A multi-channel independent adjustment air wave pressure control system and method

Abstract

The application discloses a kind of multi-path independent regulation air wave pressure control system and method, comprising: setting module is used to set the target pressure corresponding to a plurality of pressure positions respectively;Wherein, each pressure position corresponds to independent gas path respectively;Pressure acquisition module is used to obtain actual pressure on each pressure position in real time;Gas path flow control module is used to independently control the gas flow through each gas path;Pressure control module is adjusted according to the actual pressure and target pressure of pressure position, the gas flow when the gas path is inflated by gas path flow control module, so that the difference between actual pressure and target pressure is within the preset pressure error range.The application can set the target pressure on each pressure position individually, can adjust the pressure on the pressure position in any mode, adapt to the appropriate force of each part, through the inflation flow regulation, the set target pressure is accurately controlled, the error is reduced, and the use comfort is improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a multi-channel independently adjustable air wave pressure control system and method. Background Technology

[0002] Air wave pressure therapy devices, also known as circulatory pressure therapy devices, gradient pressure therapy devices, limb circulation devices, or pressure antithrombotic pumps, use multi-chamber airbags to repeatedly and effectively apply pressure to the limbs and then release it, producing a muscle-like contraction and relaxation effect. During pressure application, venous blood and lymph are forced towards the proximal end of the body, promoting the emptying of congested veins; during decompression, blood flows back fully, arterial blood supply is rapidly enhanced, significantly increasing blood flow velocity and volume, increasing the supply of oxygen and other nutrients, and promoting metabolism.

[0003] In existing technologies, multiple airbags are typically pressurized using the same pressure. However, the pressure applied to different areas cannot be adjusted during use, resulting in inconsistent pressure tolerance for different areas, which reduces user experience. Furthermore, airbags are usually inflated at a constant flow rate, leading to rapid pressurization. This means the user's pressure points quickly reach the set pressure in the later stages of inflation, resulting in poor comfort. Moreover, constant flow inflation makes precise pressure control impossible, easily causing significant discrepancies between the actual pressure and the set pressure, further reducing usability. Therefore, it is necessary to propose a multi-channel independently adjustable air wave pressure control system and method to at least partially solve the problems existing in the prior art. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] To at least partially solve the above problems, the present invention provides a multi-channel independently adjustable air wave pressure control system, comprising:

[0006] The setting module is used to set the target pressure for multiple pressure application locations; each pressure application location corresponds to an independent air path.

[0007] The pressure acquisition module is used to acquire the actual pressure at each pressure application point in real time;

[0008] The gas flow control module is used to independently control the gas flow rate through each gas path;

[0009] The pressure control module, based on the actual pressure and target pressure at the pressure application location, adjusts the gas flow rate during gas filling via the gas flow control module to ensure that the difference between the actual pressure and the target pressure is within a preset pressure error range.

[0010] Preferably, the pressure control module includes:

[0011] The node determination unit determines the node pressure based on the target pressure corresponding to the pressure application location; wherein the node pressure is less than the target pressure.

[0012] The monitoring unit is used to detect whether the actual pressure at the pressure application location has reached the node pressure;

[0013] If the monitoring unit detects that the actual pressure at the pressure application position reaches the node pressure, the regulating unit will adjust the gas flow rate of the gas path through the gas path flow control module with a preset control strategy to ensure that the difference between the actual pressure and the target pressure is within the preset error range.

[0014] Preferably, during the initial inflation stage, before the actual pressure at the pressure application position reaches the node pressure, the air flow control module controls the air path to inflate the pressure application position at a constant preset flow rate.

[0015] Preferably, when the regulating unit regulates the gas flow rate of the gas path through the gas path flow control module with a preset control strategy, the ratio of the theoretical change in gas flow rate ΔQ0 per unit time to the theoretical change in pressure value ΔP0 at the corresponding pressure application position is a constant value.

[0016] Preferably, it also includes:

[0017] The temperature acquisition module is used to obtain the actual temperature of each heat application site in real time;

[0018] The temperature control module is used to adjust the temperature of each heat application site individually, so that the difference between the actual temperature and the target temperature is within the preset temperature error range.

[0019] The target temperature for each heat application site is set via a setting module.

[0020] Preferably, the node determination unit includes:

[0021] The judgment subunit compares the set target pressure with the first pressure judgment value; where the first pressure judgment value is half of the maximum value of the pressure setting.

