Peristaltic pump control method and control system based on parameter compensation

Abstract

The present invention discloses a peristaltic pump control method and control system based on parameter compensation, which relates to the technical field of peristaltic pump control, and comprises the following steps: acquiring detection parameters of the peristaltic pump; analyzing whether there are errors in the detection parameters; when there are errors in the detection parameters, recording the detection parameters; performing parameter compensation analysis on the recorded detection parameters, and controlling the peristaltic pump based on the analysis results; the present invention is used to solve the problem that the existing peristaltic pump control technology still has the problem of being unable to dynamically balance the pressure tube gap of the peristaltic pump with the flow rate and pressure in the hose, resulting in a decrease in the control accuracy of the peristaltic pump and the hose after long-term use.

Description

Technical Field

[0001] The present invention relates to the technical field of peristaltic pump control, and in particular to a peristaltic pump control method and a control system based on parameter compensation. Background Art

[0002] Peristaltic pump control technology refers to the technical field of monitoring, regulating and controlling the operating parameters, flow rate and pressure of peristaltic pumps by adopting various control methods and technical means in the application of peristaltic pumps. The goal of peristaltic pump control technology is to ensure that the peristaltic pump can stably and accurately provide the required flow rate and pressure output during operation. In the medical field, especially in blood purification equipment, peristaltic pump control technology plays a vital role. Peristaltic pumps are widely used in medical equipment such as hemodialysis and drug delivery due to their unique characteristics of no leakage, no pollution and precise control of fluids. However, the existing peristaltic pump control technology often faces the problem of decreased control accuracy during long-term use, which is mainly due to the performance changes of the peristaltic pump and its hose due to wear and aging.

[0003] Specifically, the existing peristaltic pump control technology usually regulates the pressure tube gap of the peristaltic pump through a preset relationship function, thereby controlling the flow and pressure in the hose. This method can better meet the control requirements in the early stage, but as the use time increases, the wear of the peristaltic pump and the hose will cause a deviation between the actual pressure tube gap and the target setting value, thereby affecting the control accuracy of the flow and pressure. In addition, the method of quantitative control based on the number of running circles also has the problem of being unable to dynamically adapt to the change of hose performance, resulting in a gradual decrease in control accuracy during long-term operation. For example, in the Chinese patent application publication number CN114962229A, a flow control method and device for a peristaltic pump is disclosed. This scheme only analyzes the relationship between the number of running circles of the peristaltic pump and the total flow rate, thereby quantitatively controlling the peristaltic pump, and the analysis based on the number of running circles will cause the control accuracy of the peristaltic pump and the hose to decrease after long-term use, and it is impossible to dynamically balance it. That is, the existing peristaltic pump control technology still has the problem of being unable to dynamically balance the pressure-tube gap of the peristaltic pump with the flow and pressure in the hose, resulting in a decrease in the control accuracy of the peristaltic pump and the hose after long-term use.

[0004] In blood purification equipment, accurate flow and pressure control are directly related to treatment effect and patient safety. If the control accuracy of the peristaltic pump decreases, it may lead to inaccurate delivery of dialysate or drugs, which will affect the treatment effect and even cause potential harm to the patient. Therefore, developing a technology that can dynamically balance the relationship between the peristaltic pump pressure tube gap and the flow and pressure in the hose is of great significance to improving the overall performance of blood purification equipment and the safety of patient treatment. Summary of the invention

[0005] The present invention aims to solve one of the technical problems in the prior art to at least a certain extent, by acquiring the detection parameters of the peristaltic pump, analyzing whether there are errors in the detection parameters, recording the detection parameters when there are errors in the detection parameters, and finally performing parameter compensation analysis on the recorded detection parameters, and controlling the peristaltic pump based on the analysis results, so as to solve the problem that the existing peristaltic pump control technology is still unable to dynamically balance the pressure-tube gap of the peristaltic pump with the flow and pressure in the hose, resulting in a decrease in the control accuracy of the peristaltic pump and the hose after long-term use.

[0006] To achieve the above objectives, in a first aspect, the present application provides a peristaltic pump control method based on parameter compensation, comprising the following steps:

[0007] Obtain the detection parameters of the peristaltic pump;

[0008] Analyze whether there are errors in the detection parameters;

[0009] When there is an error in the detection parameters, the detection parameters are recorded;

[0010] Perform parameter compensation analysis on the recorded detection parameters, and control the peristaltic pump based on the analysis results.

[0011] Furthermore, the detection parameters include detection flow, detection pressure and detection of tube gap, and the detection tube gap is the distance between two rollers located on both sides of the hose when the peristaltic pump squeezes the hose.

