CN103007389A - Vein infusion device and system based on fuzzy PI (Proportional Integral) control - Google Patents

Abstract

The present invention relates to an intravenous infusion device and system based on fuzzy PI control, wherein the intravenous infusion device includes a muffier tube (1), an infusion tube (2), a transmission shaft (7), a liquid stop device (8), and a control module , and the power supply, the droplet monitoring sensor (4), the driving device (5), and the input device respectively connected to the control module; wherein, the control module includes a fuzzy-PI controller, and the control module uses the fuzzy-PI controller according to The monitored dripping speed of the infusion and the dripping speed of the infusion set by the input device control the driving device (5), and then control the liquid stop device (8) to squeeze the infusion tube (2) to realize the control of the dripping speed of the infusion ; In addition, the present invention also relates to an intravenous infusion system based on fuzzy PI control, including a general control module for controlling each intravenous infusion device; the present invention is based on fuzzy PI control, and has high steady-state precision, fast dynamic response and small overshoot The advantages.

Description

An intravenous infusion device and system based on fuzzy PI control

technical field

The invention relates to an intravenous transfusion device and system based on fuzzy PI control.

Background technique

As one of the most commonly used clinical treatment methods, intravenous infusion has many advantages such as safety, convenience, and rapid curative effect. At present, most hospitals in my country use ordinary infusion sets, which rely on the pressure provided by the liquid level difference to inject the medicinal liquid into the patient's body. During the infusion, the infusion container is suspended on the infusion stand, and the nurse observes the dripping speed of the medicine in the muffier tube, and controls the flow rate of the medicine by turning the manual pulley on the infusion set; the nurse needs to constantly patrol during the infusion. The patient or the accompanying staff will observe the amount of liquid medicine in the infusion container and the dripping speed of the liquid medicine. When the liquid medicine is about to be infused or the dripping speed is abnormal, the nurse will be notified in time to take measures to deal with it. This not only increases the labor intensity of the medical staff, leading to a significant increase in the error rate, but also is not conducive to the patient's rest, affecting the quality of treatment.

For patients with different individual conditions, different infusion purposes and infusion drugs, the required infusion speed is not exactly the same. Under normal circumstances, the infusion rate of adults is often 40-60 drops/min, while that of children and the elderly should not exceed 40 drops/min. During the infusion process, if the infusion speed is too fast, the dose of the drug entering the human body per unit time is too large, which will suddenly increase the circulating blood volume, increase the load on the heart, and may cause many side effects or adverse reactions, such as acute heart failure and pulmonary edema, even life-threatening; too slow infusion may lead to insufficient drug dose or unnecessary prolongation of infusion time, affecting the therapeutic effect and adding unnecessary burden to patients and nursing work; for the delivery of some special drugs, such as anesthesia Drugs, antihypertensive drugs, oxytocin, etc. need to strictly control the infusion rate, and manual adjustment of the infusion rate is not easy to control. Therefore, accurate monitoring and control of the infusion rate during the infusion process is very necessary.

Infusion pumps currently on the market can replace traditional gravity infusion devices to achieve more accurate and safe drug administration. However, the infusion pump will wear out the pump head and the slider after being used for a long time, and the accuracy of the infusion is greatly reduced due to the open-loop control of the infusion speed. In recent years, many domestic and foreign scholars and medical institutions have devoted themselves to the research of intelligent infusion system and applied for many patents. However, these infusion devices have not been widely used because of their large size, high cost, low precision, frequent false alarms, and low intelligence, which increase the burden on hospitals and patients.

Since the infusion drip speed control system is a nonlinear and time-varying complex control object, it is difficult to obtain good control quality and real-time monitoring effect by using traditional control strategies. Although the conventional PI controller can obtain high steady-state accuracy and dynamic characteristics for the precise mathematical model, its control performance depends on the setting of each parameter, and the parameters of the conventional PID controller are manually adjusted by empirical trial and error method, and for The adaptability of the system model is not good, and it is difficult to obtain a better control effect.

Fuzzy control has a certain ability to adapt to the nonlinearity and time-varying nature of the controlled object, and it also has a strong inhibitory effect on noise. A small amplitude oscillation occurs near the point, and there will be a certain static difference after entering the steady state.

Contents of the invention

The technical problem to be solved by the present invention is to provide an intravenous infusion device based on fuzzy PI control, which has the advantages of high steady-state precision, fast dynamic response and small overshoot.

