CN103007389A - Vein infusion device and system based on fuzzy PI (Proportional Integral) control - Google Patents
Vein infusion device and system based on fuzzy PI (Proportional Integral) control Download PDFInfo
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- CN103007389A CN103007389A CN2012105452608A CN201210545260A CN103007389A CN 103007389 A CN103007389 A CN 103007389A CN 2012105452608 A CN2012105452608 A CN 2012105452608A CN 201210545260 A CN201210545260 A CN 201210545260A CN 103007389 A CN103007389 A CN 103007389A
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Abstract
The invention relates to a vein infusion device and a vein infusion system based on fuzzy PI (Proportional Integral) control. The vein infusion device comprises a Murphy's dropper (1), an infusion tube (2), a transmission shaft (7), a liquid blocking device (8), a control module, a power supply, a liquid drop monitoring sensor (4), a driving device (5) and an input device, wherein the power supply, the liquid drop monitoring sensor (4), the driving device (5) and the input device are connected with the control module respectively; the control module comprises a fuzzy-PI controller, and is used for controlling the driving device (5) according to a monitored infusion dripping speed and an infusion dripping speed set by the input device through the fuzzy-PI controller to control the liquid blocking device (8) to extrude the infusion tube (2) so as to realize control over the dripping speed of infusion; and moreover, the invention further relates to the vein infusion system based on fuzzy PI control. The system comprises a main control module for controlling each vein infusion device; and the vein infusion device and the vein infusion system are based on fuzzy PI control, and have the advantages of high stability precision, quick dynamic response and small overshoot.
Description
Technical field
The present invention relates to a kind of intravenous infusion device based on fuzzy PI hybrid control and system.
Background technology
Venous transfusion is as a kind of the most frequently used clinical treatment method, has the plurality of advantages such as safe and convenient, curative effect be rapid.What the most of hospitals of China adopted at present is general infusion set, and the pressure that relies on liquid level difference to provide is input to medicinal liquid in the patient body.During transfusion infusion vessel is suspended on the drip stand, observes the speed of Murphy type tube giving drugs into nose drop speed by the nurse, control the flow velocity of medicinal liquid by the manual pulley on the rotation transfusion device; The nurse need to ceaselessly patrol and examine in the infusion process, and drips fast situation by amount of liquid medicine and the medicinal liquid that patient or entourage observe infusion vessel, occurs in time notifying the nurse to take measures to process when unusual when medicinal liquid is about to be totally lost or drips speed.So not only increased medical personnel's labor intensity, caused error rate greatly to rise, and be unfavorable for that the patient has a rest, and has affected therapeutic quality.
For the patient of Different Individual situation, different transfusion purpose and flow of infusate, needed transfusion speed is also not exclusively the same.Generally speaking, adult's transfusion speed is everlasting 40～60 droplets/minute, and child, old people's transfusion speed then should not be above 40 droplets/minute.In infusion process, if transfusion speed is too fast, the drug dose that enters in the unit interval in the human body is excessive, circulation volume is increased suddenly, cause cardiac load to increase the weight of, may also can cause a lot of side effect or untoward reaction, for example acute heart failure and pulmonary edema, even can be in peril of one's life; Infused then to cause dose to prolong transfusion time slowly inadequate or meaninglessly, affects therapeutic effect, increases unnecessary burden for patient and nursery work; For carrying some specific drugs, such as anesthetics, depressor, oxytocin etc., need strict control transfusion speed, manual adjustment is dripped speed and is not easy control, and therefore, precise monitoring and control to transfusion speed in infusion process are very necessary.
Infusion pump in the market can substitute traditional gravity type infusion set, realizes more precise and safety ground administration.But infusion pump can make pump head and slide block produce wearing and tearing through long-time use, owing to adopt open loop control transfusion speed, the precision that causes infusing reduces greatly.In recent years, many Chinese scholars and medical institutions are devoted to the research of transfusion system, and have applied for many patents.But these infusion sets are large owing to volume, cost is high, precision is low, frequent false alarm, the not high reason of intelligent degree, increased hospital and patient's burden, are not widely used.