[0012] Further, analyzing whether there is an error in the detection parameters includes the following sub-steps:

[0013] The object to be regulated is pipeline flow or pipeline pressure. If it is pipeline flow, a flow analysis signal is output; if it is pipeline pressure, a pressure analysis signal is output;

[0014] If a flow analysis signal is output, a flow target parameter of the peristaltic pump is obtained, and the flow target parameter is a target flow;

[0015] The target flow rate is compared with the detection flow rate. If the target flow rate is different from the detection flow rate, a flow error signal is output; if the target flow rate is the same as the detection flow rate, a flow correct signal is output;

[0016] If a pressure analysis signal is output, a pressure target parameter of the peristaltic pump is obtained, where the pressure target parameter is a target pressure;

[0017] The target pressure is compared with the detection pressure. If the target pressure is different from the detection pressure, a pressure error signal is output; if the target pressure is the same as the detection pressure, a pressure correct signal is output;

[0018] The flow error signal, flow correct signal, pressure error signal and pressure correct signal are collectively referred to as error judgment signals.

[0019] Furthermore, when there is an error in the detection parameter, recording the detection parameter includes the following sub-steps:

[0020] Obtain an error judgment signal. If the error judgment signal is a flow error signal, mark the detection parameter as a flow error parameter and mark the flow target parameter as a flow expected parameter. If the error judgment signal is a pressure error signal, mark the detection parameter as a pressure error parameter and mark the pressure target parameter as a pressure expected parameter.

[0021] A parameter compensation database is established to record flow error parameters, flow expected parameters, pressure error parameters and pressure expected parameters.

[0022] Furthermore, performing parameter compensation analysis on the recorded detection parameters and controlling the peristaltic pump based on the analysis results includes the following sub-steps:

[0023] Based on the detection of the pressure pipe gap, the target flow rate and the target pressure are analyzed respectively to obtain the preset flow control function and pressure control function;

[0024] Analyze the flow error parameter and the flow expected parameter to obtain the flow error function, and analyze the pressure error parameter and the pressure expected parameter to obtain the pressure error function;

[0025] Based on the flow error function, the flow control function is parameter-compensated to obtain a flow compensation control function; based on the pressure error function, the pressure control function is parameter-compensated to obtain a pressure compensation control function;

[0026] The peristaltic pump is controlled based on a flow compensation control function and a pressure compensation control function.

[0027] Furthermore, based on the detection of the pressure pipe gap, the target flow rate and the target pressure are analyzed respectively to obtain the preset flow control function and pressure control function, which includes the following sub-steps:

[0028] With the detection pressure pipe gap as the X-axis and the target flow rate as the Y-axis, a plane rectangular coordinate system is established, named the flow control coordinate system, and the detection pressure pipe gap and the target flow rate are entered into the flow control coordinate system;

[0029] With the detection pressure tube gap as the X-axis and the target pressure as the Y-axis, a plane rectangular coordinate system is established, named the pressure control coordinate system, and the detection pressure tube gap and the target pressure are entered into the pressure control coordinate system;

[0030] The flow control coordinate system is subjected to discrete regression to obtain the flow control function; the pressure control coordinate system is subjected to discrete regression to obtain the pressure control function.

[0031] Further, analyzing the flow error parameter and the flow expected parameter to obtain the flow error function, and analyzing the pressure error parameter and the pressure expected parameter to obtain the pressure error function include the following sub-steps:

[0032] The detected flow in the flow error parameter is marked as the error flow, and the flow error ratio is calculated by the formula FV=(ET-FE) / ET, where FV is the flow error ratio, FE is the error flow, and ET is the expected flow parameter;

[0033] A plane rectangular coordinate system is established with the detection pressure pipe gap as the horizontal axis and the flow error ratio as the Y axis, named the flow error coordinate system, and the detection pressure pipe gap and the flow error ratio are entered into the flow error coordinate system;

[0034] Perform discrete regression on the flow error coordinate system to obtain the flow error function;

[0035] The detected flow in the pressure error parameter is marked as pressure flow, and the pressure error ratio is calculated by the formula PV=(EP-PE) / EP, where PV is the pressure error ratio, PE is the error pressure, and EP is the pressure expectation parameter;

[0036] A plane rectangular coordinate system is established with the detection pressure tube gap as the horizontal axis and the pressure error ratio as the Y axis, named as the pressure error coordinate system, and the detection pressure tube gap and the pressure error ratio are entered into the pressure error coordinate system;

[0037] Perform discrete regression on the pressure error coordinate system to obtain the pressure error function.

[0038] Further, based on the flow error function, parameter compensation is performed on the flow control function to obtain a flow compensation control function; based on the pressure error function, parameter compensation is performed on the pressure control function to obtain a pressure compensation control function, including the following sub-steps:

[0039] Assume that the format of the flow control function is YFK=f(XFK), where YFK is the target flow and f(XFK) is an arbitrary function; Assume that the format of the pressure control function is YPK=f(XPK), where YPK is the target pressure and f(XPK) is an arbitrary function;

[0040] Assume that the format of the flow error function is YFE=h(XFE), where YFE is the error flow and h(XFE) is an arbitrary function; Assume that the format of the pressure error function is YPE=h(XPE), where YPE is the error pressure and h(XPE) is an arbitrary function;

[0041] Set YFE as the flow compensation parameter and YPE as the pressure compensation parameter;

[0042] The flow compensation control function is compensated by the flow compensation parameter, and the flow compensation control function is obtained as follows: , where b is the target flow rate; the pressure compensation control function is compensated by the pressure compensation parameter, and the pressure compensation control function is obtained as , where c is the target pressure.