Correspondingly, the technical problem to be solved by the present invention is to provide an intravenous infusion system based on fuzzy PI control, which has the advantages of high steady-state accuracy, fast dynamic response and small overshoot.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions: the present invention designs a kind of intravenous infusion device based on fuzzy PI control, including Muffifer's tube, infusion tube, transmission shaft, liquid stop device, control module, and respectively and control The power supply connected to the modules, the droplet monitoring sensor, the driving device, and the input device; among them, the power supply supplies power to each module through the control module; the two ends of the transmission shaft are respectively connected to the driving device and the liquid stop device; The upper half of the outer wall of the canal is used to monitor the dripping speed of the infusion and send it to the control module. The control module controls the driving device and then controls the The liquid-stopping device squeezes the infusion tube connected with the muffi's tube to realize the control of the drip rate of the infusion; the control module includes a fuzzy-PI controller, and the control module passes the fuzzy-PI controller according to the monitored infusion drop Speed, and the dripping speed of the infusion set by the input device, realize the control of the driving device, and then control the dripping speed of the infusion.

As a preferred technical solution of the present invention: it also includes an infusion device base, the connected muffier tube and infusion tube are arranged in the embedded groove of the infusion device base, and the liquid stop device is arranged on the infusion device base In the slideway, close to the side of the infusion tube, squeeze the infusion tube by sliding on the base of the infusion device to control the drop rate of the infusion.

As a preferred technical solution of the present invention: the liquid stop device includes a speed-regulating bolt and a speed-regulating top block, one end of the speed-regulating top block is provided with an opening, and the outer wall of the speed-regulating bolt and the inner wall of the opening are provided with corresponding thread; one end of the speed-regulating bolt is connected to the transmission shaft, and the other end is set in the opening of the speed-regulating top block through thread movement.

As a preferred technical solution of the present invention: it also includes a reduction gear set arranged between the driving device and the transmission shaft.

As a preferred technical solution of the present invention: it also includes a heating base, the infusion tube is arranged in the embedded groove of the heating base, a PTC heater is arranged in the embedded groove, and the PTC heater is connected with the control module.

As a preferred technical solution of the present invention: it also includes a temperature sensor connected to the control module, the temperature sensor is arranged at the end of the embedded groove on the heating base, and is used to monitor the infusion fluid after passing through the PTC heater. The temperature of the liquid medicine in the tube.

As a preferred technical solution of the present invention: an alarm module connected with the control module is also included.

As a preferred technical solution of the present invention: it also includes a liquid level sensor connected to the control module, and the liquid level sensor is arranged on the lower half of the outer wall of the Muffer tube.

As a preferred technical solution of the present invention: it also includes a pressure sensor connected to the control module, and the pressure sensor is arranged on the outer wall of the infusion tube.

Compared with the prior art, a kind of intravenous infusion device based on fuzzy PI control of the present invention adopts the above technical scheme, and has the following technical effects:

(1) The intravenous infusion device designed in the present invention is based on fuzzy PI control, which has the advantages of high steady-state precision, fast dynamic response and small overshoot, so that the dripping speed of the medicine can quickly and accurately reach the required speed, further reducing medical risks , making patient infusion more timely and scientific;

(2) In the intravenous infusion device based on fuzzy PI control designed by the present invention, including the base of the infusion device and the reduction gear set arranged between the driving device and the transmission shaft, all of them ensure that the dripping speed of the drug solution is controlled during the infusion process. precise control of

(3) In the intravenous infusion device based on fuzzy PI control designed by the present invention, a temperature sensor for monitoring the temperature of the liquid medicine and a PTC heater for heating the liquid medicine are installed to ensure that the liquid medicine delivered is maintained at a suitable temperature. Within the range, it is not only beneficial to the rehabilitation of patients, but also conducive to the exertion of the drug effect;

(4) In the intravenous infusion device based on fuzzy PI control designed by the present invention, a liquid level sensor is installed, and the liquid level sensor monitors the remaining situation of the liquid medicine in real time. When the liquid medicine is delivered, it can give feedback to the control module in time. The control module controls the liquid stop device to block the infusion tube, and cooperates with the set alarm module to notify the medical staff in time;

(5) In the intravenous infusion device based on fuzzy PI control designed by the present invention, a pressure sensor is installed, and the pressure sensor monitors the pressure of the liquid medicine in the infusion tube in real time, and sends the monitoring result to the control module, which controls the pressure according to the monitored According to the pressure situation, it can judge whether there is any abnormal situation such as blockage of the liquid medicine, and cooperate with the set alarm module to notify the medical staff in time.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions: the present invention also designs an intravenous infusion system based on fuzzy PI control, which includes at least one intravenous infusion device, and each intravenous infusion device is respectively arranged on each infusion channel, and also includes The general control module connected with each intravenous infusion device is used to monitor and control the intravenous infusion devices on each infusion channel.