[0022] If the target pressure is greater than the first pressure judgment value, the node pressure is determined to be one-third of the target pressure; if the target pressure is less than or equal to the first pressure judgment value, the node pressure is determined to be one-half of the target pressure.

[0023] Preferably, the preset control strategy includes:

[0024] Based on the theoretical change in gas flow rate ΔQ0 per unit time, the theoretical duty cycle of the gas flow control module at each time node is obtained. Then, the ratio of the change in theoretical duty cycle Δd0 per unit time to the theoretical change in pressure value ΔP0 at the corresponding pressure application position is the preset change rate K0.

[0025] The gas flow control module is continuously adjusted based on the theoretical duty cycle corresponding to each time point.

[0026] The actual pressure at the pressure application location is obtained in real time through the pressure acquisition module, and the actual change ΔP of the pressure value at the pressure application location between the current time node and the previous time node is obtained.

[0027] Calculate the actual ratio K between the theoretical duty cycle change Δd0 and the actual pressure change ΔP at the pressure application location, and determine whether the actual ratio K satisfies the preset change rate K0.

[0028] If satisfied, the gas flow control module continues to be adjusted continuously according to the theoretical duty cycle corresponding to each time node; if not satisfied, the duty cycle of the gas flow control module at the next time node is adjusted according to the error between the theoretical change ΔP0 and the actual change ΔP, and the theoretical duty cycle corresponding to all time nodes after the next time node is updated according to the change Δd0 of the theoretical duty cycle.

[0029] Preferably, adjusting the duty cycle of the gas flow control module at the next time node based on the error between the theoretical change ΔP0 and the actual change ΔP includes:

[0030] The error between the theoretical change ΔP0 and the actual change ΔP is used as the input signal of the neurons in the neural network model; wherein, the input signal includes: a first input signal corresponding to the proportional parameter in the PID control algorithm, a second input signal corresponding to the integral parameter, and a third input signal corresponding to the derivative parameter;

[0031] Train the neural network model to obtain the initial scaling parameter K. p Initial integration parameters K i and the initial differential parameter K d ;

[0032] Based on the correlation between different neurons in the neural network model, the connection weights between different neurons are updated, and then the initial scaling parameter K is adjusted according to the updated connection weights. p Initial integration parameters K i and the initial differential parameter K dMake corrections to obtain the corrected proportional parameter K. p ′、Integral parameter K i ′ and differential parameter K d ′;

[0033] The error between the theoretical change ΔP0 and the actual change ΔP is calculated using the corrected proportional parameter K. p ′、Integral parameter K i ′ and differential parameter K d The duty cycle for the next time node is output through the PID control algorithm.

[0034] A control method for a multi-channel independently adjustable air wave pressure control system, comprising:

[0035] Set the target pressure for each of the multiple pressure application locations, with each pressure application location corresponding to an independent air path;

[0036] The node pressure is determined based on the target pressure; where the node pressure is less than the target pressure.

[0037] Inflate multiple pressure points separately and acquire the actual pressure at each pressure point in real time. Before the actual pressure reaches the node pressure, the gas path inflates the pressure point at a constant preset flow rate. When the actual pressure reaches the node pressure, the gas flow rate of the gas path is adjusted according to a preset control strategy until the actual pressure reaches the target pressure.

[0038] When adjusting the gas flow rate of the gas path using a preset control strategy, the ratio of the theoretical change in gas flow rate ΔQ0 per unit time to the theoretical change in pressure value ΔP0 at the corresponding pressure application position is a constant.

[0039] Preferably, adjusting the gas flow rate of the gas path using a preset control strategy includes:

[0040] Based on the theoretical change in gas flow rate ΔQ0 per unit time, the theoretical duty cycle of the gas flow control module at each time node is obtained. Then, the ratio of the change in theoretical duty cycle Δd0 per unit time to the theoretical change in pressure value ΔP0 at the corresponding pressure application position is the preset change rate K0.

[0041] The gas flow control module is continuously adjusted based on the theoretical duty cycle corresponding to each time point.

[0042] The actual pressure at the pressure application location is obtained in real time through the pressure acquisition module, and the actual change ΔP of the pressure value at the pressure application location between the current time node and the previous time node is obtained.

[0043] Calculate the actual ratio K between the theoretical duty cycle change Δd0 and the actual pressure change ΔP at the pressure application location, and determine whether the actual ratio K satisfies the preset change rate K0.