[0043] Furthermore, controlling the peristaltic pump based on the flow compensation control function and the pressure compensation control function includes the following sub-steps:

[0044] When controlling the peristaltic pump, the parameter to be regulated is obtained. If it is the pipeline flow, a flow control signal is output; if it is the pipeline pressure, a pressure control signal is output;

[0045] If a flow control signal is output, the flow compensation control function is used as the target compensation control function; if a pressure control signal is output, the pressure compensation control function is used as the target compensation control function;

[0046] Substitute the target value to be adjusted into the target compensation control function to calculate the target control gap;

[0047] Adjust the pressure pipe clearance to the target control clearance.

[0048] In a second aspect, the present application provides a peristaltic pump control system based on parameter compensation, including a parameter detection module, an error judgment module, a parameter collection module and a parameter compensation module; the parameter detection module, the error judgment module and the parameter collection module are respectively connected to the parameter compensation module data;

[0049] The parameter detection module is used to obtain the detection parameters of the peristaltic pump;

[0050] The error judgment module is used to analyze whether there is an error in the detection parameters;

[0051] The parameter collection module is used to collect the detection parameters when there are errors in the detection parameters;

[0052] The parameter compensation module is used to perform parameter compensation analysis on the recorded detection parameters and control the peristaltic pump based on the analysis results.

[0053] Beneficial effects of the present invention: the present invention obtains the detection parameters of the peristaltic pump, and then analyzes whether there are errors in the detection parameters. When there are errors in the detection parameters, the detection parameters are recorded, and then based on the detection of the pressure-tube gap, the target flow and the target pressure are analyzed respectively to obtain a preset flow control function and a pressure control function, and the flow error parameter and the expected flow parameter are analyzed to obtain a flow error function, and the pressure error parameter and the expected pressure parameter are analyzed to obtain a pressure error function. The advantage is that the flow control function and the pressure control function are preset control functions in the peristaltic pump, which can control the flow and pressure of the peristaltic pump. After long-term use, the peristaltic pump will have errors in controlling the flow and pressure, and the flow error function and the pressure error function represent their errors after long-term use, which provide a reliable data basis for the analysis of subsequent parameter compensation and improve the rationality and reliability of peristaltic pump control.

[0054] The present invention performs parameter compensation on the flow control function based on the flow error function to obtain a flow compensation control function, performs parameter compensation on the pressure control function based on the pressure error function to obtain a pressure compensation control function, and then controls the peristaltic pump based on the flow compensation control function and the pressure compensation control function. The advantage of the present invention is that after long-term use, a certain error will occur when controlling the peristaltic pump and the hose, and the longer the use time, the greater the error. Therefore, compensation parameters are used to compensate for the control of flow and pressure, and as the use time increases, the compensation parameters will also increase, thereby greatly reducing the maintenance cost of the peristaltic pump and the hose, and performing precise intelligent regulation of the peristaltic pump, thereby improving the accuracy of peristaltic pump control and reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 is a functional block diagram of the system of the present invention;

[0056] Figure 2 is a schematic diagram of a flow control coordinate system of the present invention;

[0057] Figure 3 is a schematic diagram of the flow error coordinate system of the present invention;

[0058] Figure 4 The figure is a flow chart of the steps of the method of the present invention. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] Example 1, please refer to Figure 1 As shown, the present application provides a peristaltic pump control system based on parameter compensation, including a parameter detection module, an error judgment module, a parameter collection module and a parameter compensation module; the parameter detection module, the error judgment module and the parameter collection module are respectively connected to the parameter compensation module data;

[0061] The parameter detection module is used to obtain the detection parameters of the peristaltic pump; the detection parameters include detection flow, detection pressure and detection of the pressure tube gap. The detection of the pressure tube gap is the distance between the two rollers located on both sides of the hose when the peristaltic pump squeezes the hose; by adjusting the distance between the two rollers, the squeezing force of the hose can be different, thereby realizing the adjustment of the flow rate;

[0062] In actual application, the detection flow rate is 23L / h, the detection pressure is 48kPa, and the detection pressure tube gap is 2.53mm.