Compared with the prior art, a kind of intravenous infusion system based on fuzzy PI control of the present invention adopts the above technical scheme, and has the following technical effects:

(1) In the intravenous infusion system based on fuzzy PI control designed by the present invention, it includes a total control module connected to each intravenous infusion device, which can monitor and control the intravenous infusion devices on each infusion channel, such as controlling each intravenous infusion device The infusion sequence between each other makes the whole intravenous infusion system more intelligent and humanized;

(2) In the intravenous infusion system based on fuzzy PI control designed by the present invention, the set general control module can also monitor information such as the infusion speed of each intravenous infusion device, so that the medical staff can timely understand the patient's infusion situation;

(3) The intravenous infusion system based on fuzzy PI control designed by the present invention solves the problem of automatic monitoring during the infusion process, completely liberates the situation that traditional infusion requires nurses to pay attention to the infusion situation at any time in order to change the dressing, and improves the work efficiency of the hospital. Reduce the work intensity of medical personnel.

Description of drawings

Fig. 1 is the functional block diagram of the intravenous infusion device based on fuzzy PI control that the present invention designs;

Fig. 2 is the structural representation of the infusion device in the intravenous infusion device based on fuzzy PI control that the present invention designs;

Fig. 3 is the structural representation of the heating base in the intravenous infusion device based on fuzzy PI control designed by the present invention;

Fig. 4 is the connection schematic diagram of the intravenous infusion system based on fuzzy PI control designed by the present invention;

Fig. 5 is the connection schematic diagram of the actual application of the intravenous infusion system based on fuzzy PI control designed by the present invention;

Fig. 6 is the graph schematic diagram of the membership degree function of the fuzzy deviation variable E in the fuzzy controller in the intravenous infusion device based on fuzzy PI control designed by the present invention;

Fig. 7 is the graphical representation of the membership function graph of the fuzzy deviation variation EC in the fuzzy controller in the intravenous infusion device based on fuzzy PI control designed by the present invention;

Fig. 8 is a schematic diagram of the membership function graph of the fuzzy proportional coefficient correction value ΔK _p in the fuzzy controller in the intravenous infusion device based on fuzzy PI control designed by the present invention;

Fig. 9 is a schematic diagram of the membership function graph of the fuzzy integral coefficient correction value ΔK _i in the fuzzy controller in the intravenous infusion device based on fuzzy PI control designed by the present invention;

Fig. 10 is a schematic diagram of all judgment results of the proportional coefficient correction value Δk _p in the fuzzy controller in the intravenous infusion device based on fuzzy PI control designed by the present invention;

Fig. 11 is a schematic diagram of all the judgment results of the integral coefficient correction value _Δki in the fuzzy controller in the intravenous infusion device based on fuzzy PI control designed in the present invention.

Among them, 1. Murphy's tube, 2. Infusion tube, 4. Droplet monitoring sensor, 5. Driving device, 7. Transmission shaft, 8. Liquid stop device, 10. Infusion device base, 11. Speed regulating bolt, 12. Speed regulating top block, 13. Opening, 14. Reduction gear set, 15. Heating base, 16. Temperature sensor, 18. Liquid level sensor, 19. Pressure sensor, 20. PTC heater.

Detailed ways

The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings.

As shown in Fig. 1 and Fig. 2, the present invention has designed a kind of intravenous infusion device based on fuzzy PI control, comprises Mufei's tube 1, infusion tube 2, drive shaft 7, liquid stop device 8, control module, and respectively with The power supply connected to the control module, the liquid drop monitoring sensor 4, the driving device 5, and the input device; wherein, the power supply supplies power to each module through the control module; the two ends of the transmission shaft 7 are respectively connected to the driving device 5 and the liquid stop device 8; the liquid drop The monitoring sensor 4 is arranged on the upper half of the outer wall of the muffi's tube 1, and is used for monitoring the dripping speed of the infusion, and sends it to the control module. , by controlling the driving device 5, and then controlling the liquid stop device 8 to squeeze the infusion tube 2 connected with the Murphy's tube 1, to realize the control of the dripping speed of the infusion; the control module includes a fuzzy-PI controller, and the control module The fuzzy-PI controller realizes the control of the driving device 5 according to the monitored infusion dripping speed and the infusion dripping speed set by the input device, and then controls the infusion dripping speed.

