A motor control method and device for a ventricular catheter pump

Abstract

The embodiment of the present application provides a motor control method and device for a ventricular catheter pump, which relates to the field of medical device technology. The motor in the ventricular catheter pump includes a stator and a rotor. The method includes determining the actual current flowing through the stator at the current moment, and determining the observed current flowing through the stator at the next moment, and calculating the deviation current between the actual current and the observed current; based on the deviation current, using a sliding mode control function constructed for the motor to estimate the target back electromotive force of the motor, wherein the sliding mode control function characterizes the mapping relationship between the current deviation and the back electromotive force; extracting the rotor position information and speed information in the target back electromotive force, and using the extracted rotor position information and speed information as input information for the motor closed-loop control, and using a preset motor closed-loop control method to control the motor. The solution provided by this embodiment can achieve precise control of the motor.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a motor control method and device for a ventricular catheter pump. Background Art

[0002] The ventricular catheter pump is a micro axial flow pump that supports the patient's blood circulation system. The ventricular catheter pump is directly implanted in the patient's heart. Its core components include a motor that drives the pumping component of the ventricular catheter pump to rotate at high speed to pump blood.

[0003] In the process of motor control, accurate identification of the motor's rotor position information and speed information is crucial. In the prior art, a position sensor is usually integrated into the motor to identify the above information. However, the integrated position sensor in the motor increases the size of the motor, and the ventricular catheter pump works in the human heart, requiring the size of the ventricular catheter pump to be as small as possible. Therefore, there is an urgent need for a precise control solution for the motor of the ventricular catheter pump. Summary of the invention

[0004] The purpose of the embodiment of the present application is to provide a motor control method and device for a ventricular catheter pump to achieve precise motor control. The specific technical solution is as follows: In a first aspect, an embodiment of the present application provides a method for controlling a motor of a ventricular catheter pump, wherein the motor in the ventricular catheter pump includes a stator and a rotor, and the method includes: Determine an actual current flowing through the stator at a current moment, determine an observed current flowing through the stator at a next moment, and calculate a deviation current between the actual current and the observed current; Based on the deviation current, a sliding mode control function constructed for the motor is used to estimate the target back electromotive force of the motor, wherein the sliding mode control function represents a mapping relationship between the current deviation and the back electromotive force; The rotor position information and the speed information in the target back electromotive force are extracted, and the extracted rotor position information and the speed information are used as input information for the motor closed-loop control, and the motor is controlled by adopting a preset motor closed-loop control method.

[0005] In one embodiment of the present application, the above-mentioned sliding mode control function is a continuous piecewise function, and the sliding mode control function has two sliding mode control critical points. The two sliding mode control critical points have the same value and opposite direction, and the function corresponding to the target sliding mode control surface between the two sliding mode control critical points is a nonlinear saturation function.

[0006] In one embodiment of the present application, the above sliding mode control function for: ; in, , are the two sliding mode control critical points of the sliding mode control function, is the current deviation, .

[0007] In one embodiment of the present application, the above-mentioned method of estimating the target back electromotive force of the motor based on the deviation current and using a sliding mode control function constructed for the motor includes: Calculating the current change rate of the deviation current; According to a preset linear control function, taking the current change rate of 0 as a control target, calculating a sliding mode critical value that satisfies the control target, updating the value of the sliding mode control critical point to the calculated sliding mode boundary value, and taking the updated sliding mode control function as an objective function; The target back electromotive force of the motor is estimated based on the deviation current using the objective function.

[0008] In one embodiment of the present application, the target back electromotive force of the motor is estimated based on the deviation current by using the objective function, including: Determine a target sliding mode control surface to which the deviation current belongs among the sliding mode control surfaces included in the objective function; The target back electromotive force of the motor is estimated based on the deviation current using a sub-function corresponding to the target sliding mode control surface.

[0009] In a second aspect, an embodiment of the present application provides a motor control device for a ventricular catheter pump, wherein the motor in the ventricular catheter pump includes a stator and a rotor, and the device includes: A current calculation module, used to determine the actual current flowing through the stator at the current moment, determine the observed current flowing through the stator at the next moment, and calculate the deviation current between the actual current and the observed current; A data estimation module, configured to estimate a target back electromotive force of the motor based on the deviation current and using a sliding mode control function constructed for the motor, wherein the sliding mode control function represents a mapping relationship between a current deviation and a back electromotive force; The motor control module is used to extract the rotor position information and speed information from the target back electromotive force, and use the extracted rotor position information and speed information as input information for motor closed-loop control, and control the motor using a preset motor closed-loop control method.