[0063] The error judgment module is used to analyze whether there is an error in the detection parameters;

[0064] The error judgment module is configured with an error judgment strategy, which includes:

[0065] The object to be regulated is pipeline flow or pipeline pressure. If it is pipeline flow, a flow analysis signal is output; if it is pipeline pressure, a pressure analysis signal is output;

[0066] If the flow analysis signal is output, the flow target parameter of the peristaltic pump is obtained, and the flow target parameter is the target flow;

[0067] The target flow rate is compared with the detection flow rate. If the target flow rate is different from the detection flow rate, a flow error signal is output; if the target flow rate is the same as the detection flow rate, a flow correct signal is output;

[0068] If a pressure analysis signal is output, a pressure target parameter of the peristaltic pump is obtained, and the pressure target parameter is the target pressure;

[0069] The target pressure is compared with the detection pressure. If the target pressure is different from the detection pressure, a pressure error signal is output; if the target pressure is the same as the detection pressure, a pressure correct signal is output;

[0070] The flow error signal, flow correct signal, pressure error signal and pressure correct signal are collectively referred to as error judgment signals;

[0071] In practical applications, the object of this regulation is the pipeline flow, and a flow analysis signal is output. The target flow is 25L / h. By comparison, it is found that the target flow is different from the detected flow, and a flow error signal is output.

[0072] The parameter collection module is used to collect the detection parameters when there are errors in the detection parameters;

[0073] The parameter collection module is configured with parameter collection strategies, which include:

[0074] Obtain an error judgment signal. If the error judgment signal is a flow error signal, mark the detection parameter as a flow error parameter and mark the flow target parameter as a flow expected parameter. If the error judgment signal is a pressure error signal, mark the detection parameter as a pressure error parameter and mark the pressure target parameter as a pressure expected parameter.

[0075] Establish a parameter compensation database to record flow error parameters, flow expected parameters, pressure error parameters and pressure expected parameters;

[0076] In actual applications, a flow error signal is obtained, and the detection parameters obtained in this detection are marked as flow error parameters, and the flow target parameters are marked as flow expected parameters. Some data in the parameter compensation database are shown in Table 1 below:

[0077] Table 1 Partial data of parameter compensation database

[0078]

[0079] The parameter compensation module is used to perform parameter compensation analysis on the collected detection parameters and control the peristaltic pump based on the analysis results; the parameter compensation module includes a control function analysis unit, an error function analysis unit, a parameter compensation unit and a peristaltic pump control unit;

[0080] The control function analysis unit is used to analyze the target flow rate and the target pressure respectively based on the detection of the pressure pipe gap, and obtain the preset flow control function and pressure control function;

[0081] The control function analysis unit is configured with a control function analysis strategy, which includes:

[0082] See also Figure 2 As shown, a plane rectangular coordinate system is established with the detection pressure pipe gap as the X-axis and the target flow as the Y-axis, named the flow control coordinate system, and the detection pressure pipe gap and the target flow are entered into the flow control coordinate system;

[0083] With the detection pressure tube gap as the X-axis and the target pressure as the Y-axis, a plane rectangular coordinate system is established, named the pressure control coordinate system, and the detection pressure tube gap and the target pressure are entered into the pressure control coordinate system;

[0084] Perform discrete regression on the flow control coordinate system to obtain the flow control function; perform discrete regression on the pressure control coordinate system to obtain the pressure control function;

[0085] In practical applications, the flow control coordinate system is constructed as follows Figure 2 As shown in the figure, discrete regression includes linear regression, power regression, exponential regression and other regression forms. Only the R obtained by the least squares method is selected. 2 The maximum discrete regression form is used for regression calculation, such as Figure 2 , R is calculated by the least squares method 2 The largest discrete regression is logarithmic regression, then the flow control coordinate system is subjected to logarithmic regression to obtain the flow control function. The analysis method of the discrete regression of the pressure control coordinate system, the flow error coordinate system and the pressure error coordinate system in this embodiment is the same as the analysis method of the flow control coordinate system; the flow control function obtained by discrete regression is YFK=-7.911×ln(XFK)+12.577, wherein the function f(XFK) is -7.911×ln(XFK)+12.577; since the analysis process of the parameter compensation analysis of the pressure in the pipeline is exactly the same as the analysis process of the parameter compensation analysis of the flow in the pipeline, the analysis of the pressure part is no longer specifically demonstrated in this embodiment, and only the analysis process of the flow part is provided to explain the specific processing process;

[0086] The error function analysis unit is used to analyze the flow error parameter and the flow expected parameter to obtain the flow error function, and to analyze the pressure error parameter and the pressure expected parameter to obtain the pressure error function;

[0087] The error function analysis unit is configured with an error function analysis strategy, and the error function analysis strategy includes:

[0088] The detected flow in the flow error parameter is marked as the error flow, and the flow error ratio is calculated by the formula FV=(ET-FE) / ET, where FV is the flow error ratio, FE is the error flow, and ET is the expected flow parameter;

[0089] See also Figure 3 As shown, a plane rectangular coordinate system is established with the detection pressure pipe gap as the horizontal axis and the flow error ratio as the Y axis, named the flow error coordinate system, and the detection pressure pipe gap and the flow error ratio are entered into the flow error coordinate system;

[0090] Perform discrete regression on the flow error coordinate system to obtain the flow error function;