The intravenous infusion device designed in the present invention is based on fuzzy PI control, and has the advantages of high steady-state precision, fast dynamic response and small overshoot, so that the dripping speed of the medicine can quickly and accurately reach the required speed, further reducing medical risks, and making patients The infusion is more timely and scientific.

As a preferred technical solution of the present invention: it also includes an infusion device base 10, the connected muffier tube 1 and infusion tube 2 are arranged in the embedded groove of the infusion device base 10, and the liquid stop device 8 is arranged on In the slideway 21 on the base 10 of the infusion device, close to the side of the infusion tube 2, the infusion tube 2 is squeezed by sliding on the base 10 of the infusion device to control the drop rate of the infusion.

As a preferred technical solution of the present invention: the liquid stop device 8 includes a speed regulating bolt 11 and a speed regulating jack block 12, an opening 13 is provided at one end of the speed regulating jack block 12, and the outer wall of the speed regulating bolt 11 is connected to the opening. The inner wall of 13 is provided with a corresponding thread; one end of the speed regulating bolt 11 is connected with the transmission shaft 7, and the other end is movably arranged in the opening 13 of the speed regulating top block 12 through the thread.

As a preferred technical solution of the present invention: it also includes a reduction gear set 14 arranged between the driving device 5 and the transmission shaft 7 .

In the intravenous infusion device based on fuzzy PI control designed by the present invention, including the infusion device base 10 and the reduction gear set 14 arranged between the driving device 5 and the transmission shaft 7, it is guaranteed that during the infusion process, the drug droplet Accurate control of speed.

As shown in Figure 3, as a kind of preferred technical scheme of the present invention: also comprise heating base 15, infusion tube 2 is arranged in the embedded groove of heating base 15, and PTC heater 20 is arranged in the embedded groove, and PTC heater 20 Connect to the control module.

As a preferred technical solution of the present invention: it also includes a temperature sensor 16 connected to the control module, and the temperature sensor 16 is arranged at the end of the embedded groove on the heating base 15 for monitoring after passing through the PTC heater 20 , the temperature of the medicinal solution in the infusion tube 2 .

In the intravenous infusion device based on fuzzy PI control designed by the present invention, a temperature sensor 16 for monitoring the temperature of the liquid medicine and a PTC heater 20 for heating the liquid medicine are provided to ensure that the liquid medicine delivered is maintained in an appropriate range It is not only beneficial to the rehabilitation of patients, but also beneficial to the efficacy of the medicine.

As a preferred technical solution of the present invention: an alarm module connected with the control module is also included.

As a preferred technical solution of the present invention: it also includes a liquid level sensor 18 connected to the control module, and the liquid level sensor 18 is arranged on the lower half of the outer wall of the Muffer tube 1 .

In the intravenous infusion device based on fuzzy PI control designed by the present invention, a liquid level sensor 18 is set, and the liquid level sensor 18 monitors the remaining condition of the liquid medicine in real time. When the liquid medicine is delivered, it can give feedback to the control module in time, and the The control module controls the liquid-stopping device 8 to block the infusion tube 2, and cooperates with the alarm module provided to notify the medical staff in time.

As a preferred technical solution of the present invention: it also includes a pressure sensor 19 connected to the control module, and the pressure sensor 19 is arranged on the outer wall of the infusion tube 2 .

In the intravenous infusion device based on fuzzy PI control designed by the present invention, a pressure sensor 19 is arranged, and the pressure sensor 19 monitors the pressure situation of the medicinal liquid in the infusion tube 2 in real time, and sends the monitoring result to the control module, and the control module According to the pressure situation, it can judge whether there is any abnormal situation such as blockage of the liquid medicine, and cooperate with the set alarm module to notify the medical staff in time.

Correspondingly, the present invention also designs an intravenous infusion system based on fuzzy PI control, including at least one intravenous infusion device, each intravenous infusion device is respectively arranged on each infusion channel, and also includes The general control module connected with the device is used to monitor and control the intravenous infusion device on each infusion channel.

In the intravenous infusion system based on fuzzy PI control designed by the present invention, it includes a total control module connected to each intravenous infusion device, which can monitor and control the intravenous infusion devices on each infusion channel, such as controlling the relationship between each intravenous infusion device. The order of infusion, etc., makes the whole intravenous infusion system more intelligent and humanized.

The general control module in the intravenous infusion system based on fuzzy PI control designed by the present invention can also monitor information such as the infusion speed of each intravenous infusion device, so that the medical staff can know the infusion situation of the patient in time.

