage to the motor and blood cells during the startup process.

[0015] Optionally, in the embodiment of the present application, when sequentially adjusting the current to the impact current I according to the magnitude of the current value of the impact current wi , the current impact unit is specifically used for: determining the number n of sub-impact currents I wi of the impact current I n , and through the formula: determining the value of the sub-impact current I n ; based on the current current, using the sub-impact current I n to perform n times of current impact; where I wi is the impact current corresponding to the i-th current impact gear, I0 is the current current, n is the number of times of current impact with the sub-impact current, T 0i is the current impact time corresponding to the i-th current impact gear, and ΔT is the current impact time of the sub-impact current I n .

[0016] In the above implementation process, the current impact unit of the motor control device provided by the embodiment of the present application applies different impact currents I wi , within the corresponding impact time T 0i, it is divided into n sub-impulse currents, and the currents of the motor are superimposed until the impulse current I is reached. wi ; It realizes the phased current impact on the motor further and reduces the control cost.

[0017] Optionally, in the embodiment of the present application, when the limit current I w is divided into m current impact gears and the impact current I wm corresponding to each current impact gear is determined, the impact current determination unit specifically is used for: according to the current speed and the current current, dividing the locked-rotor state into a total of s locked-rotor levels; taking as the impact current corresponding to the x-th locked-rotor level; where, I wi is the impact current corresponding to the i-th current impact gear, I0 is the current current, s is a positive integer, and x ∈ [1, s].

[0018] In the above implementation process, the impact current determination unit of the motor control device provided by the embodiment of the present application, by dividing the locked-rotor state into different levels, dynamically determines a more adaptable impact current according to the current operating condition of the motor, which helps to minimize the potential damage to the motor.

[0019] In a second aspect, the embodiment of the present application provides a motor control method. The motor control method includes: monitoring whether the motor is in an abnormal operating state based on the motor operating index; in the case that the motor is in an abnormal operating state, receiving a current impact instruction and adjusting the current current of the motor to an impact current; where the impact current is greater than the current current.

[0020] In a third aspect, the embodiment of the present application provides a ventricular assist device. The ventricular assist device includes a memory and a processor. When the processor reads and runs the program instructions stored in the memory, it executes the steps in any implementation manner of the second aspect above.

[0021] In a fourth aspect, the embodiment of the present application further provides a computer-readable storage medium. The computer program instructions are stored in the readable storage medium. When the computer program instructions are read and run by a processor, they execute the steps in any implementation manner of the second aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation to the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0023] Figure 1The first schematic diagram of the motor control device provided by the embodiment of the present application;

[0024] Figure 2 The second schematic diagram of the motor control device provided by the embodiment of the present application;

[0025] Figure 3 An overall schematic diagram of current impact provided by the embodiment of the present application;

[0026] Figure 4 The flowchart of the motor control method provided by the embodiment of the present application;

[0027] Figure 5 The structural schematic diagram of the ventricular assist device provided by the embodiment of the present application;

[0028] Icon: Motor control device - 100; Motor operating state monitoring module - 110; Abnormality correction module - 120; Impact current determination unit - 121; Current impact unit - 122. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present application will be described in conjunction with the accompanying drawings in the embodiments of the present application. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of systems, methods, and computer program products according to multiple embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in various embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0030] A ventricular assist device is a medical device used to treat patients with severe heart diseases. It mechanically assists the pumping function of the heart, helps the heart pump blood out of the ventricles, and then transports the blood to the whole body through a pipeline connected to the artery; it is usually used for patients with extremely severe heart failure and whose condition cannot be improved by other treatment means.

[0031] The ventricular assist device has a motor and a pump body. The motor drives the pump to work, and the pump body is used to pump blood from the ventricle into the artery.

[0032] The inventors' research found that during this process, when the ventricular assist device is working, due to the gaps on the motor assembly surface and the relatively high viscosity of the blood, it is easy for the blood to accumulate inside the motor seal ring, resulting in the motor being blocked after running for a period of time. Long-term accumulation may even cause blood coagulation, leading to motor failure. In extreme cases, the blocking or stopping of the ventricular assist device motor may pose a threat to the patient's life.

[0033] Based on this, the present application proposes a motor control device, a method, and a ventricular assist device. The motor control device includes a motor working state monitoring module and an abnormal correction module. The motor working state monitoring module determines in real time whether the motor is blocked or stopped by monitoring the motor working indicators. When the motor is blocked or stopped, the abnormal correction module uses a relatively large current to flush or restart the motor multiple times. By using this motor control device to control the motor, it is possible to correct the abnormal working state of the motor with less motor loss and less damage to the human body.