Since the transfusion drip speed control system be one non-linear, the time complex control object that becomes, adopt traditional control strategy to be difficult to obtain good control quality and Real Time Monitoring effect.Although conventional PI controller can obtain higher stable state accuracy and dynamic characteristic to accurate mathematical model, but its control performance depends on adjusting of parameters, and the conventional PID controller parameter adopts the experience trial and error procedure manually to adjust, and the adaptability to system model is bad, is difficult to obtain to control preferably effect.
Fuzzy control has certain adaptive capacity to the non-linear and time variation of controlled device, simultaneously noise also there is stronger inhibitory action, robustness is better, but its ability of eliminating the systematic steady state error is poor, very easily near equilibrium point, produce small amplitude oscillation, can have certain static difference after entering stable state.
Summary of the invention
Technical problem to be solved by this invention provides a kind of based on fuzzy PI hybrid control, has the intravenous infusion device of stable state accuracy height, dynamic response is fast and overshoot is little advantage.
Corresponding therewith, technical problem to be solved by this invention provides a kind of based on fuzzy PI hybrid control, has the intravenous delivery system of the advantage that the stable state accuracy degree is high, dynamic response is fast and overshoot is little.
The present invention is in order to solve the problems of the technologies described above by the following technical solutions: the present invention has designed a kind of intravenous infusion device based on fuzzy PI hybrid control, comprises Murphy type tube, tube for transfusion, power transmission shaft, ends liquid device, control module and the power supply that is connected with control module respectively, drop monitoring sensor, driving device, input equipment; Wherein, power supply is each module for power supply by control module; The two ends of power transmission shaft are distinguished connecting drive device and are ended liquid device; The drop monitoring sensor is arranged on the first half of Murphy type tube 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, pass through accessory drive, and then control ends the liquid device pair tube for transfusion that is connected with Murphy type tube and pushes, and realizes that dripping of control transfusion is fast; Described control module comprises fuzzy-PI controller, and control module according to the transfusion drip speed that monitors and the transfusion drip speed set by input equipment, realizes the control to driving device by fuzzy-PI controller, and then the control transfusion drip speed.
As a kind of optimal technical scheme of the present invention: also comprise the infusion set pedestal, the Murphy type tube that is connected and tube for transfusion are arranged in the caulking groove of infusion set pedestal, the described liquid device that ends is arranged in the slideway on the infusion set pedestal, side near tube for transfusion, push tube for transfusion by sliding at the infusion set pedestal, the control transfusion drip speed.
As a kind of optimal technical scheme of the present invention: the described liquid device that ends comprises speed regulating bolt and speed governing jacking block, and the speed governing jacking block wherein end of an end arranges opening, and the outer wall of speed regulating bolt is provided with corresponding screw thread with the inwall of opening; One end of speed regulating bolt is connected with described power transmission shaft, and the other end is movably arranged in the opening of speed governing jacking block by screw thread.
As a kind of optimal technical scheme of the present invention: also comprise the train of reduction gears that is arranged between driving device and the power transmission shaft.
As a kind of optimal technical scheme of the present invention: also comprise heating base, tube for transfusion is arranged in the caulking groove of heating base, and ptc heater is set in the caulking groove, and ptc heater is connected with control module.
As a kind of optimal technical scheme of the present invention: also comprise the temperature sensor that is connected with control module, temperature sensor is arranged on the end of described heating base upper embedded groove, is used for monitoring through behind the described ptc heater, the temperature of described tube for transfusion herb liquid.
As a kind of optimal technical scheme of the present invention: also comprise the alarm module that is connected with control module.
As a kind of optimal technical scheme of the present invention: also comprise the liquid level sensor that is connected with control module, liquid level sensor is arranged on the Lower Half of Murphy type tube outer wall.
As a kind of optimal technical scheme of the present invention: also comprise the pressure transducer that is connected with control module, pressure transducer is arranged on the outer wall of tube for transfusion.