[0091] In actual application, the error flow FE is 5.7 (L / h), the expected flow parameter ET is 6 (L / h), and the flow error ratio FV is calculated to be (6-5.7) / 6=0.050. The calculation result retains three decimal places and is converted to a percentage of 5%. The flow error coordinate system is constructed as follows: Figure 3 As shown, through discrete regression R2 The maximum value is also a logarithmic regression, so the flow error function obtained by discrete regression is YFE=-0.067×ln(XFE)+0.106, where the function h(XFE) is -0.067×ln(XFE)+0.106;

[0092] The detected flow in the pressure error parameter is marked as pressure flow, and the pressure error ratio is calculated by the formula PV=(EP-PE) / EP, where PV is the pressure error ratio, PE is the error pressure, and EP is the pressure expectation parameter;

[0093] A plane rectangular coordinate system is established with the detection pressure tube gap as the horizontal axis and the pressure error ratio as the Y axis, named as the pressure error coordinate system, and the detection pressure tube gap and the pressure error ratio are entered into the pressure error coordinate system;

[0094] Perform discrete regression on the pressure error coordinate system to obtain the pressure error function;

[0095] In practical applications, since the analysis process of the parameter compensation analysis for the pressure in the pipeline is exactly the same as that of the parameter compensation analysis for the flow in the pipeline, this embodiment will not specifically demonstrate the analysis of the pressure part, and only provide the analysis process of the flow part to explain the specific processing process;

[0096] The parameter compensation unit is used to perform parameter compensation on the flow control function based on the flow error function to obtain the flow compensation control function; based on the pressure error function, perform parameter compensation on the pressure control function to obtain the pressure compensation control function;

[0097] The parameter compensation unit is configured with a parameter compensation strategy, which includes:

[0098] Assume that the format of the flow control function is YFK=f(XFK), where YFK is the target flow and f(XFK) is an arbitrary function; Assume that the format of the pressure control function is YPK=f(XPK), where YPK is the target pressure and f(XPK) is an arbitrary function;

[0099] Assume that the format of the flow error function is YFE=h(XFE), where YFE is the error flow and h(XFE) is an arbitrary function; Assume that the format of the pressure error function is YPE=h(XPE), where YPE is the error pressure and h(XPE) is an arbitrary function;

[0100] Set YFE as the flow compensation parameter and YPE as the pressure compensation parameter;

[0101] The flow compensation control function is compensated by the flow compensation parameter, and the flow compensation control function is obtained as follows: , where b is the target flow rate; the pressure compensation control function is compensated by the pressure compensation parameter, and the pressure compensation control function is obtained as , where c is the target pressure;

[0102] In practical applications, only the process of obtaining the flow compensation control function is specifically demonstrated. The process of obtaining the pressure compensation control function is the same as that of the flow compensation control function, so it is omitted in this embodiment; the flow control function is YFK=-7.911×ln(XFK)+12.577, where the function f(XFK) is -7.911×ln(XFK)+12.577; the flow error function is YFE=-0.067×ln(XFE)+0.106, where the function h(XFE) is -0.067×ln(XFE)+0.106; Substituting into the flow compensation control function, we get , further simplified, the flow compensation control function is: ;

[0103] The peristaltic pump control unit is used to control the peristaltic pump based on a flow compensation control function and a pressure compensation control function;

[0104] The peristaltic pump control unit is configured with a peristaltic pump control strategy, which includes:

[0105] When controlling the peristaltic pump, the parameter to be regulated is obtained. If it is the pipeline flow, a flow control signal is output; if it is the pipeline pressure, a pressure control signal is output;

[0106] If a flow control signal is output, the flow compensation control function is used as the target compensation control function; if a pressure control signal is output, the pressure compensation control function is used as the target compensation control function;

[0107] Substitute the target value to be adjusted into the target compensation control function to calculate the target control gap;

[0108] Adjust the pressure pipe clearance to the target control clearance;

[0109] In practical applications, the user wants to regulate the pipeline flow, output the flow control signal, and use the flow compensation control function as the target compensation control function; the target value is 10L / h, that is, the target flow is 10L / h, which is substituted into the target compensation control function for calculation, starting with XFK=0, and the flow compensation control function is solved using the iteration method. The value closest to the solution is 1.14, and the calculation result retains two decimal places, that is, the target control gap is 1.14mm, and the detection pressure tube gap of the peristaltic pump is adjusted to 1.14mm.