[0044] If satisfied, the gas flow control module continues to be adjusted continuously according to the theoretical duty cycle corresponding to each time node; if not satisfied, the duty cycle of the gas flow control module at the next time node is adjusted according to the error between the theoretical change ΔP0 and the actual change ΔP, and the theoretical duty cycle corresponding to all time nodes after the next time node is updated according to the change Δd0 of the theoretical duty cycle.

[0045] Compared with the prior art, the present invention has at least the following beneficial effects:

[0046] The multi-channel independently adjustable air wave pressure control system and method described in this invention can set the target pressure at each pressure application position individually, and can adjust the pressure at the pressure application position in any mode. During use, users can adapt to the appropriate force for each part. By adjusting the flow rate during the inflation process, the set target pressure can be precisely controlled, reducing the error between the actual pressure and the target pressure, limiting the air wave pressure error range to a smaller range, improving the user experience, and ensuring the safety of use.

[0047] The multi-channel independently adjustable air wave pressure control system and method of the present invention, other advantages, objectives and features of the present invention will be partly apparent from the following description, and partly understood by those skilled in the art through study and practice of the present invention. Attached Figure Description

[0048] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0049] Figure 1 This is a block diagram of the multi-channel independently adjustable air wave pressure control system described in this invention;

[0050] Figure 2 This is a block diagram of the pressure control module in the multi-channel independently adjustable air wave pressure control system of the present invention;

[0051] Figure 3 This is a block diagram of temperature control in the multi-channel independently adjustable air wave pressure control system described in this invention.

[0052] Figure 4 This is a graph showing the relationship between gas flow rate and pressure in the multi-channel independently adjustable air wave pressure control system described in this invention.

[0053] Figure 5 This is a flowchart of the control method for the multi-channel independently adjustable air wave pressure control system described in this invention. Detailed Implementation

[0054] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, so that those skilled in the art can implement it based on the description.

[0055] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0056] like Figure 1 As shown, the present invention provides a multi-channel independently adjustable air wave pressure control system, comprising:

[0057] The setting module is used to set the target pressure for multiple pressure application locations; each pressure application location corresponds to an independent air path.

[0058] The pressure acquisition module is used to acquire the actual pressure at each pressure application point in real time;

[0059] The gas flow control module is used to independently control the gas flow rate through each gas path;

[0060] The pressure control module, based on the actual pressure and target pressure at the pressure application location, adjusts the gas flow rate during gas filling via the gas flow control module to ensure that the difference between the actual pressure and the target pressure is within a preset pressure error range.

[0061] Before use, the target pressure for multiple pressure application positions can be set through the setting module. The setting module is a human-machine interface. The pressure application positions are multiple airbags. The target pressure for each pressure application position can be set according to the user's needs. If a certain part is inconvenient to bear force, the air path of the corresponding pressure application position can be closed. By controlling multiple air paths individually, the user's needs for pressure intensity at different parts can be met, thus improving the versatility of use.

[0062] During use, the pressure acquisition module can obtain the actual pressure at each pressure application point in real time. The pressure acquisition module includes a pressure sensor set at each pressure application point. The pressure sensor collects the actual pressure at the pressure application point, and then feeds back the real-time actual pressure to the pressure control module. Then, the gas flow rate of the air path is adjusted in real time according to the set target pressure to avoid user discomfort when inflating with a constant flow rate. Furthermore, the real-time adjustment of the inflation flow rate based on the actual pressure feedback can improve the control accuracy of the actual pressure, ensuring that the error between the actual pressure and the target pressure is controlled within ±5mmHg.

[0063] The above solution allows for the individual setting of target pressure at each pressure point, and enables adjustment of pressure at any pressure point in any mode. Users can adapt to the appropriate force for each part during use. By adjusting the flow rate during inflation, the set target pressure can be precisely controlled, reducing the error between the actual pressure and the target pressure, limiting the air wave pressure error range to a smaller range, improving the user experience, and ensuring safety during use.

[0064] like Figure 2 As shown, in one embodiment, the pressure control module includes:

[0065] The node determination unit determines the node pressure based on the target pressure corresponding to the pressure application location; wherein the node pressure is less than the target pressure.