A kind of intravenous infusion device based on fuzzy PI hybrid control of the present invention adopts above technical scheme compared with prior art, has following technique effect:
(1) intravenous infusion device of the present invention's design is based on fuzzy PI hybrid control, have stable state accuracy height, dynamic response is fast and overshoot is little advantage, can reach fast and accurately required speed so that medicinal liquid drips speed, further reduce medical-risk, the patient is infused more in time and science;
(2) in the intravenous infusion device based on fuzzy PI hybrid control of the present invention design, comprise the infusion set pedestal and be arranged on driving device and power transmission shaft between train of reduction gears, all guaranteed in the infusion process, medicinal liquid is dripped the accurate control of speed;
(3) in the intravenous infusion device based on fuzzy PI hybrid control of the present invention's design, be provided with the temperature sensor that fluid temperature is monitored and the ptc heater that medicinal liquid is heated, guarantee that the medicinal liquid of carrying maintains in the suitable scope, not only be conducive to patient's rehabilitation, and be conducive to the performance of drug effect;
(4) in the intravenous infusion device based on fuzzy PI hybrid control of the present invention's design, be provided with liquid level sensor, the liquid level sensor Real-Time Monitoring is carried the residue situation of medicinal liquid, when medicinal liquid has been carried, can in time feed back to control module, end liquid device blocking-up tube for transfusion by control module control, the alarm module that is equipped with is in time notified medical personnel;
(5) in the intravenous infusion device based on fuzzy PI hybrid control of the present invention's design, be provided with pressure transducer, the pressure condition of pressure transducer Real-Time Monitoring tube for transfusion herb liquid, and monitoring result sent to control module, control module is according to the pressure condition that monitors, judge whether medicinal liquid exists the abnormal conditions such as obstruction, and the alarm module that is equipped with is in time notified medical personnel.
The present invention is in order to solve the problems of the technologies described above by the following technical solutions: the present invention has also designed a kind of intravenous delivery system based on fuzzy PI hybrid control, 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.
A kind of intravenous delivery system based on fuzzy PI hybrid control of the present invention adopts above technical scheme compared with prior art, has following technique effect:
(1) in the intravenous delivery system based on fuzzy PI hybrid control of the present invention's design, comprise the total control module that is connected with each intravenous infusion device respectively, can monitor and control the intravenous infusion device on each transfusion path, as control each intravenous infusion device transfusion sequential scheduling each other, so that more intelligent, the hommization of whole intravenous delivery system;
(2) in the intravenous delivery system based on fuzzy PI hybrid control of the present invention's design, the total control module of setting can also be monitored the information such as transfusion speed of each intravenous infusion device, is convenient to the transfusion situation that medical personnel in time understand the patient;
(3) intravenous delivery system based on fuzzy PI hybrid control of the present invention's design has solved the automatic monitoring problem in the infusion process, thorough liberation traditional infusion need the nurse to pay close attention at any time the transfusion situation so that the situation of changing dressings, improve the work efficiency of hospital, reduced medical personnel's working strength.
Description of drawings
Fig. 1 is the functional block diagram based on the intravenous infusion device of fuzzy PI hybrid control that the present invention designs;
Fig. 2 is the structural representation based on the infusion set in the intravenous infusion device of fuzzy PI hybrid control that the present invention designs;
Fig. 3 is the structural representation based on the heating base in the intravenous infusion device of fuzzy PI hybrid control that the present invention designs;
Fig. 4 is the connection diagram based on the intravenous delivery system of fuzzy PI hybrid control that the present invention designs;
Fig. 5 is the connection diagram based on the intravenous delivery system practical application of fuzzy PI hybrid control that the present invention designs;
Fig. 6 is the membership function pictorial diagram based on fuzzy deviation variables E in the fuzzy controller in the intravenous infusion device of fuzzy PI hybrid control that the present invention designs;
Fig. 7 is the membership function pictorial diagram based on fuzzy change of error amount EC in the fuzzy controller in the intravenous infusion device of fuzzy PI hybrid control that the present invention designs;
Fig. 8 be the present invention design based on fuzzy proportionality coefficient correction value Δ K in the fuzzy controller in the intravenous infusion device of fuzzy PI hybrid control
pThe membership function pictorial diagram;
Fig. 9 be the present invention design based on fuzzy integral coefficient correction value Δ K in the fuzzy controller in the intravenous infusion device of fuzzy PI hybrid control
iThe membership function pictorial diagram;
Figure 10 be the present invention design based on proportionality coefficient correction value Δ k in the fuzzy controller in the intravenous infusion device of fuzzy PI hybrid control
pAll court verdict sketch maps;
Figure 11 be the present invention design based on integral coefficient correction value Δ k in the fuzzy controller in the intravenous infusion device of fuzzy PI hybrid control
iAll court verdict sketch maps.