[0110] Example 2, please refer to Figure 4As shown, the present application provides a peristaltic pump control method based on parameter compensation, comprising the following steps:

[0111] Step S1, obtaining detection parameters of the peristaltic pump; the detection parameters include detection flow, detection pressure and detection of the tube gap, the detection of the tube gap is the distance between two rollers located on both sides of the hose when the peristaltic pump squeezes the hose;

[0112] Step S2, analyzing whether there is an error in the detection parameters; Step S2 includes the following sub-steps:

[0113] Step S201, obtaining whether the object to be regulated is pipeline flow or pipeline pressure, if it is pipeline flow, outputting a flow analysis signal; if it is pipeline pressure, outputting a pressure analysis signal;

[0114] Step S202, if the flow analysis signal is output, the flow target parameter of the peristaltic pump is obtained, and the flow target parameter is the target flow;

[0115] Step S203, comparing the target flow rate with the detection flow rate, if the target flow rate is different from the detection flow rate, outputting a flow error signal; if the target flow rate is the same as the detection flow rate, outputting a flow correct signal;

[0116] Step S204, if the pressure analysis signal is output, then the pressure target parameter of the peristaltic pump is obtained, and the pressure target parameter is the target pressure;

[0117] Step S205, comparing the target pressure with the detection pressure, if the target pressure is different from the detection pressure, outputting a pressure error signal; if the target pressure is the same as the detection pressure, outputting a pressure correct signal;

[0118] Step S206, the flow error signal, the flow correct signal, the pressure error signal and the pressure correct signal are collectively referred to as an error judgment signal;

[0119] Step S3, when there is an error in the detection parameter, the detection parameter is recorded; Step S3 includes the following sub-steps:

[0120] Step S301, obtaining an error judgment signal. If the error judgment signal is a flow error signal, the detection parameter is marked as a flow error parameter, and the flow target parameter is marked as a flow expected parameter; if the error judgment signal is a pressure error signal, the detection parameter is marked as a pressure error parameter, and the pressure target parameter is marked as a pressure expected parameter;

[0121] Step S302, establishing a parameter compensation database to record flow error parameters, flow expected parameters, pressure error parameters and pressure expected parameters;

[0122] Step S4, performing parameter compensation analysis on the collected detection parameters, and controlling the peristaltic pump based on the analysis results; Step S4 includes the following sub-steps:

[0123] Step S401, based on the detection of the pressure pipe gap, respectively analyzing the target flow rate and the target pressure to obtain a preset flow control function and a pressure control function;

[0124] Step S401 includes the following sub-steps:

[0125] Step S4011, establish a plane rectangular coordinate system with the detected pressure pipe gap as the X-axis and the target flow rate as the Y-axis, named as the flow control coordinate system, and enter the detected pressure pipe gap and the target flow rate into the flow control coordinate system;

[0126] Step S4012, establishing a plane rectangular coordinate system with the detected pressure pipe gap as the X-axis and the target pressure as the Y-axis, named as the pressure control coordinate system, and entering the detected pressure pipe gap and the target pressure into the pressure control coordinate system;

[0127] Step S4013, performing discrete regression on the flow control coordinate system to obtain a flow control function; performing discrete regression on the pressure control coordinate system to obtain a pressure control function;

[0128] Step S402, analyzing the flow error parameter and the flow expected parameter to obtain a flow error function, and analyzing the pressure error parameter and the pressure expected parameter to obtain a pressure error function;

[0129] Step S402 includes the following sub-steps:

[0130] Step S4021, marking the detected flow in the flow error parameter as the error flow, and calculating the flow error ratio by the formula FV=(ET-FE) / ET, where FV is the flow error ratio, FE is the error flow, and ET is the expected flow parameter;

[0131] Step S4022, establishing a plane rectangular coordinate system with the detection pressure pipe gap as the horizontal axis and the flow error ratio as the Y axis, named the flow error coordinate system, and entering the detection pressure pipe gap and the flow error ratio into the flow error coordinate system;

[0132] Step S4023, performing discrete regression on the flow error coordinate system to obtain a flow error function;

[0133] Step S4024, marking the detected flow in the pressure error parameter as the pressure flow, and calculating the pressure error ratio by the formula PV=(EP-PE) / EP, where PV is the pressure error ratio, PE is the error pressure, and EP is the pressure expectation parameter;

[0134] Step S4025, establishing a plane rectangular coordinate system with the detected pressure tube gap as the horizontal axis and the pressure error ratio as the Y axis, named as the pressure error coordinate system, and entering the detected pressure tube gap and the pressure error ratio into the pressure error coordinate system;

[0135] Step S4026, performing discrete regression on the pressure error coordinate system to obtain a pressure error function;

[0136] Step S403, based on the flow error function, performing parameter compensation on the flow control function to obtain a flow compensation control function; based on the pressure error function, performing parameter compensation on the pressure control function to obtain a pressure compensation control function;

[0137] Step S403 includes the following sub-steps:

[0138] Step S4031, assuming that the format of the flow control function is YFK=f(XFK), where YFK is the target flow and f(XFK) is an arbitrary function; assuming that the format of the pressure control function is YPK=f(XPK), where YPK is the target pressure and f(XPK) is an arbitrary function;

[0139] Step S4032, assuming that the format of the flow error function is YFE=h(XFE), where YFE is the error flow and h(XFE) is an arbitrary function; assuming that the format of the pressure error function is YPE=h(XPE), where YPE is the error pressure and h(XPE) is an arbitrary function;