[0066] The monitoring unit is used to detect whether the actual pressure at the pressure application location has reached the node pressure;

[0067] If the monitoring unit detects that the actual pressure at the pressure application position reaches the node pressure, the regulating unit will adjust the gas flow rate of the gas path through the gas path flow control module with a preset control strategy to ensure that the difference between the actual pressure and the target pressure is within the preset error range.

[0068] Furthermore, during the initial inflation stage, before the actual pressure at the pressure application position reaches the node pressure, the air flow control module controls the air path to inflate the pressure application position at a constant preset flow rate.

[0069] To ensure inflation efficiency, during the initial inflation stage, before the actual pressure reaches the target pressure, inflation is carried out at a constant preset flow rate to the pressure application position. The preset flow rate can be the maximum flow rate through the air path, corresponding to the maximum duty cycle of the air path flow control module. When the actual pressure reaches the target pressure, the duty cycle of the air path flow control module is controlled according to a preset control strategy to adjust the gas flow rate in the air path until the actual pressure reaches the target pressure, at which point inflation stops. By adjusting the flow rate through the preset control strategy, the difference between the actual pressure and the target pressure at the point where inflation stops can be kept within a preset error range, thus improving pressure control accuracy.

[0070] It should be noted that the adjustment of the duty cycle of the gas flow control module corresponds to the adjustment of the power of the air pump used to pressurize the position (the greater the power of the air pump, the greater the airflow velocity, and the greater the gas flow rate), or to the adjustment of the opening degree of the proportional valve in each gas path (the greater the opening degree, the greater the gas flow rate). The duty cycle is directly proportional to the gas flow rate of the gas path.

[0071] In one embodiment, when the regulating unit regulates the gas flow rate of the gas path through the gas path flow control module with a preset control strategy, the ratio of the theoretical change in gas flow rate ΔQ0 per unit time to the theoretical change in pressure value ΔP0 at the corresponding pressure application position is a constant.

[0072] When adjusting the gas flow rate in the air passage using a preset control strategy, the pressure at the pressure application point increases with inflation time. If inflation continues at the preset flow rate when the actual pressure reaches the target pressure, the pressure at the pressure application point can increase rapidly, causing a pressure shock to the user's pressure application site, reducing comfort, and potentially causing pain. Therefore, when the actual pressure reaches the target pressure, the inflation flow rate needs to be reduced as inflation time increases. Ideally, the theoretical change in gas flow rate ΔQ0 per unit time and the theoretical change in pressure at the corresponding pressure application point ΔP0 should satisfy a linear relationship, meaning their ratio is constant. This reduces the rate of pressure increase at the pressure application point in the later stages of inflation, improving user comfort. Furthermore, even with a slow increase in actual pressure, the difference between the actual pressure and the target pressure at the point when inflation stops must meet the preset error range, achieving effective control of the actual pressure at each time point.

[0073] like Figure 3 As shown, in one embodiment, it further includes:

[0074] The temperature acquisition module is used to acquire the actual temperature at each pressure application point in real time;

[0075] The temperature control module is used to adjust the temperature of each heat application site individually, so that the difference between the actual temperature and the target temperature is within the preset temperature error range.

[0076] The target temperature for each heat application site is set via a setting module.

[0077] For applications with heating functions, different heating temperatures can be set for multiple hot compress locations via a setting module to meet the different heating needs of different parts of the body. The temperature acquisition module includes a temperature sensor set at each hot compress location, which can sense the temperature changes at the hot compress location in real time and feed them back to the temperature control module. The temperature control module is used to increase or decrease the heating temperature in increments of 1℃, which can control the temperature error within ±1℃ and improve the flexibility of use.

[0078] In one embodiment, the node determination unit includes:

[0079] The judgment subunit compares the set target pressure with the first pressure judgment value; where the first pressure judgment value is half of the maximum value of the pressure setting.

[0080] If the target pressure is greater than the first pressure judgment value, the node pressure is determined to be one-third of the target pressure; if the target pressure is less than or equal to the first pressure judgment value, the node pressure is determined to be one-half of the target pressure.

[0081] To further optimize the pressure change at the pressurization position during inflation, a method for determining the node pressure is provided. This method allows sufficient time for gas flow adjustment during the process of changing from the node pressure to the target pressure, ensuring that the pressure at the pressurization position can slowly increase to the target pressure within this time.