[0034] Please refer to Figure 1 , Figure 1 which is the first schematic diagram of the modules of the motor control device provided by the embodiment of the present application. The present application provides a motor control device. The motor control device 100 includes: a motor working state monitoring module 110 and an abnormal correction module 120.

[0035] The motor working state monitoring module 110 is used to monitor whether the motor is in an abnormal working state based on the motor working indicators.

[0036] In the above process, the motor working state monitoring module 110 monitors whether the motor is in an abnormal working state based on the motor working indicators.

[0037] The motor working indicators are parameters that can be used to judge the operating conditions of the motor. For example, the current, voltage, speed, temperature, and / or noise level of the motor, etc.

[0038] The abnormal working state refers to the problems existing in the motor judged based on the above motor working indicators. In the embodiments of the present application, the abnormal working states of the motor that need to be judged mainly include blocking and stopping. In the case of blocking or stopping, the current may be greater than the normal current range, the voltage may be less than the normal voltage range, the speed may be less than the normal speed range, the temperature may be greater than the normal temperature range, the noise level may be greater than the normal noise level range, etc.

[0039] The anomaly correction module 120 is used to generate a current impact command when the motor is in an abnormal operating state. The current impact command is used to adjust the current current of the motor to an impact current, and the impact current is greater than the current current.

[0040] If the motor operating state monitoring module 110 monitors that the motor is in an abnormal operating state, then the anomaly correction module 120 generates a current impact command, and this current impact command is used to adjust the current current of the motor to an impact current, that is, the impact command can control the current of the motor to increase at least once.

[0041] It should be noted that after the anomaly correction module 120 in the embodiment of the present application generates this current impact command, if the motor is still running, that is, the above-mentioned locked-rotor state, the anomaly correction module 120 automatically sends this current impact command to the motor to execute this command. If the motor is in a stopped state, since the motor stop may be due to a serious fault (for example, some metal bracket fragments of the ventricular assist device fall off and jam the motor), it will be determined as a motor fault and cannot be restarted; in this case, the reason for the motor stop is relatively complex, and the anomaly correction module 120 needs to receive an operator's command before sending this current impact command to the motor to execute.

[0042] For example, for a motor that is still running, the current current of the motor is 3A (assuming the normal range is 1A - 2A), and the rotational speed corresponding to the current current is also relatively low, then it can be judged that the current motor is in an abnormal operating state; then, the current can be increased to 3.5A to flush the motor. After the motor stabilizes, the working indicators of the motor are judged again; if it is judged again that the motor is still in an abnormal operating state, the current can be increased to 3.8A to flush the motor until the working indicators of the motor return to normal or the current has increased to the maximum current that the motor can withstand.

[0043] In an optional embodiment, the motor control device 100 further includes a motor protection module; under the control of the anomaly correction module 120, if the motor working indicators return to normal, then the rotational speed of the motor after recovery is controlled to decrease to a lower target rotational speed.

[0044] It can be understood that after correcting the abnormal operating state of the motor, the motor starts to work from a relatively low rotational speed. When the rotational speed of the motor slowly reaches the normal rotational speed range, it can be considered that the correction of the abnormal operating state of the motor is successful.

[0045] Exemplarily, through open-loop control, if the motor is operating normally, then it switches from the open-loop mode back to the closed-loop mode. A relatively low rotational speed N is given set , the current rotational speed N is measured, and the rotational speed difference n is obtained e = N set-N, perform PID control on the motor speed:

[0046]

[0047] Among them, K P , K i and K d are PID control parameters and can be selected by experience.

[0048] Through Figure 1 it can be seen that the motor working state monitoring module 110 of the motor control device 100 provided by the embodiments of the present application monitors the motor working indicators in real time. When it is detected that the motor is blocked or stopped, the abnormal correction module 120 generates a current impact instruction, and this current impact instruction uses a relatively large current to flush or restart the motor. The motor control device 100 provided by the embodiments of the present application can correct the abnormal working state of the motor with less motor loss and less damage to the human body, thereby improving the reliability and stability of the motor.

[0049] In an optional embodiment, the abnormal working state of the motor includes a stopped state, and the motor working indicators include the current current and the current speed.