[0010] In one embodiment of the present application, the above-mentioned sliding mode control function is a continuous piecewise function, and the sliding mode control function has two sliding mode control critical points. The two sliding mode control critical points have the same value and opposite direction, and the function corresponding to the target sliding mode control surface between the two sliding mode control critical points is a nonlinear saturation function.

[0011] In one embodiment of the present application, the above sliding mode control function for: ; in, , are the two sliding mode control critical points of the sliding mode control function, is the current deviation, .

[0012] In one embodiment of the present application, the data estimation module includes: A change rate calculation submodule, used to calculate the current change rate of the deviation current; A data updating submodule, for calculating a sliding mode critical value that satisfies a preset linear control function and taking the current change rate of 0 as a control target, updating the value of the sliding mode control critical point to the calculated sliding mode boundary value, and taking the updated sliding mode control function as an objective function; The data estimation submodule is used to adopt the objective function and estimate the target back electromotive force of the motor based on the deviation current.

[0013] In one embodiment of the present application, the above-mentioned data estimation submodule is specifically used to determine the target sliding mode control surface to which the deviation current belongs in the sliding mode control surface included in the objective function; and use the subfunction corresponding to the target sliding mode control surface to estimate the target back electromotive force of the motor based on the deviation current.

[0014] In a third aspect, an embodiment of the present application provides a motor system, which includes a motor and a motor control device, wherein the motor includes a stator and a rotor, and the motor control device is used to control the motor to execute the method steps described in the first aspect above.

[0015] In a fourth aspect, an embodiment of the present application provides a ventricular catheter pump, wherein the ventricular catheter pump comprises the motor system described in the third aspect.

[0016] In a fifth aspect, an embodiment of the present application provides an electronic medical device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; Memory, used to store computer programs; The processor is used to implement the method steps described in the first aspect when executing the program stored in the memory.

[0017] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps described in the first aspect are implemented.

[0018] As can be seen from the above, when the scheme provided by the embodiment of the present application is used to control the motor, the deviation current between the actual current and the observed current is used, and the sliding mode control function constructed for the motor is used to estimate the target back electromotive force of the motor, and the rotor position information and speed information in the back target electromotive force are extracted as the input information of the motor closed-loop control to achieve the closed-loop control of the motor. Compared with the prior art, there is no need to use a position sensor to detect the above rotor position information and speed information, which effectively reduces the size of the ventricular catheter pump and realizes the sensorless motor control of the ventricular catheter pump. In addition, since the deviation current can reflect the change information of the motor speed and load, the target back electromotive force of the motor can be accurately estimated through the deviation current and the sliding mode control function, and then the accurate rotor position information and speed information can be extracted, thereby realizing the precise control of the motor.

[0019] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0021] Figure 1a A schematic diagram of the structure of a ventricular catheter pump provided in an embodiment of the present application; Figure 1b A schematic diagram of the structure of a motor provided in an embodiment of the present application; Figure 2a A schematic flow chart of a first motor control method for a ventricular catheter pump provided in an embodiment of the present application; Figure 2b A function diagram of a sliding mode control function provided in an embodiment of the present application; Figure 3 A schematic flow chart of a second motor control method for a ventricular catheter pump provided in an embodiment of the present application; Figure 4 A schematic diagram of a motor control method for a ventricular catheter pump provided in an embodiment of the present application; Figure 5 A schematic structural diagram of a motor control device for a first ventricular catheter pump provided in an embodiment of the present application; Figure 6 A schematic diagram of the structure of a motor control device for a second ventricular catheter pump provided in an embodiment of the present application; Figure 7A schematic diagram of the structure of an electronic medical device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0023] Before introducing the embodiments of the present application, first, the ventricular catheter pump and the motor provided by the present application are described.

[0024] See also Figure 1a , Figure 1a A schematic diagram of the structure of a ventricular catheter pump provided in an embodiment of the present application.

