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目的为消除传统滑膜算法固有的抖震现象对控制器及被控对象的影响,使主动脉内血泵准确地响应人体的生理需求,本文设计了基于全程滑膜算法(global sliding mode controller,GSMC)的主动脉内血泵控制器。方法采用动态干扰补偿算法来估算主动脉内血泵控制系统的不确定性,并利用计算机仿真实验和体外循环实验来验证控制系统的动态特性和稳定性。结果由于通过动态干扰补偿算法估算系统不确定性,消除了滑膜算法固有的抖震现象。当系统设定流率为5 L/min时,系统的响应时间为80 ms,并且不存在超调和稳态误差。当控制器的负载转矩增加到0.4 N.m时,控制器的响应时间为25 ms。当输入一个搏动的流量信号作为控制系统的设定流率时,其动态响应时间为80 ms,流速最大误差为0.03 L/min。在体外循环实验中,由于实验中转速信号和流速信号的反馈频率低于理想情况,所以控制器的效果相比于计算机模拟有所下降。实验结果显示,当设定流率为5 L/min时,该控制器的响应时间是0.26 s,流率的误差为0.1 L/min。结论本文提出的控制器可以根据参考流量的要求准确地调节主动脉内血泵,并且对于系统的干扰和不确定性有良好的鲁棒性。由于动态干扰补偿算法的应用,算法的输出不存在抖震现象。
Objective To eliminate the inherent chattering effect of the traditional synovial algorithm on the controller and the controlled object so that the aortic blood pump can accurately respond to the physiological needs of the human body.This paper designed a global sliding mode controller GSMC) of the intra-arterial blood pump controller. Methods The dynamic interference compensation algorithm was used to estimate the uncertainty of the control system of the aortic blood pump. The computer simulation and the cardiopulmonary bypass test were used to verify the dynamic characteristics and stability of the control system. Results Due to the system uncertainties estimated by the dynamic disturbance compensation algorithm, the inherent chattering of the synovial algorithm is eliminated. When the system set the flow rate of 5 L / min, the system response time of 80 ms, and there is no overshoot and steady-state error. When the controller load torque increases to 0.4 N.m, the response time of the controller is 25 ms. When a pulsating flow signal is input as the set flow rate of the control system, the dynamic response time is 80 ms and the maximum flow error is 0.03 L / min. In the cardiopulmonary bypass experiment, the experimental results show that the controller performance is lower than that of the computer simulation because the feedback frequency of the rotation speed signal and the flow velocity signal in the experiment is lower than the ideal one. The experimental results show that when the set flow rate is 5 L / min, the controller response time is 0.26 s, and the flow rate error is 0.1 L / min. Conclusion The controller proposed in this paper can accurately adjust the intra-aortic blood pump according to the requirements of the reference flow rate and has good robustness to system interference and uncertainty. Due to the application of the dynamic interference compensation algorithm, the output of the algorithm does not have the phenomenon of buffeting.