Wherein, 1. Murphy type tube, 2. tube for transfusion, 4. drop monitoring sensor, 5. driving device, 7. power transmission shaft, 8. end liquid device, 10. infusion set pedestal, 11. speed regulating bolts, 12. the speed governing jacking block, 13. openings, 14. train of reduction gears, 15. heating base, 16. temperature sensors, 18. liquid level sensors, 19. pressure transducer, the 20.PTC heater.
The specific embodiment
Below in conjunction with Figure of description the specific embodiment of the present invention is described in further detail.
As depicted in figs. 1 and 2, the present invention has designed a kind of 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 8 pairs of tube for transfusions 2 that are connected with Murphy type tube 1 of liquid device and pushes, and realizes that dripping of control transfusion is fast; Described control module comprises fuzzy-PI controller, and control module according to the transfusion drip speed that monitors and the transfusion drip speed set by input equipment, realizes the control to driving device 5 by fuzzy-PI controller, and then the control transfusion drip speed.
The intravenous infusion device of the present invention's design is based on fuzzy PI hybrid control, have stable state accuracy height, dynamic response is fast and overshoot is little advantage, can reach fast and accurately required speed so that medicinal liquid drips speed, further reduce medical-risk, the patient is infused more in time and science.
As a kind of optimal technical scheme of the present invention: also comprise infusion set pedestal 10, the Murphy type tube 1 that is connected 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, the control transfusion drip speed by sliding at infusion set pedestal 10.
As a kind of optimal technical scheme of the present invention: the described liquid device 8 that ends comprises speed regulating bolt 11 and speed governing jacking block 12, and the speed governing jacking block 12 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.
As a kind of optimal technical scheme of the present invention: also comprise the train of reduction gears 14 that is arranged between driving device 5 and the power transmission shaft 7.
In the intravenous infusion device based on fuzzy PI hybrid control of the present invention design, comprise infusion set pedestal 10 and be arranged on driving device 5 and power transmission shaft 7 between train of reduction gears 14, all guaranteed in the infusion process, medicinal liquid is dripped the accurate control of speed.
As shown in Figure 3, as a kind of optimal technical scheme of the present invention: also comprise heating base 15, tube for transfusion 2 is arranged in the caulking groove of heating base 15, and ptc heater 20 is set in the caulking groove, and ptc heater 20 is connected with control module.
As a kind of optimal technical scheme of the present invention: 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 grooves, be used for monitoring through behind the described ptc heater 20, the temperature of described tube for transfusion 2 herb liquids.
In the intravenous infusion device based on fuzzy PI hybrid control of the present invention's design, be provided with the temperature sensor 16 that fluid temperature is monitored and the ptc heater 20 that medicinal liquid is heated, guarantee that the medicinal liquid of carrying maintains in the suitable scope, not only be conducive to patient's rehabilitation, and be conducive to the performance of drug effect.
As a kind of optimal technical scheme of the present invention: also comprise the alarm module that is connected with control module.
As a kind of optimal technical scheme of the present invention: 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.
In the intravenous infusion device based on fuzzy PI hybrid control of the present invention's design, be provided with liquid level sensor 18, liquid level sensor 18 Real-Time Monitorings are carried the residue situation of medicinal liquid, when medicinal liquid has been carried, can in time feed back to control module, end liquid device 8 blocking-up tube for transfusions 2 by control module control, the alarm module that is equipped with is in time notified medical personnel.
As a kind of optimal technical scheme of the present invention: 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.
In the intravenous infusion device based on fuzzy PI hybrid control of the present invention's design, be provided with pressure transducer 19, the pressure condition of pressure transducer 19 Real-Time Monitoring tube for transfusions 2 herb liquids, and monitoring result sent to control module, control module is according to the pressure condition that monitors, judge whether medicinal liquid exists the abnormal conditions such as obstruction, and the alarm module that is equipped with is in time notified medical personnel.
Corresponding therewith, the present invention has also designed a kind of intravenous delivery system based on fuzzy PI hybrid control, comprise at least one described 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 described intravenous infusion device respectively, for the intravenous infusion device of monitoring and controlling on each transfusion path.