[0140] Step S4033, setting YFE as a flow compensation parameter, and setting YPE as a pressure compensation parameter;

[0141] Step S4034, the flow control function is compensated by the flow compensation parameter to obtain the flow compensation control function: , where b is the target flow rate; the pressure compensation control function is compensated by the pressure compensation parameter, and the pressure compensation control function is obtained as , where c is the target pressure;

[0142] Step S404, controlling the peristaltic pump based on the flow compensation control function and the pressure compensation control function;

[0143] Step S404 includes the following sub-steps:

[0144] Step S4041, when controlling the peristaltic pump, obtain the parameter to be regulated, if it is the pipeline flow, output the flow control signal; if it is the pipeline pressure, output the pressure control signal;

[0145] Step S4042: if a flow control signal is output, the flow compensation control function is used as the target compensation control function; if a pressure control signal is output, the pressure compensation control function is used as the target compensation control function;

[0146] Step S4043, substituting the target value to be adjusted into the target compensation control function to calculate the target control gap;

[0147] Step S4044, adjusting the pressure pipe clearance to the target control clearance.

[0148] Embodiment 3, the present application also provides a structural schematic diagram of an electronic device, which may include: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus. The memory stores computer-readable instructions, and the processor can call the instructions in the memory. When the computer-readable instructions are executed by the processor, the steps in the peristaltic pump control method based on parameter compensation are executed to achieve the following functions: obtaining the detection parameters of the peristaltic pump; analyzing whether there are errors in the detection parameters; when there are errors in the detection parameters, recording the detection parameters; performing parameter compensation analysis on the recorded detection parameters, and controlling the peristaltic pump based on the analysis results.

[0149] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0150] Embodiment 4, the present application also provides a computer-readable storage medium, and the present application provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the peristaltic pump control method based on parameter compensation are executed to achieve the following functions: obtaining detection parameters of the peristaltic pump; analyzing whether there are errors in the detection parameters; when there are errors in the detection parameters, recording the detection parameters; performing parameter compensation analysis on the recorded detection parameters, and controlling the peristaltic pump based on the analysis results.

[0151] Through the description of the above implementation methods, the embodiments of the present invention can be provided as methods, systems or computer program products. Based on such an understanding, the above technical solutions can be essentially or partly contributed to the prior art in the form of software products, which can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and include several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0152] In the embodiments provided in the present application, it should be understood that the disclosed system or method can be implemented in other ways. The embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of systems, modules and units can be electrical, mechanical or other forms.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A peristaltic pump control method based on parameter compensation, characterized in that: The steps include: Obtain the detection parameters of the peristaltic pump; Analyze whether there are errors in the detection parameters; When there is an error in the detection parameters, the detection parameters are recorded; Perform parameter compensation analysis on the recorded detection parameters and control the peristaltic pump based on the analysis results; The detection parameters include detection flow, detection pressure and detection of pressure-tube gap, wherein the detection of pressure-tube gap is the distance between two rollers located on both sides of the hose when the peristaltic pump squeezes the hose; Analyzing whether there is an error in the detection parameters includes the following sub-steps: The object to be regulated is pipeline flow or pipeline pressure. If it is pipeline flow, a flow analysis signal is output; if it is pipeline pressure, a pressure analysis signal is output; If a flow analysis signal is output, a flow target parameter of the peristaltic pump is obtained, where the flow target parameter is a target flow; Compare the target flow rate with the detection flow rate, and if the target flow rate is different from the detection flow rate, output a flow error signal; If the target flow rate is the same as the detection flow rate, a flow correct signal will be output; If a pressure analysis signal is output, a pressure target parameter of the peristaltic pump is obtained, where the pressure target parameter is a target pressure; The target pressure is compared with the detection pressure. If the target pressure is different from the detection pressure, a pressure error signal is output; if the target pressure is the same as the detection pressure, a pressure correct signal is output; The flow error signal, flow correct signal, pressure error signal and pressure correct signal are collectively referred to as error judgment signals; When there is an error in the detection parameters, recording the detection parameters includes the following sub-steps: Obtain an error judgment signal. If the error judgment signal is a flow error signal, mark the detection parameter as a flow error parameter and mark the flow target parameter as a flow expected parameter. If the error judgment signal is a pressure error signal, mark the detection parameter as a pressure error parameter and mark the pressure target parameter as a pressure expected parameter. Establish a parameter compensation database to record flow error parameters, flow expected parameters, pressure error parameters and pressure expected parameters; Performing parameter compensation analysis on the collected detection parameters and controlling the peristaltic pump based on the analysis results includes the following sub-steps: Based on the detection of the pressure pipe gap, the target flow rate and the target pressure are analyzed respectively to obtain the preset flow control function and pressure control function; Analyze the flow error parameter and the flow expected parameter to obtain the flow error function, and analyze the pressure error parameter and the pressure expected parameter to obtain the pressure error function; Based on the flow error function, the flow control function is parameter compensated to obtain a flow compensation control function; Based on the pressure error function, parameter compensation is performed on the pressure control function to obtain a pressure compensation control function; The peristaltic pump is controlled based on a flow compensation control function and a pressure compensation control function.