In the actual application process of the intravenous infusion device based on fuzzy PI control designed by the present invention, it also includes a display device connected to the control module, which can timely feed back the dripping speed and temperature of the medicinal solution on the infusion channel to the medical staff. The situation, so that the medical staff can keep abreast of the delivery of the liquid medicine.

During the practical application of the intravenous infusion device based on fuzzy PI control designed in the present invention, the driving device 5 may adopt a stepping motor.

In the actual application process of the intravenous infusion device based on fuzzy PI control designed by the present invention, the muffi's tube 1 and the infusion tube 2 are fixed in the embedded groove of the base 10 of the infusion device through the fixture, and the 1. The liquid drop monitoring sensor 4 on the upper half of the outer wall monitors the dripping speed of the medicinal liquid and sends it to the control module. Infusion drop speed, by controlling the driving device 5, and then controlling the liquid stop device 8 to slide in the slideway 21 on the base 10 of the infusion device, and squeeze the infusion tube 2 connected with the Muffer's tube 1 to realize the control of the infusion The dripping speed; Among them, the fuzzy-PI controller controls it according to the following method.

The fuzzy-PI controller is divided into two parts: the fuzzy controller and the PI controller. The fuzzy controller adjusts the proportional coefficient K _p and the integral coefficient K _i in the PI controller in real time according to the deviation e and the deviation change value ec of the infusion speed, and then by After adjusting the parameters, the PI controller outputs the driving pulse to control the operation of the stepper motor.

The input variables of the fuzzy controller are the infusion speed deviation e and the deviation change value ec, and the output variables are the correction values Δk _p and _Δki respectively corresponding to the proportional coefficient K _p and the integral coefficient K _i in the PI controller.

Among them, the deviation e of the infusion speed and the deviation change value ec are defined as follows:

e(n)=v(n)-v ₀

ec(n)=e(n)-e(n-1)

In the formula, e(n) and ec(n) are the deviation and deviation change value of the infusion speed at time n, respectively, _v0 is the set target infusion speed, and v(n) is the actual infusion speed at time n.

Assuming that the actual variation range of the deviation e of the infusion speed is [-60, 60], considering the actual conditions and control accuracy of the infusion speed control, the fuzzy subset of the fuzzy language variable E is: {NB, NM, NS, NZ, PZ , PS, PM, PB}, respectively represent {"negative big", "negative middle", "negative small", "negative zero", "positive zero", "positive small", "positive middle", "positive big"}, Its domain is E={-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6}, the quantitative factor of infusion speed deviation e $k_e=\frac{6-(-6)}{60-(-60)}=0.1.$

Assume that the actual variation range of the infusion speed deviation change value ec is [-20, 20], and the fuzzy subset of the fuzzy language variable EC is: {NB, NS, ZO, PS, PB}, respectively representing {"negative", " Negative small", "zero", "positive small", "positive large"}, its domain is EC={-4, -3, -2, -1, 0, 1, 2, 3, 4}, infusion speed Quantization factor for deviation change value ec $k_{\mathrm{ec}}=\frac{4-(-4)}{20-(-20)}=0.2.$

Assuming that the actual variation range of the proportional coefficient correction value Δk _p is [-3, 3], the fuzzy subset of the fuzzy language variable ΔK _p is: {NB, NM, NS, ZO, PS, PM, PB}, which respectively represent {" Negative big", "negative middle", "negative small", "zero", "positive small", "positive middle", "positive big"}, its domain is ΔK _p ={-3,-2,-1,0 , 1, 2, 3}, the scaling factor of the scaling coefficient correction amount Δk _p $k_{{\mathrm{\Δk}}_p}=\frac{3-(-3)}{3-(-3)}=1.$

Assuming that the actual range of the integral coefficient correction value Δk _i is [-0.03, 0.03], the fuzzy subset of the fuzzy linguistic variable ΔK _i is: {NB, NM, NS, ZO, PS, PM, PB}, which respectively represent {"negative big", "negative middle", "negative small", "zero", "positive small", "positive middle", "positive big"}, its domain is ΔK _i = {-3, -2, -1, 0, 1, 2, 3}, the proportional factor of the integral coefficient correction amount Δk _i $k_{{\mathrm{\Δk}}_i}=\frac{0.03-(-0.03)}{3-(-3)}=0.01.$

e and ec are respectively multiplied by the quantization factor and rounded to obtain the corresponding grade values E and EC. Then get a level value in the discourse domain of ΔK _p and ΔK _i through fuzzy reasoning and decision-making, and convert the level value into actual Δk _p and Δk _i after multiplying by the proportional factor.