[0050] In the process of monitoring whether the motor is in an abnormal working state based on the motor working indicators, the motor working state monitoring module 110 is specifically used for: monitoring the current current and the current speed of the motor; if it is detected that both the current current and the current speed of the motor are zero, it is determined that the motor is in a stopped state.

[0051] That is to say, in the normal operation state, the motor should have non-zero current and speed; if the motor working state monitoring module 110 monitors that both the current current and the current speed are zero in real time, it can quickly identify that the motor is currently in a stopped state.

[0052] In an optional embodiment, the abnormal working state includes a blocked state, and the motor working indicators include the current current and the current speed.

[0053] In the process of monitoring whether the motor is in an abnormal working state based on the motor working indicators, the motor working state monitoring module 110 is further specifically used for:

[0054] monitoring the current current and the current speed of the motor.

[0055] If the motor working state monitoring module 110 monitors that the current speed corresponding to the current current of the motor is not within the normal speed range and the current current and the current speed are not zero, it can be determined that the motor is currently in a blocked state.

[0056] Alternatively, if the motor operating state monitoring module 110 monitors that the current current corresponding to the current speed of the motor is not within the normal current range and both the current current and the current speed are not zero, it can be determined that the motor is currently in a stalled state.

[0057] Alternatively, if the motor operating state monitoring module 110 monitors that the current current corresponding to the current speed of the motor is not within the normal current range, the current speed corresponding to the current current is not within the normal speed range, and both the current current and the current speed are not zero, it can be determined that the motor is currently in a stalled state.

[0058] For example, assume that the normal operating speed range of the motor is from 1000 RPM to 3000 RPM and the current range is from 2 A to 5 A. If the motor operating state monitoring module 110 monitors that the current current is 3 A but the current speed is only 500 RPM, it can be determined that the motor is in a stalled state because the speed is lower than the normal speed range.

[0059] If the motor operating state monitoring module 110 monitors that the motor speed is 2000 RPM and the current is 6 A, it can be determined that the motor is in a stalled state because the current is higher than the normal current range.

[0060] If the motor operating state monitoring module 110 monitors that the current current is 6 A and the motor speed is 500 RPM, it can be determined that the motor is in a stalled state, the current of the motor is higher than the normal current range, and the speed is lower than the normal speed range.

[0061] It can be seen from this that the motor operating state monitoring module 110 of the motor control device 100 provided by the embodiments of the present application determines whether the motor is in a stalled state by judging the relationship between the current and the speed; the motor operating state monitoring module 110 judges the operating state of the motor through the relationship between the current current and the current speed of the motor, which is a simple and effective method, helping to improve the stability and reliability of the motor and reducing the potential damage risk.

[0062] Please refer to Figure 2 , Figure 2 which is the second schematic diagram of the modules of the motor control device provided by the embodiments of the present application. The abnormal correction module 120 includes a surge current determination unit 121 and a current surge unit 122.

[0063] During the process of adjusting the current current of the motor to the surge current, that is, during the open-loop control process:

[0064] The surge current determination unit 121 is used to divide the limit current I w into m current surge levels and determine the surge current I wm; where m is a positive integer, and the value of m is positively correlated with the value of the impact current.

[0065] The impact current determination unit 121 first divides the limit current I w into m current impact levels. For example, the limit current I w is divided into 5 current impact levels according to the motor stall situation, and the impact current corresponding to each current impact level is I w1 、I w2 、I w3 、I w4 、I w5 , where I w1 <I w2 <I w3 <I w4 <I w5 . During the process of current impact, the impact current I wm is gradually increasing.

[0066] The current impact unit 122 is used to sequentially adjust the current to the impact current I wi according to the magnitude of the impact current value; where i ∈ [1, m].

[0067] For example, if the limit current I w is divided into 5 current impact levels, and the impact current corresponding to each current impact level is I w1 、I w2 、I w3 、I w4 、I w5 , where I w1 <I w2 <I w3 <I w4 <I w5 . Then, the current impact unit 122 uses the impact current I w1 for the first current impact on the motor. If the motor does not return to normal after the first impact, the current impact unit 122 performs a second current impact on the motor; the current impact unit 122 uses the impact current I w2 for the second current impact on the motor, until the impact current is increased to the limit current, or until the motor returns to normal, or until the motor completely cannot start again.