[0025] Figure 1a The ventricular catheter pump shown is a left ventricular catheter pump, which is used to cross the aortic valve and pump the left ventricular blood into the aorta to assist the heart in pumping blood. Of course, in addition to the left ventricular catheter pump, the ventricular catheter pump of the present application can also be a right ventricular catheter pump, a biventricular catheter pump, etc., without limitation.

[0026] The left ventricular catheter pump includes a motor 101, an impeller 102, a bleeding port 103, and a blood inlet 104. The motor 101 rotates at high speed to drive the impeller 102 to rotate, thereby generating suction to pump blood from the blood inlet 104 into the bleeding port 103. The blood inlet 104 is located in the patient's left ventricle, and the bleeding port 103 is located in the patient's aorta, thereby assisting the patient's heart in pumping blood.

[0027] Figure 1b A schematic diagram of the structure of the motor provided in the embodiment of the present application, Figure 1b The motor shown is divided into two layers, the outer layer is the stator, which is wound by coils, and the inner layer is the rotor, the core component of the rotor is the rotor permanent magnet, which is divided into N pole and S pole. The rotor rotates according to the real-time magnetic field direction of the stator coil.

[0028] The following describes the solution provided in the embodiments of the present application.

[0029] See also Figure 2a , Figure 2a This is a flow chart of a first motor control method for a ventricular catheter pump provided in an embodiment of the present application. The method includes the following steps S201-S203.

[0030] Step S201: determine the actual current flowing through the stator at the current moment, determine the observed current flowing through the stator at the next moment, and calculate the deviation current between the actual current and the observed current.

[0031] The actual current can be obtained through a current sampling circuit. Specifically, the actual current can be the current components of the α-axis and the β-axis in the stationary coordinate system obtained after the three-phase current of the motor is transformed by Clark transformation.

[0032] The above-mentioned observed current represents the current flowing through the stator at the next moment. The above-mentioned observed current can be predicted by using the actual current and other parameter values, such as voltage value, and using a preset motor current state function.

[0033] The actual current and observed current may be stored in a memory, and the execution subject of the embodiment of the present application may read the memory; the actual current and observed current may also be calculated in real time by the execution subject. There is no limitation on this.

[0034] The above-mentioned deviation current represents the deviation value between the actual current and the observed current, and the deviation value between the actual current and the observed current is calculated as the deviation current.

[0035] Step S202: Based on the deviation current, a sliding mode control function constructed for the motor is used to estimate the target back electromotive force of the motor.

[0036] The above sliding mode control function represents the mapping relationship between the current deviation and the back electromotive force. The above sliding mode control function can be understood as a control function of the sliding mode control method.

[0037] Since the sliding mode control function represents the mapping relationship between the current deviation and the back electromotive force, based on the mapping relationship represented by the sliding mode control function, the back electromotive force corresponding to the deviation current is determined as the target back electromotive force of the motor.

[0038] In one embodiment of the present application, the above-mentioned sliding mode control function is a continuous piecewise function, and the sliding mode control function has two sliding mode control critical points. The two sliding mode control critical points have the same value and opposite direction, and the function corresponding to the target sliding mode control surface between the two sliding mode control critical points is a nonlinear saturation function.

[0039] The sliding mode control function is a continuous piecewise function, which can be understood as: the sliding mode control function includes multiple piecewise sub-functions, and the piecewise sub-functions are continuous and uninterrupted.

[0040] The critical point of sliding mode control can be set in advance or determined in real time. For specific real-time determination schemes, please refer to the following Figure 3 The corresponding embodiments are not described in detail here.

[0041] The nonlinear saturation function may be a sine saturation function, a sigmoid function, or a tanh function.

[0042] Combination Figure 2b The above sliding mode control function will be described. Figure 2b A schematic diagram of a sliding mode control function is shown, where the sliding mode control critical point is , , and The target sliding mode control surface between , the target sliding mode control surface The corresponding sub-function is a nonlinear saturation function. The sliding mode control surface outside the two sliding mode control boundaries includes , , the function corresponding to the sliding mode control surface outside the two sliding mode control critical points is a constant function, etc.

[0043] The above sliding mode control function has continuity, nonlinear change characteristics and saturation characteristics, which can effectively weaken the chattering phenomenon and make the motor control smooth and stable.