Referring to the role of the proportional coefficient K _p and integral coefficient K _i in the PI controller in the control of the infusion drop rate system, in order to improve the system response speed and control accuracy, the control principles of K _p and K _i are determined according to the actual operation experience and experimental experience: If the difference between the current infusion rate and the set target infusion rate is large, in order to achieve rapid adjustment, a larger K _p value should be selected to speed up the system response speed, and a smaller K _i value should be selected to prevent integral saturation and avoid system failure. Large overshoot occurs; if the difference between the current infusion rate and the set target infusion rate is small, the value of K _p should be appropriately reduced, and the value of K _i should be increased to maintain a good stability of the system. By collating and summarizing the experience of manual operation and several times of infusion speed control experiments with fixed PI controller parameters, the fuzzy control rule table of the fuzzy proportional coefficient correction value ΔK _p and the fuzzy integral coefficient correction value ΔK _i shown in Table 1 and Table 2 was formulated , as shown in the table below.

Table 1 ΔK _p fuzzy control rule table

Table 2 ΔK _i fuzzy control rule table

The fuzzy subsets of the fuzzy deviation variable E are Z-type membership function (zmf), triangle membership function (trimf) and S-type membership function (smf). Among them, the graph of the membership function of the fuzzy deviation variable E is shown in Figure 6, where the membership function of the fuzzy subset NB is the Z-type membership function (zmf), and the membership function of the fuzzy subset PB is the S-type membership function function (smf), and the other fuzzy subsets use the triangle membership function (trimf).

Gaussian membership function (gaussmf) and triangular membership function (trimf) are selected for fuzzy subsets of fuzzy deviation variation EC respectively. The membership function graph of the fuzzy deviation variation EC is shown in Figure 7, where the membership functions of the fuzzy subsets NB and PB are Gaussian membership functions (gaussmf), and the other fuzzy subsets use triangular membership functions (trimf) .

Each fuzzy subset of fuzzy controller output ΔK _p , ΔK _i selects triangular membership function (trimf). The membership function graph of the fuzzy proportional coefficient correction value ΔK _p is shown in Figure 8; the membership function graph of the fuzzy integral coefficient correction value ΔK _i is shown in Figure 9.

得到比例系数修正值Δk_p和积分系数修正值Δk_i，则当前修正后的比例系数K_p、积分系数K_i分别为K_p(n)＝K_p(n-1)+Δk_p和K_i(n)＝K_i(n-1)+Δk_i。根据每一组等级组合E和EC，重复模糊合成运算和模糊决策，计算出各种输入组合情况下的判决结果，其中，比例系数修正值Δk_p的所有的判决结果如图10所示；积分系数修正值Δk_i的所有的判决结果如图11所示。从图10和图11中可以得出，在不同E和EC值组合情况下分别所对应的比例系数修正值ΔK_p和积分系数修正值ΔK_i的判决结果。The fuzzy inference rule of the fuzzy controller in the present invention adopts the max-min method of Mamdani. According to the center of gravity method, the output fuzzy proportional coefficient correction value ΔK _p and fuzzy integral coefficient correction value ΔK _i are obtained, and then multiplied by the corresponding proportional factors

The corrected value of the proportional coefficient Δk _p and the corrected value of the integral coefficient Δk _i are obtained, then the current corrected proportional coefficient K _p and integral coefficient K _i are respectively K _p (n)=K _p (n-1)+Δk _p and K _i (n)=K _i (n-1)+Δk _i . According to each group of grade combinations E and EC, repeat the fuzzy synthesis operation and fuzzy decision-making, and calculate the judgment results under various input combinations. Among them, all the judgment results of the proportional coefficient correction value Δk _p are shown in Figure 10; the integral All the judgment results of the coefficient correction value Δk _i are shown in FIG. 11 . From Fig. 10 and Fig. 11, it can be drawn that the corresponding judgment results of proportional coefficient correction value ΔK _p and integral coefficient correction value ΔK _i under different combinations of E and EC values.