[0082] The first pressure judgment value is half of the maximum value of the pressure setting. By adopting the above determination process, it can be ensured that the upper limit of the determination range of the node pressure is one-third of the maximum value of the pressure setting. In this way, the node pressure can be determined according to the magnitude of the target pressure, and sufficient adjustment time is provided for gas flow regulation during the change from node pressure to target pressure, so as to accurately control the amount of pressure change and reduce the error between the actual pressure and the target pressure at the time of inflation stop.

[0083] like Figure 4 As shown, in one embodiment, the preset control strategy includes:

[0084] Based on the theoretical change in gas flow rate ΔQ0 per unit time, the theoretical duty cycle of the gas flow control module at each time node is obtained. Then, the ratio of the change in theoretical duty cycle Δd0 per unit time to the theoretical change in pressure value ΔP0 at the corresponding pressure application position is the preset change rate K0.

[0085] The gas flow control module is continuously adjusted based on the theoretical duty cycle corresponding to each time point.

[0086] The actual pressure at the pressure application location is obtained in real time through the pressure acquisition module, and the actual change ΔP of the pressure value at the pressure application location between the current time node and the previous time node is obtained.

[0087] Calculate the actual ratio K between the theoretical duty cycle change Δd0 and the actual pressure change ΔP at the pressure application location, and determine whether the actual ratio K satisfies the preset change rate K0.

[0088] If satisfied, the gas flow control module continues to be adjusted continuously according to the theoretical duty cycle corresponding to each time node; if not satisfied, the duty cycle of the gas flow control module at the next time node is adjusted according to the error between the theoretical change ΔP0 and the actual change ΔP, and the theoretical duty cycle corresponding to all time nodes after the next time node is updated according to the change Δd0 of the theoretical duty cycle.

[0089] Since the gas flow rate is directly proportional to the duty cycle (which corresponds to the power of the air pump or the opening of the proportional valve in the air circuit), there is a unique correspondence between the gas flow rate and the duty cycle.

[0090] Before inflation, the node pressure is pre-determined based on the target pressure. Inflation to the node pressure using a known preset flow rate (maximum gas flow rate) allows us to obtain the relationship between the gas flow rate (or duty cycle) and the actual pressure, thus yielding the preset rate of change K0. Figure 4 As shown, this represents the slope of the linear relationship between the gas flow rate (or duty cycle) and the actual pressure after the node pressure. The theoretical change in gas flow rate ΔQ0 per unit time is a preset value. Each time node has a theoretical duty cycle corresponding to the theoretical gas flow rate. From the linear relationship, it can be seen that when the gas flow rate (or duty cycle) changes per unit time, there is a unique theoretical change in pressure value ΔP0. In this way, during inflation, controlling the change in pressure value can achieve precise control of the actual pressure at the pressure application position.

[0091] When inflating with the theoretical change in gas flow rate ΔQ0 (i.e., the change in theoretical duty cycle Δd0) within a unit time, the actual pressure at the pressure application position is obtained in real time to obtain the actual change in pressure value at the pressure application position ΔP within a unit time. The actual ratio K between the two can then be obtained. As long as the change in actual pressure at the pressure application position and the change in gas flow rate in the gas path meet the preset change rate K0, the change in gas flow rate and the change in actual pressure can be precisely controlled.

[0092] During inflation, the actual ratio K is monitored in real time. If the actual ratio K meets the preset rate of change K0, it indicates that continuously adjusting the gas flow rate with the current theoretical duty cycle can ensure that the actual pressure change meets the preset rate of change K0. In this case, the gas flow control module can continue to be continuously adjusted with the theoretical duty cycle corresponding to each time point. If the actual ratio K does not meet the preset rate of change K0, it indicates that adjusting the gas flow rate with the current theoretical duty cycle cannot guarantee that the actual pressure change meets the preset rate of change K0. In other words, the actual pressure change is either too large or too small. A large change may cause the actual pressure change to be too large at the end of inflation. Excessive pressure deviation from the target pressure results in a poor user experience, while insufficient deviation leads to prolonged inflation time. Therefore, the duty cycle of the airflow control module at the next time node can be adjusted based on the error between the theoretical change ΔP0 and the actual change ΔP. Furthermore, the theoretical duty cycle for all subsequent time nodes can be updated based on the change Δd0 of the theoretical duty cycle. This allows for precise adjustment of the actual pressure, ensuring that the pressure change remains within a constant range for each unit of time before the actual pressure reaches the target pressure, thereby achieving precise pressure control.