[0044] In one embodiment of the present application, the above sliding mode control function Can be: ; in, , are the two sliding mode control critical points of the sliding mode control function, Indicates the current deviation, .

[0045] In an implementation of using the above-mentioned sliding mode control function to estimate the target back electromotive force of the motor, based on the deviation current, after the function value is calculated according to the above-mentioned sliding mode control function, the function value calculated above can be multiplied by the preset sliding mode gain coefficient, and the result of the calculation is used as the target back electromotive force of the motor.

[0046] Step S203: extracting rotor position information and speed information from the target back electromotive force, and using the extracted rotor position information and speed information as input information for motor closed-loop control, and controlling the motor using a preset motor closed-loop control method.

[0047] The target back electromotive force includes the rotor position information and speed information of the motor. Therefore, any method in the prior art can be used to extract the above rotor position information and speed information, such as using a phase-locked loop (PLL) component to extract the above rotor position information and speed information. This application does not limit this.

[0048] The above-mentioned motor closed-loop control may include a speed loop and a current loop, and the rotor position information and speed information are used as input information of the above-mentioned motor closed-loop control, and any motor closed-loop control method in the prior art is used to control the motor.

[0049] As can be seen from the above, when the scheme provided by this embodiment is applied to control the motor, the deviation current between the actual current and the observed current is used, and the sliding mode control function constructed for the motor is adopted to estimate the target back electromotive force of the motor, and the rotor position information and speed information in the back target electromotive force are extracted as the input information of the motor closed-loop control to realize the closed-loop control of the motor. Compared with the prior art, there is no need to use a position sensor to detect the above rotor position information and speed information, which effectively reduces the size of the ventricular catheter pump and realizes the sensorless motor control of the ventricular catheter pump. In addition, since the deviation current can reflect the change information of the motor speed and load, the target back electromotive force of the motor can be accurately estimated through the deviation current and the sliding mode control function, and then the accurate rotor position information and speed information can be extracted, thereby realizing the precise control of the motor.

[0050] In the aforementioned Figure 2a In the corresponding embodiment, the value of the sliding mode control critical point in the sliding mode control function can be determined in real time in addition to being pre-set according to the method provided in the following steps S302-303. Figure 3 , Figure 3 A schematic flow chart of a second motor control method for a ventricular catheter pump provided in an embodiment of the present application, the method comprising: Step S301: determine the actual current flowing through the stator at the current moment, determine the observed current flowing through the stator at the next moment, and calculate the deviation current between the actual current and the observed current.

[0051] The above step S301 is the same as the above step S201 and will not be described again.

[0052] Step S302: Calculate the current change rate of the deviation current.

[0053] The current change rate reflects the change deviation of the deviation current. The deviation current can be derived and the calculated derivative is used as the current change rate.

[0054] Step S303: According to the preset linear control function, with the current change rate of 0 as the control target, the sliding mode critical value that meets the control target is calculated, the value of the sliding mode control critical point is updated to the calculated sliding mode critical value, and the updated sliding mode control function is used as the objective function.

[0055] A current change rate of 0 indicates that the change in the deviation current is minimal. Taking the current change rate of 0 as the control target can make the motor current remain stable without instantaneous jitter.

[0056] The above-mentioned preset linear control function represents the linear relationship between the current change rate and the sliding mode critical value. The above-mentioned preset linear control function is to input the above-mentioned current change rate into the above-mentioned linear control function in advance under a test environment to obtain the sliding mode critical value that meets the control target.

[0057] The calculated sliding mode critical value is used as the value of the sliding mode control critical point included in the sliding mode control function, and the sliding mode control function after the updated value is used as the objective function.

[0058] From the above, it can be seen that the value of the sliding mode control critical point included in the sliding mode control function is calculated based on the current change rate of the deviation current, and the current change rate of the deviation current reflects the current real-time load and speed changes of the motor. Therefore, the value of the updated sliding mode control critical point is adapted to the real-time changes of the motor speed and load, realizing automatic adjustment and updating, and improving the accuracy and stability of motor control.

[0059] Step S304: using the objective function to estimate the target back electromotive force of the motor based on the deviation current.

[0060] One implementation method for estimating the target back electromotive force is: determining the target sliding mode control surface to which the deviation current belongs in the sliding mode control surface included in the objective function; using the sub-function corresponding to the target sliding mode control surface, based on the deviation current, estimating the target back electromotive force of the motor.