[0068] Through Figure 2It can be seen that the speed correction module of the motor control device 100 provided in the embodiment of the present application includes an impact current determination unit 121 and a current impact unit 122; the current impact unit 122 controls the current of the motor to be the impact current determined by the impact current determination unit 121, and flushes or restarts the motor multiple times, realizing the staged current impact on the motor; protecting the motor from the impact of excessive current and reducing the damage to the motor.

[0069] In an optional embodiment, when sequentially adjusting the current to the impact current I according to the magnitude of the current value of the impact current wi :

[0070] If during the process of adjusting the current to the impact current I wa , the motor operating state monitoring module 110 determines that the motor operating index has not returned to normal; then after a preset time, the current impact unit 122 adjusts the current to the impact current I w(a+1) , and controls the action time of the impact current I w(a+1) to be less than the action time of the impact current I wa ; where a ∈ [1, m - 1].

[0071] During each process of adjusting the current I0 to the impact current I wi , if the motor operating state monitoring module 110 does not monitor that the motor operating index has returned to normal, then after a preset time, on the basis of the current, the impact current needs to be increased and the current impact time needs to be shortened, and the current impact on the motor continues until the motor operating index returns to normal, or until the impact current reaches the limit current that the motor can withstand, or the motor cannot be restarted at all.

[0072] The preset time is the time interval between two adjacent flushing or starting operations (the time interval between current impacts using different current impact gears). Since open-loop control in a short time will cause the surface temperature of the motor to increase sharply, and too high a motor temperature will damage blood cells; therefore, it is necessary to wait for the surface temperature rise of the motor to drop before the next restart. The current is reduced to the initial value I0, and the waiting time is T d , exemplarily, T d > 2 min.

[0073] Please refer to Figure 3 , Figure 3 which is an overall schematic diagram of the current impact provided by the embodiment of the present application; Figure 3 There are 3 current impact gears, and the impact currents corresponding to each gear are: I w1 , I w2 , I w3 ; where I w3 ≥ Iw2 ≥I w1 。The impact currents of different gears act on the motor for different times. For example, Figure 3 as shown, the impact current I w3 acts on the motor for a time T 03 which is the shortest. The relationship between the action times of the impact currents of the three gears is: T 03 ≤T 02 ≤T 01 , Figure 3 which shows the current schematic diagram during the process of flushing or restarting the motor with three impact currents as a whole.

[0074] In some embodiments, I w3 can be set to the maximum current I max that the motor can withstand, and T 03 is the shortest time that can be started. That is to say, it is equivalent to giving the motor a greater acceleration each time than the previous time, but the loss to the motor is also greater, and it will also cause harm to human blood cells. The purpose of multiple restarts in the embodiments of the present application is to start the motor at the smallest cost.

[0075] It can be seen from this that the current impact unit 122 in the embodiments of the present application waits for the surface temperature rise of the motor to drop before the next flushing, and generally adopts the method of multiple attempts to restart to achieve the start of the motor at the smallest cost. When flushing or restarting each time, the current impact unit 122 increases the intensity of the impact current step by step to increase the chance of success, while avoiding excessive damage to the motor and blood cells during the start-up process.

[0076] In some embodiments, after several open-loop controls, if the motor still cannot operate normally, the current returns to the initial value I0, and an alarm is generated and displayed on the display screen for the operator to handle.

[0077] In an alternative embodiment, when sequentially adjusting the current to the impact current I wi according to the magnitude of the current value of the impact current, the current impact unit 122 is specifically configured to:

[0078] Determine the number of sub-current impacts n for adjusting the current to the impact current I wi , and calculate the sub-impact current I of each sub-current impact according to the formula q . Where q ∈ [1, n], I wi is the impact current corresponding to the i-th current impact gear, I0 is the current, T 0i is the current impact time corresponding to the i-th current impact gear, and ΔT is the current impact time of the sub-impact current I q .

[0079] When the motor is blocked, if the current is large, the motor will heat up severely and damage blood cells. Since the greater the current, the shorter the time required to control the impact, the current impact time T 0i can be regarded as a function of the impact current I wi ; for example, I max is the maximum current that the motor can withstand. For the motor of the ventricular assist device, considering the problem that the blood in the motor is prone to coagulation, a large torque impact needs to be applied to the motor in a short time; therefore, the impact time T 0i corresponding to each current impact gear usually needs to be controlled within 5 s.