[0093] Furthermore, adjusting the duty cycle of the gas flow control module at the next time node based on the error between the theoretical change ΔP0 and the actual change ΔP includes:

[0094] The error between the theoretical change ΔP0 and the actual change ΔP is used as the input signal of the neurons in the neural network model; wherein, the input signal includes: the first input signal I corresponding to the proportional parameter in the PID control algorithm. p (j) = E(j), and the second input signal I corresponding to the integration parameter. i (j) = E(j) - E(j-1), and the third input signal I corresponding to the differential parameter. d (j)=E(j)-2E(j-1)+E(j-2);

[0095] Where j is the exponent, I p (j), I i (j) and I d (j) represent the first, second, and third input signals of the j-th input, respectively; E(j), E(j-1), and E(j-2) are the error values ​​of the theoretical change ΔP0 and the actual change ΔP obtained in the j-th, j-1, and j-2-th inputs, respectively.

[0096] Train the neural network model to obtain the initial scaling parameter K. p Initial integration parameters K i and the initial differential parameter K d ;

[0097] Based on the correlation between different neurons in the neural network model, the connection weights between different neurons are updated, and then the initial scaling parameter K is adjusted according to the updated connection weights. p Initial integration parameters K i and the initial differential parameter K d Make corrections to obtain the corrected proportional parameter K. p ′、Integral parameter K i ′ and differential parameter K d ′;

[0098] The specific process includes:

[0099] Obtain the initial scaling parameter K p Initial integration parameters K i and the initial differential parameter K d The corresponding correlation coefficient W p (j), W i (j) and W d (j):

[0100]

[0101]

[0102]

[0103] in, as well as The initial proportional parameter K is respectively p Initial integration parameters K i and the initial differential parameter K d The update speed can take values ​​of 0.6, 0.3, and 0.8; U(j) is the output of the PID control algorithm; W p (j), W i (j) and W d The initial value of (j) can be 0.1;

[0104] Then with I p (j), I i (j) and I d (j) The updated connection weights M corresponding to each p (j), M i (j) and M d (j) is:

[0105]

[0106]

[0107]

[0108] Obtain the corrected scaling parameter K p ′=εM p (j) Integral parameter K i ′=εM i (j) and differential parameter K d ′=εM d (j); where ε is the proportionality coefficient, which can take the value of 0.12;

[0109] The error between the theoretical change ΔP0 and the actual change ΔP is calculated using the corrected proportional parameter K. p ′、Integral parameter K i ′ and differential parameter K d The duty cycle U(j) for the next time node is output through the PID control algorithm as follows:

[0110] U(j)=U(j-1)+K p ′I p (j)+K i ′I i (j)+K d ′Id (j);

[0111] The above methods can update and adjust the proportional, integral, and derivative parameters, making the output of the PID control algorithm more accurate, thereby improving the accuracy of duty cycle adjustment at the next time node and ultimately enhancing the control precision of the actual pressure.

[0112] like Figure 5 As shown, a control method for a multi-channel independently adjustable air wave pressure control system includes:

[0113] S1. Set the target pressure for multiple pressure application positions, with each pressure application position corresponding to an independent air path;

[0114] S2. Determine the node pressure based on the target pressure; where the node pressure is less than the target pressure.

[0115] S3. Inflate multiple pressure points separately and obtain the actual pressure at each pressure point in real time. Before the actual pressure reaches the node pressure, the gas path inflates the pressure point at a constant preset flow rate. When the actual pressure reaches the node pressure, the gas flow rate of the gas path is adjusted according to a preset control strategy until the actual pressure reaches the target pressure.

[0116] When adjusting the gas flow rate of the gas path using a preset control strategy, the ratio of the theoretical change in gas flow rate ΔQ0 per unit time to the theoretical change in pressure value ΔP0 at the corresponding pressure application position is a constant.

[0117] The above solution allows for setting the target pressure at each pressure point individually and adjusting the pressure at each pressure point in any mode. During use, users can adapt to the appropriate force for each part. By adjusting the flow rate during inflation, the set target pressure can be precisely controlled, reducing the error between the actual pressure and the target pressure, limiting the air wave pressure error range to a smaller range, improving the user experience, and ensuring the safety of use.