The two parameters of the PI controller are calculated according to the following formula:

Drop speed control part PI controller adopts incremental PI control algorithm, because drop speed control system of the present invention is a discrete time control system, needs to be applicable to the discrete control of computer control simultaneously, so its control law is as follows:

$\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; m</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="0"\; label="u"\; filenames="HDA00002590969900033.png,HDA00002590969900041.png"\; state="\{\{state\}\}">u</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}$

In the formula, m-sampling number, m=0, 1, 2, ...

u(m) - the system output value at the mth sampling moment

e(m) - the deviation value input at the mth sampling time

K _p -Proportional coefficient of PI controller

Integral coefficient of K _i -PI controller

u ₀ - initial value of system output response

In order to avoid the summation of the deviation when calculating the control variable u(m), use the incremental equation to calculate the stepping motor pulse control increment Δu(m)=K _pe ec(m)+K _i e(m) , then the current control amount of the stepper motor is u(m)=u(m-1)+Δu(m).

In the actual application process of the intravenous infusion device based on fuzzy PI control designed by the present invention, the driving device 5 adopts a stepping motor, and the droplet monitoring sensor 4 adopts an infrared emitting tube and an infrared receiving tube. When a droplet passes through, the infrared receiving tube The signal received by the tube changes, and the irregular pulse signal is output, and the standard pulse signal is obtained through the shaping circuit. The shaping circuit is composed of a comparator circuit and a Schmitt trigger circuit. The pulse signal is sent to the control module for counting, and the dripping speed of the infusion can be displayed in real time through the display device connected with the control module. When the detected dripping speed is different from the infusion dripping speed set by the input device, the stepping motor is used to adjust the turning direction of the speed-regulating bolt 11, thereby driving the slideway 21 of the speed-regulating top block 12 on the base 10 of the infusion device middle movement, squeeze or loosen the infusion tube 2; if the detected drip speed is within the accuracy range specified by the set value, the stepping motor will not work.

The liquid level sensor 18 adopts infrared emission and receiving diodes. When the liquid level in the muffier tube 1 is lower than the position where the liquid level sensor 18 is placed, the control module controls the stepping motor to rotate, and drives the liquid stop device 8 to move the infusion tube 2 Clamping. In the intravenous infusion system based on fuzzy PI control, the total control module connected to each intravenous infusion device has set the infusion sequence of each infusion channel before the infusion. If the infusion of one channel ends, the other channel needs to continue the infusion , then the general control module will send commands to the intravenous infusion device set on another infusion channel, and the control module on this channel controls the stepper motor to rotate to open the infusion channel of this channel, that is, switch to the next channel to start infusion; If all the infusions are finished, the intravenous infusion device on the last infusion channel will give an alarm through the alarm module to remind the medical staff that the infusion is completed.

In the cold season, especially during infusion in winter, there is often a large difference between the temperature of the liquid medicine injected into the patient's body and the body temperature due to the low temperature, causing symptoms such as limb chills, chills, and local spasms, which affect the quality of treatment. At present, the commonly used method is to put a hot water bag on the infusion tube to increase the temperature of the liquid medicine infused into the body. Although this method is convenient to operate, the temperature control is very imprecise, and it is easy to cause the temperature of the liquid medicine to be too high, which directly stimulates the blood vessels and causes pain. , may also make certain drugs lose their effectiveness. Therefore, keeping the infusion in an appropriate temperature range is not only beneficial to the recovery of the patient, but also beneficial to the efficacy of the drug.

In the actual application process of the intravenous infusion device based on fuzzy PI control designed by the present invention, a temperature sensor 16 and a PTC heater 20 are provided, wherein the temperature sensor 15 is used to monitor the temperature of the liquid medicine delivered in real time, and the monitoring signal is sent to the controller. module, the control module compares the received real-time infusion temperature monitoring signal with the infusion temperature value set by the input device, if the monitored temperature is lower than the input set temperature value, it controls the PTC heater 20 to work; if the monitoring When the temperature is higher than or within the accuracy range allowed by the temperature setting value, the PTC heater 20 is controlled to stop working. Keep the temperature of the delivery liquid within a set range.

As shown in Figure 4, in the intravenous infusion system based on fuzzy PI control, the intravenous infusion devices on each infusion channel are connected to the general control module through the CAN bus, and the CAN bus connects each intravenous infusion device into a distributed intelligent monitoring system. The general control module adopts a computer or a liquid crystal touchable display host. Wherein, each intravenous infusion device constitutes an intelligent node in the CAN bus network. The general control module can set the infusion sequence of each infusion channel, and display information such as infusion speed, temperature, and operation status of each infusion channel in real time.

As shown in Figure 5, the general control module forms a distributed monitoring system with multiple intravenous infusion devices through the CAN bus, and can be connected to the nurse station computer through wired or wireless methods, and the infusion information in the general control module is transmitted to the nurse at the same time. stand on the computer.