[0080] It should be noted that within the current impact time of T 0i , multiple sub-current impacts can be applied to the motor, and the sub-impact current of each sub-current impact gradually increases. For example, assume that the sub-impact current for the first sub-current impact needs to adjust the current from 3 A to 3.5 A, and the number of sub-current impact times can be selected as 10, with each sub-impact current increasing by 0.05 A; for the second sub-current impact, the sub-impact current needs to adjust the current from 3 A to 4 A, and the number of sub-current impact times can be selected as 5, with each sub-impact current increasing by 0.2; that is to say, the sub-impact current gradually increases, and the number of sub-current impact times gradually decreases.

[0081] The impact current I wi is divided into n sub-impact currents; for example, the impact current is equally divided into n sub-impact currents. Exemplarily, for the impact current of I w1 , the sub-impact current should be where q ranges from 1 to n.

[0082] Use the gradually increasing sub-impact current I q to perform sub-current impacts. For example, taking I w1 as the impact current and performing multiple sub-current impacts on the motor, then the magnitude of the sub-impact current for the third sub-current impact on the motor should be

[0083] It should be particularly noted that in the formula , when I0 is 0, it is applicable to the motor stop state, and when I0 is not 0, it is applicable to the motor blocked state.

[0084] It can be seen from this that the current impact unit 122 of the motor control device 100 provided in the embodiment of the present application divides different impact currents I wi into n sub-impact currents within the corresponding impact time T 0i , and superimposes the current of the motor until the impact current I wi; Further realizing the phased current impact on the motor and reducing the control cost.

[0085] In an optional embodiment, when dividing the limit current I w into m current impact levels and determining the impact current I wm corresponding to each current impact level, the impact current determination unit 121 is specifically configured to:

[0086] According to the current speed and the current current, divide the locked-rotor state into a total of s locked-rotor levels;

[0087] Taking as the first impact current corresponding to the x-th locked-rotor level; where I0 is the current current, s is a positive integer, and x ∈ [1, s].

[0088] For example, according to the current speed and the current current, the current locked-rotor state is divided into 5 levels (s = 5), namely: the first-level locked-rotor state, the second-level locked-rotor state, the third-level locked-rotor state, the fourth-level locked-rotor state, and the fifth-level locked-rotor state. For the first-level locked-rotor state (x = 1), it is optional For the second-level locked-rotor state (x = 2), it is optional For the third-level locked-rotor state (x = 3), it is optional

[0089] For the locked-rotor levels with different first impact currents, after determining the first impact current I w1 , the current impact levels can be determined between I w1 and I max ; for example, if it is stipulated that there are 3 current impact levels, the intermediate value of I w1 and I max can be taken as I w2 .

[0090] It should be noted that in the case where the motor stops rotating, a preset I w1 can be used as the first impact current.

[0091] At the same time, the first impact current I w1 , that is, the minimum impact current, should be greater than or equal to the current value corresponding to the maximum speed of the motor.

[0092] It can be seen that the impact current determination unit 121 of the motor control device 100 provided by the embodiment of the present application divides the locked-rotor state into different levels, thereby setting different first impact currents, and dynamically determines more adaptable impact currents according to the current operating conditions of the motor, which helps to minimize the potential damage to the motor.

[0093] Please refer to Figure 4 , Figure 4Flowchart of the motor control method provided by the embodiments of the present application; the present application also provides a motor control method, and the motor control method can be executed by the electronic device provided by the present application Figure 5 The motor control method includes the following steps:

[0094] Step S100: Based on the motor operating indicators, monitor whether the motor is in an abnormal operating state.

[0095] Step S200: In the case where the motor is in an abnormal operating state, receive a current shock instruction and adjust the current current of the motor to a shock current; wherein, the shock current is greater than the current current.

[0096] Wherein, the specific implementation manner and beneficial technical effects of monitoring whether the motor is in an abnormal operating state based on the motor operating indicators and adjusting the current current of the motor to a shock current can refer to the relevant content of the above-mentioned motor control device, and will not be elaborated here.

[0097] Please refer to Figure 5 , Figure 5 Structural schematic diagram of the ventricular assist device provided by the embodiments of the present application. A ventricular assist device 200 provided by the embodiments of the present application includes: a processor 201 and a memory 202. The memory 202 stores machine-readable instructions executable by the processor 201, and the machine-readable instructions are executed by the processor 201 to perform the steps in any implementation manner of the above-mentioned motor control method.

[0098] Based on the same inventive concept, the embodiments of the present application also provide a computer-readable storage medium. When the computer program instructions stored in the computer-readable storage medium are read and run by a processor, the steps in any implementation manner of the above-mentioned motor control method are executed.