[0118] To ensure inflation efficiency, during the initial inflation stage, before the actual pressure reaches the target pressure, inflation is carried out at a constant preset flow rate to the pressure application position. The preset flow rate can be the maximum flow rate through the air path, corresponding to the maximum duty cycle of the air path flow control module. When the actual pressure reaches the target pressure, the duty cycle of the air path flow control module is controlled according to a preset control strategy to adjust the gas flow rate in the air path until the actual pressure reaches the target pressure, at which point inflation stops. By adjusting the flow rate through the preset control strategy, the difference between the actual pressure and the target pressure at the point where inflation stops can be kept within a preset error range, thus improving pressure control accuracy.

[0119] Furthermore, adjusting the gas flow rate of the gas path using a preset control strategy includes:

[0120] Based on the theoretical change in gas flow rate ΔQ0 per unit time, the theoretical duty cycle of the gas flow control module at each time node is obtained. Then, the ratio of the change in theoretical duty cycle Δd0 per unit time to the theoretical change in pressure value ΔP0 at the corresponding pressure application position is the preset change rate K0.

[0121] The gas flow control module is continuously adjusted based on the theoretical duty cycle corresponding to each time point.

[0122] The actual pressure at the pressure application location is obtained in real time through the pressure acquisition module, and the actual change ΔP of the pressure value at the pressure application location between the current time node and the previous time node is obtained.

[0123] Calculate the actual ratio K between the theoretical duty cycle change Δd0 and the actual pressure change ΔP at the pressure application location, and determine whether the actual ratio K satisfies the preset change rate K0.

[0124] If satisfied, the gas flow control module continues to be adjusted continuously according to the theoretical duty cycle corresponding to each time node; if not satisfied, the duty cycle of the gas flow control module at the next time node is adjusted according to the error between the theoretical change ΔP0 and the actual change ΔP, and the theoretical duty cycle corresponding to all time nodes after the next time node is updated according to the change Δd0 of the theoretical duty cycle.

[0125] Since the gas flow rate is directly proportional to the duty cycle (which corresponds to the power of the air pump or the opening of the proportional valve in the air circuit), there is a unique correspondence between the gas flow rate and the duty cycle.

[0126] Before inflation, the node pressure is pre-determined based on the target pressure. Inflation to the node pressure using a known preset flow rate (maximum gas flow rate) allows us to obtain the relationship between the gas flow rate (or duty cycle) and the actual pressure, thus yielding the preset rate of change K0. Figure 4 As shown, this represents the slope of the linear relationship between the gas flow rate (or duty cycle) and the actual pressure after the node pressure. The theoretical change in gas flow rate ΔQ0 per unit time is a preset value. Each time node has a theoretical duty cycle corresponding to the theoretical gas flow rate. From the linear relationship, it can be seen that when the gas flow rate (or duty cycle) changes per unit time, there is a unique theoretical change in pressure value ΔP0. In this way, during inflation, controlling the change in pressure value can achieve precise control of the actual pressure at the pressure application position.

[0127] When inflating with the theoretical change in gas flow rate ΔQ0 (i.e., the change in theoretical duty cycle Δd0) within a unit time, the actual pressure at the pressure application position is obtained in real time to obtain the actual change in pressure value at the pressure application position ΔP within a unit time. The actual ratio K between the two can then be obtained. As long as the change in actual pressure at the pressure application position and the change in gas flow rate in the gas path meet the preset change rate K0, the change in gas flow rate and the change in actual pressure can be precisely controlled.

[0128] During inflation, the actual ratio K is monitored in real time. If the actual ratio K meets the preset rate of change K0, it indicates that continuously adjusting the gas flow rate with the current theoretical duty cycle can ensure that the actual pressure change meets the preset rate of change K0. In this case, the gas flow control module can continue to be continuously adjusted with the theoretical duty cycle corresponding to each time point. If the actual ratio K does not meet the preset rate of change K0, it indicates that adjusting the gas flow rate with the current theoretical duty cycle cannot guarantee that the actual pressure change meets the preset rate of change K0. In other words, the actual pressure change is either too large or too small. A large change may cause the actual pressure change to be too large at the end of inflation. Excessive pressure deviation from the target pressure results in a poor user experience, while insufficient deviation leads to prolonged inflation time. Therefore, the duty cycle of the airflow control module at the next time node can be adjusted based on the error between the theoretical change ΔP0 and the actual change ΔP. Furthermore, the theoretical duty cycle for all subsequent time nodes can be updated based on the change Δd0 of the theoretical duty cycle. This allows for precise adjustment of the actual pressure, ensuring that the pressure change remains within a constant range for each unit of time before the actual pressure reaches the target pressure, thereby achieving precise pressure control.