The intravenous infusion system based on fuzzy PI control designed by the present invention solves the problem of automatic monitoring during the infusion process, completely liberates the situation that traditional infusion requires nurses to pay attention to the infusion situation at any time in order to change the dressing, improves the work efficiency of the hospital, and reduces the The workload of medical staff.

The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and can also be made without departing from the gist of the present invention within the scope of knowledge possessed by those of ordinary skill in the art. Variations.

Claims (10)

1. the intravenous infusion device based on fuzzy PI hybrid control comprises Murphy type tube (1), tube for transfusion (2), power transmission shaft (7), ends liquid device (8), control module and the power supply that is connected with control module respectively, drop monitoring sensor (4), driving device (5), input equipment; Wherein, power supply is each module for power supply by control module; The two ends of power transmission shaft (7) are distinguished connecting drive device (5) and are ended liquid device (8); Drop monitoring sensor (4) is arranged on the first half of Murphy type tube (1) outer wall, the speed of dripping that is used for monitoring transfusion, and send to control module, the transfusion drip speed that the control module basis monitors and the transfusion drip speed of being set by input equipment, by accessory drive (5), and then control ends liquid device (8) tube for transfusion (2) that is connected with Murphy type tube (1) pushed, and realizes the speed of dripping of control transfusion; It is characterized in that: described control module comprises fuzzy-PI controller, control module by fuzzy-PI controller according to the transfusion drip speed that monitors and the transfusion drip speed set by input equipment, realization is to the control of driving device (5), and then the control transfusion drip speed.

2. described a kind of intravenous infusion device based on fuzzy PI hybrid control according to claim 1, it is characterized in that: also comprise infusion set pedestal (10), the Murphy type tube that is connected (1) and tube for transfusion (2) are arranged in the caulking groove of infusion set pedestal (10), the described liquid device (8) that ends is arranged in the slideway (21) on the infusion set pedestal (10), side near tube for transfusion (2), push tube for transfusion (2) by sliding at infusion set pedestal (10), the control transfusion drip speed.

3. described a kind of intravenous infusion device based on fuzzy PI hybrid control according to claim 1 and 2, it is characterized in that: the described liquid device (8) that ends comprises speed regulating bolt (11) and speed governing jacking block (12), speed governing jacking block (12) the wherein end of an end arranges opening (13), and the outer wall of speed regulating bolt (11) is provided with corresponding screw thread with the inwall of opening (13); One end of speed regulating bolt (11) is connected with described power transmission shaft (7), and the other end is movably arranged in the opening (13) of speed governing jacking block (12) by screw thread.

4. described a kind of intravenous infusion device based on fuzzy PI hybrid control according to claim 1 is characterized in that: also comprise the train of reduction gears (14) that is arranged between driving device (5) and the power transmission shaft (7).

5. described a kind of intravenous infusion device based on fuzzy PI hybrid control according to claim 1, it is characterized in that: also comprise heating base (15), tube for transfusion (2) is arranged in the caulking groove of heating base (15), ptc heater (20) is set in the caulking groove, and ptc heater (20) is connected with control module.

6. described a kind of intravenous infusion device based on fuzzy PI hybrid control according to claim 5, it is characterized in that: also comprise the temperature sensor (16) that is connected with control module, temperature sensor (16) is arranged on the end of described heating base (15) upper embedded groove, after being used for the monitoring described ptc heater of process (20), the temperature of described tube for transfusion (2) herb liquid.

7. described a kind of intravenous infusion device based on fuzzy PI hybrid control according to claim 1 is characterized in that: also comprise the alarm module that is connected with control module.

8. according to claim 1 or 7 described a kind of intravenous infusion devices based on fuzzy PI hybrid control, it is characterized in that: also comprise the liquid level sensor (18) that is connected with control module, liquid level sensor (18) is arranged on the Lower Half of Murphy type tube (1) outer wall.

9. described a kind of intravenous infusion device based on fuzzy PI hybrid control according to claim 7, it is characterized in that: also comprise the pressure transducer (19) that is connected with control module, pressure transducer (19) is arranged on the outer wall of tube for transfusion (2).

10. intravenous delivery system based on fuzzy PI hybrid control, be used for the described a kind of intravenous infusion device based on fuzzy PI hybrid control of control claim 1 to 9 any one, it is characterized in that: comprise at least one intravenous infusion device, each intravenous infusion device is separately positioned on each transfusion path, also comprise the total control module that is connected with each intravenous infusion device respectively, for the intravenous infusion device of monitoring and controlling on each transfusion path.

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