[0061] As mentioned above Figure 2a In the corresponding embodiment, the sliding mode control function is a continuous piecewise function, that is, it includes multiple sub-functions, and three sliding mode control surfaces are formed through two sliding mode control critical points, namely, the sliding mode control surface between the two sliding mode control critical points and the sliding mode control surface outside the two sliding mode control critical points, and different sliding mode control surfaces correspond to different sub-functions. The difference between the objective function and the sliding mode control function is that the value of the sliding mode control critical point is updated in real time, and the function structure is the same as the sliding mode control function.

[0062] The implementation method of determining the target sliding mode control surface is: determining the sliding mode control surface including the deviation current as the target sliding mode control surface. For example, when the deviation current is 1, the sliding mode control surface included in the objective function includes , , , due to the sliding mode control surface Including 1, therefore, the sliding mode control surface is the target sliding mode control surface.

[0063] The implementation method for estimating the target back electromotive force is as follows: determine the sub-function corresponding to the target sliding mode control surface, the above sub-function reflects the mapping relationship between current and back electromotive force, use the deviation current as the variable of the above sub-function, and calculate the function value of the sub-function, that is, the target back electromotive force of the motor.

[0064] Step S305: extracting rotor position information and speed information from the target back electromotive force, and using the extracted rotor position information and speed information as input information for motor closed-loop control, and controlling the motor using a preset motor closed-loop control method.

[0065] The above step S305 is the same as the above Figure 2a Step S203 in the corresponding embodiment is the same and will not be described again.

[0066] The following combination Figure 4 , the specific scheme provided in the embodiments of the present application is described.

[0067] Figure 4 In the embodiment, the closed-loop control circuit is used to generate a motor control signal, and the inverter is used to generate a motor drive instruction according to the motor control signal. The PMSM is the motor of the ventricular catheter pump. On the one hand, the current parameter of the motor is used as a feedback signal and input into the closed-loop control circuit to form a closed-loop feedback. On the other hand, it is transformed into a current in a stationary coordinate system through Clark transformation, and the rotor position information and speed information of the motor are detected by the solution provided in this embodiment.

[0068] Specifically, the motor current of the stationary coordinate system first passes through the current observation component to output the current observation value of the stationary coordinate system, and calculates the current difference between the coaxial current observation value and the motor current to obtain the deviation current; then, on the one hand, the derivative value of the deviation current is calculated, and the derivative value is used as the control quantity input of the PI controller, and the sliding mode critical value output by the PI controller is input into the sliding mode control function hH(i) component, and the value of the sliding mode control critical point in hH(i) is updated in real time; on the other hand, the deviation current is input into the hH(i) component, and the real-time updated hH(i) is used to output the back electromotive force of the stationary coordinate system; finally, the back electromotive force is input into the PLL component to extract the rotor position information and speed information, and the extracted information is input into the closed-loop control loop as the input information of the closed-loop control loop. The closed-loop control loop uses a preset closed-loop control method to control the motor based on the above-mentioned rotor position information and speed information.

[0069] Corresponding to the above-mentioned motor control method of a ventricular catheter pump, an embodiment of the present application also provides a motor control device of a ventricular catheter pump.

[0070] See also Figure 5 , Figure 5This is a schematic diagram of the structure of a motor control device for a first ventricular catheter pump provided in an embodiment of the present application. The motor in the ventricular catheter pump includes a stator and a rotor. The device includes: A current calculation module 501 is used to determine the actual current flowing through the stator at the current moment, determine the observed current flowing through the stator at the next moment, and calculate the deviation current between the actual current and the observed current; A data estimation module 502 is used to estimate the target back electromotive force of the motor based on the deviation current by using a sliding mode control function constructed for the motor, wherein the sliding mode control function represents a mapping relationship between the current deviation and the back electromotive force; The motor control module 503 is used to extract the rotor position information and the speed information from the target back electromotive force, and use the extracted rotor position information and the speed information as input information for the motor closed-loop control, and control the motor using a preset motor closed-loop control method.