[0129] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. Other modifications can be easily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A multi-channel independently adjustable air wave pressure control system, characterized in that, include: The setting module is used to set the target pressure for multiple pressure application locations; each pressure application location corresponds to an independent air path. The pressure acquisition module is used to acquire the actual pressure at each pressure application point in real time; The gas flow control module is used to independently control the gas flow rate through each gas path; The pressure control module, based on the actual pressure and target pressure at the pressure application location, adjusts the gas flow rate during gas filling via the gas flow control module to ensure that the difference between the actual pressure and the target pressure is within a preset pressure error range. The pressure control module includes: The node determination unit determines the node pressure based on the target pressure corresponding to the pressure application location; wherein the node pressure is less than the target pressure. The monitoring unit is used to detect whether the actual pressure at the pressure application location has reached the node pressure; If the monitoring unit detects that the actual pressure at the pressure application position reaches the node pressure, the regulating unit will adjust the gas flow rate of the gas path through the gas path flow control module with a preset control strategy to ensure that the difference between the actual pressure and the target pressure is within the preset error range. During the initial inflation stage, before the actual pressure at the pressure application position reaches the node pressure, the air flow control module controls the air path to inflate the pressure application position at a constant preset flow rate. When the regulating unit adjusts the gas flow rate of the gas path using a preset control strategy through the gas path flow control module, the theoretical change in gas flow rate per unit time is... Theoretical change in pressure at the corresponding pressure application location The ratio is a constant; The preset control strategy includes: Based on the theoretical change in gas flow rate per unit time If the theoretical duty cycle of the gas flow control module is obtained at each time point, then the change in the theoretical duty cycle per unit time is... Theoretical change in pressure at the corresponding pressure application location The ratio is the preset rate of change. ; The gas flow control module is continuously adjusted based on the theoretical duty cycle corresponding to each time point. The pressure acquisition module acquires the actual pressure at the pressure application location in real time, obtaining the actual change in pressure value at the pressure application location between the current time point and the previous time point. ; Calculate the change in theoretical duty cycle The actual change in pressure at the pressure application location actual ratio And determine the actual ratio. Does it meet the preset rate of change? ; If satisfied, the gas flow control module continues to adjust according to the theoretical duty cycle corresponding to each time point; if not satisfied, the flow is adjusted based on the theoretical change. and actual change The error affects the duty cycle of the gas flow control module at the next time node, and the change in the theoretical duty cycle is adjusted accordingly. Update the theoretical duty cycle for all time points after the next time point.

2. The multi-channel independently adjustable air wave pressure control system according to claim 1, characterized in that, Also includes: The temperature acquisition module is used to obtain the actual temperature of each heat application site in real time; The temperature control module is used to adjust the temperature of each heat application site individually, so that the difference between the actual temperature and the target temperature is within the preset temperature error range. The target temperature for each heat application site is set via a setting module.

3. The multi-channel independently adjustable air wave pressure control system according to claim 1, characterized in that, The node determination unit includes: The judgment subunit compares the set target pressure with the first pressure judgment value; where the first pressure judgment value is half of the maximum value of the pressure setting. If the target pressure is greater than the first pressure judgment value, the node pressure is determined to be one-third of the target pressure; if the target pressure is less than or equal to the first pressure judgment value, the node pressure is determined to be one-half of the target pressure.

4. The multi-channel independently adjustable air wave pressure control system according to claim 1, characterized in that, Based on theoretical change and actual change The error affects the adjustment of the duty cycle of the gas flow control module at the next time node, including: Theoretical change and actual change The error is used as the input signal of the neuron in the neural network model; wherein the input signal includes: a first input signal corresponding to the proportional parameter in the PID control algorithm, a second input signal corresponding to the integral parameter, and a third input signal corresponding to the derivative parameter; Train the neural network model to obtain initial scaling parameters. Initial integration parameters and initial differential parameters ; Based on the correlation between different neurons in the neural network model, the connection weights between different neurons are updated, and then the initial scaling parameter is adjusted according to the updated connection weights. Initial integration parameters and initial differential parameters Make corrections to obtain the corrected proportional parameters. Integral parameters and differential parameters ; Theoretical change and actual change The error is calculated using the corrected proportional parameter. Integral parameters and differential parameters The duty cycle for the next time node is output through the PID control algorithm.

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