2. The peristaltic pump control method based on parameter compensation according to claim 1, characterized in that: Based on the detection of the pressure pipe gap, the target flow rate and the target pressure are analyzed respectively, and the preset flow control function and pressure control function are obtained, which include the following sub-steps: With the detection pressure pipe gap as the X-axis and the target flow rate as the Y-axis, a plane rectangular coordinate system is established, named the flow control coordinate system, and the detection pressure pipe gap and the target flow rate are entered into the flow control coordinate system; With the detection pressure tube gap as the X-axis and the target pressure as the Y-axis, a plane rectangular coordinate system is established, named the pressure control coordinate system, and the detection pressure tube gap and the target pressure are entered into the pressure control coordinate system; The flow control coordinate system is subjected to discrete regression to obtain the flow control function; the pressure control coordinate system is subjected to discrete regression to obtain the pressure control function.

3. The peristaltic pump control method based on parameter compensation according to claim 2, characterized in that: Analyzing the flow error parameter and the flow expected parameter to obtain the flow error function, and analyzing the pressure error parameter and the pressure expected parameter to obtain the pressure error function includes the following sub-steps: The detected flow in the flow error parameter is marked as the error flow, and the flow error ratio is calculated by the formula FV=(ET-FE) / ET, where FV is the flow error ratio, FE is the error flow, and ET is the expected flow parameter; A plane rectangular coordinate system is established with the detection pressure pipe gap as the horizontal axis and the flow error ratio as the Y axis, named the flow error coordinate system, and the detection pressure pipe gap and the flow error ratio are entered into the flow error coordinate system; Perform discrete regression on the flow error coordinate system to obtain the flow error function; The detected flow in the pressure error parameter is marked as pressure flow, and the pressure error ratio is calculated by the formula PV = (EP-PE) / EP, where PV is the pressure error ratio, PE is the error pressure, and EP is the pressure expectation parameter; A plane rectangular coordinate system is established with the detection pressure tube gap as the horizontal axis and the pressure error ratio as the Y axis, named as the pressure error coordinate system, and the detection pressure tube gap and the pressure error ratio are entered into the pressure error coordinate system; Perform discrete regression on the pressure error coordinate system to obtain the pressure error function.

4. The peristaltic pump control method based on parameter compensation according to claim 3, characterized in that: Based on the flow error function, the flow control function is parameter-compensated to obtain the flow compensation control function; based on the pressure error function, the pressure control function is parameter-compensated to obtain the pressure compensation control function, including the following sub-steps: Assume that the format of the flow control function is YFK=f(XFK), where YFK is the target flow and f(XFK) is an arbitrary function; Assume that the format of the pressure control function is YPK=f(XPK), where YPK is the target pressure and f(XPK) is an arbitrary function; Assume that the format of the flow error function is YFE=h(XFE), where YFE is the error flow and h(XFE) is an arbitrary function; Assume that the format of the pressure error function is YPE=h(XPE), where YPE is the error pressure and h(XPE) is an arbitrary function; Set YFE as the flow compensation parameter and YPE as the pressure compensation parameter; The flow compensation control function is compensated by the flow compensation parameter, and the flow compensation control function is obtained as follows: Where b is the target flow rate; the pressure compensation control function is compensated by the pressure compensation parameter, and the pressure compensation control function is obtained as follows: Where c is the target pressure.

5. The peristaltic pump control method based on parameter compensation according to claim 4, characterized in that: Controlling the peristaltic pump based on the flow compensation control function and the pressure compensation control function includes the following sub-steps: When controlling the peristaltic pump, the parameter to be regulated is obtained. If it is the pipeline flow, a flow control signal is output; if it is the pipeline pressure, a pressure control signal is output; If a flow control signal is output, the flow compensation control function is used as the target compensation control function; if a pressure control signal is output, the pressure compensation control function is used as the target compensation control function; Substitute the target value to be adjusted into the target compensation control function to calculate the target control gap; Adjust the pressure pipe clearance to the target control clearance.

6. A peristaltic pump control system based on parameter compensation, used to implement the peristaltic pump control method based on parameter compensation according to any one of claims 1 to 5, characterized in that: It includes a parameter detection module, an error judgment module, a parameter collection module and a parameter compensation module; the parameter detection module, the error judgment module and the parameter collection module are respectively connected with the parameter compensation module; The parameter detection module is used to obtain the detection parameters of the peristaltic pump; The error judgment module is used to analyze whether there is an error in the detection parameters; The parameter collection module is used to collect the detection parameters when there are errors in the detection parameters; The parameter compensation module is used to perform parameter compensation analysis on the collected detection parameters and control the peristaltic pump based on the analysis results.

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