[0071] As can be seen from the above, when the scheme provided by this embodiment is applied to control the motor, the deviation current between the actual current and the observed current is used, and the sliding mode control function constructed for the motor is adopted to estimate the target back electromotive force of the motor, and the rotor position information and speed information in the back target electromotive force are extracted as the input information of the motor closed-loop control to realize the closed-loop control of the motor. Compared with the prior art, there is no need to use a position sensor to detect the above rotor position information and speed information, which effectively reduces the size of the ventricular catheter pump and realizes the sensorless motor control of the ventricular catheter pump. In addition, since the deviation current can reflect the change information of the motor speed and load, the target back electromotive force of the motor can be accurately estimated through the deviation current and the sliding mode control function, and then the accurate rotor position information and speed information can be extracted, thereby realizing the precise control of the motor.

[0072] In one embodiment of the present application, the above-mentioned sliding mode control function is a continuous piecewise function, and the sliding mode control function has two sliding mode control critical points. The two sliding mode control critical points have the same value and opposite direction, and the function corresponding to the target sliding mode control surface between the two sliding mode control critical points is a nonlinear saturation function.

[0073] The above sliding mode control function has continuity, nonlinear change characteristics and saturation characteristics, which can effectively weaken the chattering phenomenon and make the motor control smooth and stable.

[0074] In one embodiment of the present application, the above sliding mode control function for: ; in, , are the two sliding mode control critical points of the sliding mode control function, is the current deviation, .

[0075] See also Figure 6 , Figure 6 A schematic diagram of the structure of a second motor control device for a ventricular catheter pump provided in an embodiment of the present application, the device comprising: A current calculation module 601 is used to determine the actual current flowing through the stator at the current moment, determine the observed current flowing through the stator at the next moment, and calculate the deviation current between the actual current and the observed current; A change rate calculation submodule 602, used to calculate the current change rate of the deviation current; The data updating submodule 603 is used to calculate the sliding mode critical value that satisfies the control target according to the preset linear control function and the current change rate of 0 as the control target, update the value of the sliding mode control critical point to the calculated sliding mode boundary value, and use the updated sliding mode control function as the objective function; The data estimation submodule 604 is used to estimate the target back electromotive force of the motor based on the deviation current by using the objective function.

[0076] The motor control module 605 is used to extract the rotor position information and speed information from the target back electromotive force, and use the extracted rotor position information and speed information as input information for motor closed-loop control, and control the motor using a preset motor closed-loop control method.

[0077] It can be seen from the above that, by applying the solution provided in this embodiment, the value of the sliding mode control critical point included in the sliding mode control function is calculated based on the current change rate of the deviation current, and the current change rate of the deviation current reflects the current real-time load and speed changes of the motor. Therefore, the value of the updated sliding mode control critical point is adapted to the real-time changes of the motor speed and load, realizing automatic adjustment and updating, and improving the accuracy and stability of motor control.

[0078] In one embodiment of the present application, the data estimation submodule 604 is specifically used to determine the target sliding mode control surface to which the deviation current belongs in the sliding mode control surface included in the objective function; and use the subfunction corresponding to the target sliding mode control surface to estimate the target back electromotive force of the motor based on the deviation current.

[0079] Corresponding to the motor control method of the ventricular catheter pump, the embodiment of the present application further provides a motor system, which includes a motor and a motor control device, wherein the motor includes a stator and a rotor, and the motor control device is used to control the motor to execute the steps of the motor control method of the ventricular catheter pump.

[0080] Corresponding to the above-mentioned motor system, an embodiment of the present application provides a ventricular catheter pump, which includes the above-mentioned motor system.

[0081] Corresponding to the motor control method of the ventricular catheter pump described above, the present application embodiment also provides an electronic medical device, see Figure 7 , Figure 7 A schematic diagram of the structure of an electronic medical device provided in an embodiment of the present application, wherein the electronic medical device comprises a processor 701, a communication interface 702, a memory 703 and a communication bus 704, wherein the processor 701, the communication interface 702, and the memory 703 communicate with each other via the communication bus 704; Memory 703, used for storing computer programs; The processor 701 is used to implement the above-mentioned motor control method steps of the ventricular catheter pump when executing the program stored in the memory 703.

[0082] The communication bus mentioned in the above controller can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0083] The communication interface is used for communication between the above controller and other devices.

[0084] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0085] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0086] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the motor control method of the ventricular catheter pump provided in the embodiment of the present application is implemented.