[0099] The computer-readable storage medium may be various media that can store program codes such as a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), and an electrically erasable programmable read-only memory (EEPROM).

[0100] In this document, relational terms such as first and second are used solely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0101] The above description is only for the embodiments of this application and is not intended to limit the scope of protection of this application. For those skilled in the art, various changes and modifications can be made to this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the scope of protection of this application.

Claims

1. A motor control device, characterized in that, The motor control device includes: a motor operating state monitoring module and an abnormality correction module; The motor operating state monitoring module is configured to monitor whether the motor is in an abnormal operating state based on motor operating indicators; The abnormality correction module is configured to generate a current impact instruction when the motor is in an abnormal operating state; wherein, the current impact instruction is used to adjust the current current of the motor to an impact current, and the impact current is greater than the current current.

2. The device according to claim 1, wherein Wherein, The abnormal operating state includes a stalled state; in the process of monitoring whether the motor is in an abnormal operating state based on motor operating indicators, the motor operating state monitoring module is specifically configured to: Monitor the current current and the current speed of the motor; If it is monitored that both the current current and the current speed of the motor are zero, it is determined that the motor is in the stalled state.

3. The device according to claim 2, wherein Wherein, The abnormal operating state includes a locked-rotor state; in the process of monitoring whether the motor is in an abnormal operating state based on motor operating indicators, the motor operating state monitoring module is further specifically configured to: Monitor the current current and the current speed of the motor; If it is monitored that the current speed corresponding to the current current of the motor is not within the normal speed range, and the current current and the current speed are not both zero at the same time; and / or If it is monitored that the current current corresponding to the current speed of the motor is not within the normal current range, and the current current and the current speed are not both zero at the same time; Then it is determined that the motor is in the locked-rotor state.

4. The device according to claim 1, characterized in that, The abnormality correction module includes an impact current determination unit and a current impact unit; in the process of adjusting the current current of the motor to an impact current: The impact current determination unit is used to divide the limit current I w into m current impact levels, and determine the impact current I wm corresponding to each current impact level; where m is a positive integer, and the value of m is positively correlated with the current value of the impact current; The current impact unit is used to sequentially adjust the current current to an impact current I according to the magnitude of the current value of the impact current wi ; where i ∈ [1, m].

5. The device according to claim 4, characterized in that, During the process of sequentially adjusting the current to the impulse current I according to the magnitude of the current value of the impulse current wi : If, during the process of adjusting the current to the impulse current I wa the motor operating state monitoring module determines that the motor operating index has not returned to normal; After the preset time, the current impact unit adjusts the current to an impact current I w(a+1) , and controls the action time of the impact current I w(a+1) to be less than the action time of the impact current I wa ; where a ∈ [1, m - 1].

6. The device according to claim 4, characterized in that, During the process of sequentially adjusting the current to the impulse current I according to the magnitude of the current value of the impulse current, the current impulse unit is specifically configured to: wi ​ Determine the number of sub-current impacts n for adjusting the current to the impact current I wi ; According to the formula calculate the sub-impulse current I of each sub-current impulse q ; where q ∈ [1, n], I wi is the impulse current corresponding to the i-th current impulse gear, I0 is the current current, T 0i is the current impulse time corresponding to the i-th current impulse gear, and ΔT is the current impulse time of the sub-impulse current I q ; Use the sub-impulse current I that increases successively q to perform sub-current impulse.

7. The device according to claim 4, characterized in that, In the process of dividing the limit current I w into m current impact levels and determining the impact current I wm corresponding to each current impact level, the impact current determination unit is specifically configured to: According to the current speed and the current current, the locked-rotor state is divided into a total of s locked-rotor levels; Taking as the first impact current corresponding to the x-th locked-rotor level; where I0 is the current at present, s is a positive integer, and x ∈ [1, s].

8. A motor control method, characterized in that, The motor control method includes: Based on motor operating indicators, monitor whether the motor is in an abnormal operating state; When the motor is in an abnormal operating state, receive a current impact instruction and adjust the current current of the motor to an impact current; wherein, the impact current is greater than the current current.

9. A ventricular assist device, characterized in that, The ventricular assist device includes a memory and a processor, and program instructions are stored in the memory. When the processor runs the program instructions, it executes the steps in the method described in claim 8.

10. A computer-readable storage medium, characterized in that, Computer program instructions are stored in the computer-readable storage medium. When the computer program instructions are run by a processor, they execute the steps in the method described in claim 8.

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