[0087] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to implement the motor control method of the ventricular catheter pump provided in the embodiment of the present application.

[0088] As can be seen from the above, when the scheme provided by this embodiment is applied to control the motor, the deviation current between the actual current and the observed current is used, and the sliding mode control function constructed for the motor is adopted to estimate the target back electromotive force of the motor, and the rotor position information and speed information in the back target electromotive force are extracted as the input information of the motor closed-loop control to realize the closed-loop control of the motor. Compared with the prior art, there is no need to use a position sensor to detect the above rotor position information and speed information, which effectively reduces the size of the ventricular catheter pump and realizes the sensorless motor control of the ventricular catheter pump. In addition, since the deviation current can reflect the change information of the motor speed and load, the target back electromotive force of the motor can be accurately estimated through the deviation current and the sliding mode control function, and then the accurate rotor position information and speed information can be extracted, thereby realizing the precise control of the motor.

[0089] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0090] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0091] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, motor system, ventricular catheter pump, electronic medical device, and computer-readable storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0092] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A motor control method for a ventricular catheter pump, characterized in that: The motor in the ventricular catheter pump includes a stator and a rotor, and the method includes: Determine an actual current flowing through the stator at a current moment, determine an observed current flowing through the stator at a next moment, and calculate a deviation current between the actual current and the observed current; Based on the deviation current, a sliding mode control function constructed for the motor is used to estimate the target back electromotive force of the motor, wherein the sliding mode control function represents a mapping relationship between the current deviation and the back electromotive force; The rotor position information and the speed information in the target back electromotive force are extracted, and the extracted rotor position information and the speed information are used as input information for the motor closed-loop control, and the motor is controlled by adopting a preset motor closed-loop control method.

2. The method according to claim 1, characterized in that The sliding mode control function is a continuous piecewise function, and the sliding mode control function has two sliding mode control critical points, the two sliding mode control critical points have the same value and opposite direction, and the function corresponding to the target sliding mode control surface between the two sliding mode control critical points is a nonlinear saturation function.

3. The method according to claim 2, characterized in that The sliding mode control function for: ； in, , are the two sliding mode control critical points of the sliding mode control function, is the current deviation, .

4. The method according to claim 2 or 3, characterized in that: The method of estimating a target back electromotive force of the motor based on the deviation current and using a sliding mode control function constructed for the motor includes: Calculating the current change rate of the deviation current; According to a preset linear control function, taking the current change rate of 0 as a control target, calculating a sliding mode critical value that satisfies the control target, updating the value of the sliding mode control critical point to the calculated sliding mode boundary value, and taking the updated sliding mode control function as an objective function; The target back electromotive force of the motor is estimated based on the deviation current using the objective function.

5. The method according to claim 4, characterized in that The adopting the objective function and estimating the target back electromotive force of the motor based on the deviation current comprises: Determine a target sliding mode control surface to which the deviation current belongs among the sliding mode control surfaces included in the objective function; The target back electromotive force of the motor is estimated based on the deviation current using a sub-function corresponding to the target sliding mode control surface.

6. A motor control device for a ventricular catheter pump, characterized in that: The motor in the ventricular catheter pump comprises a stator and a rotor, and the device comprises: A current calculation module, used to determine the actual current flowing through the stator at the current moment, determine the observed current flowing through the stator at the next moment, and calculate the deviation current between the actual current and the observed current; A data estimation module, configured to estimate a target back electromotive force of the motor based on the deviation current and using a sliding mode control function constructed for the motor, wherein the sliding mode control function represents a mapping relationship between a current deviation and a back electromotive force; The motor control module is used to extract the rotor position information and speed information from the target back electromotive force, and use the extracted rotor position information and speed information as input information for motor closed-loop control, and control the motor using a preset motor closed-loop control method.

7. A motor system, characterized in that: The motor system comprises a motor and a motor control device, the motor comprises a stator and a rotor, and the motor control device is used to control the motor to execute the method steps described in any one of claims 1 to 5.

8. A ventricular catheter pump, characterized in that: The ventricular catheter pump comprises the motor system of claim 7.

9. An electronic medical device, characterized in that: It includes 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; Memory, used to store computer programs; A processor, for implementing the method steps described in any one of claims 1 to 5 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps of any one of claims 1 to 5 are implemented.

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