In the intravenous delivery system based on fuzzy PI hybrid control of the present invention's design, comprise the total control module that is connected with each intravenous infusion device respectively, can monitor and control the intravenous infusion device on each transfusion path, as control each intravenous infusion device transfusion sequential scheduling each other, so that more intelligent, the hommization of whole intravenous delivery system.
Can also monitoring the information such as transfusion speed of each intravenous infusion device based on the total control module in the intravenous delivery system of fuzzy PI hybrid control of the present invention's design is convenient to the transfusion situation that medical personnel in time understand the patient.
The present invention design based on the intravenous infusion device of fuzzy PI hybrid control in the middle of actual application, also comprise the display device that is connected with control module, can in time feed back the situations such as temperature of dripping speed, medicinal liquid of medicinal liquid on this transfusion path to medical personnel, make medical personnel in time understand the conveying situation of medicinal liquid.
The present invention design based on the intravenous infusion device of fuzzy PI hybrid control in the middle of actual application, described driving device 5 can adopt motor.
The present invention design based on the intravenous infusion device of fuzzy PI hybrid control in the middle of actual application, by fixture Murphy type tube 1 and tube for transfusion 2 are fixed in the caulking groove of infusion set pedestal 10, the speed of dripping of 4 pairs of medicinal liquids of drop monitoring sensor of the first half by being arranged on Murphy type tube 1 outer wall is monitored, and send to control module, fuzzy-PI controller is according to the transfusion drip speed that monitors in the control module, and the transfusion drip speed of being set by input equipment, by accessory drive 5, and then control ends slip in the slideway 21 of liquid device 8 on infusion set pedestal 10, the tube for transfusion 2 that is connected with Murphy type tube 1 is pushed, realize the speed of dripping of control transfusion; Wherein fuzzy-PI controller is controlled it according to following mode.
Fuzzy-PI controller is divided into fuzzy controller and PI controller two parts, and fuzzy controller is adjusted Proportional coefficient K in the PI controller in real time according to the deviation e of transfusion speed and change of error value ec
pWith integral coefficient K
i, then by the PI controller output driving pulse control step motor operation after the adjustment parameter.
The input variable of fuzzy controller is deviation e and the change of error value ec of transfusion speed, and output variable is the Proportional coefficient K in the PI controller
p, integral coefficient K
iThe correction value Δ k that difference is corresponding
p, Δ k
i
Wherein, the deviation e of transfusion speed and change of error value ec are defined as follows:
e(n)＝v(n)-v
0
ec(n)＝e(n)-e(n-1)
In the formula, e (n), ec (n) are respectively n constantly deviation and the change of error value of transfusion speed, v
0Be the target transfusion speed of setting, v (n) is n actual transfusion speed constantly.
If the actual change scope of the deviation e of transfusion speed is [60,60], consider physical condition and the control accuracy of transfusion speed control, the fuzzy subset of fuzzy language variable E is: { NB, NM, NS, NZ, PZ, PS, PM, PB}, respectively expression { " negative large ", " in negative ", " negative little ", " negative zero ", " positive zero ", " just little ", " center ", " honest " }, its domain is E={-6 ,-5 ,-4 ,-3,-2 ,-1,0,1,2,3,4,5,6}, the quantizing factor of transfusion speed deviation e
If the actual change scope of transfusion speed change of error value ec is [20,20], the fuzzy subset of fuzzy language variable EC is: { NB, NS, ZO, PS, PB}, respectively expression { " negative large ", " negative little ", " zero ", " just little ", " honest " }, its domain is EC={-4 ,-3 ,-2 ,-1,0,1,2,3,4}, the quantizing factor of transfusion speed change of error value ec
If proportionality coefficient correction value Δ k
pThe actual change scope be [3,3], fuzzy language variable Δ K
pThe fuzzy subset be: NB, NM, NS, ZO, PS, PM, PB}, respectively expression { " negative large ", " in negative ", " negative little ", " zero ", " just little ", " center ", " honest " }, its domain is Δ K
p=3 ,-2 ,-1,0,1,2,3}, proportionality coefficient correction amount k
pScale factor
If integral coefficient correction value Δ k
iActual range be [0.03,0.03], fuzzy language variable Δ K
iThe fuzzy subset be: NB, NM, NS, ZO, PS, PM, PB}, respectively expression { " negative large ", " in negative ", " negative little ", " zero ", " just little ", " center ", " honest " }, its domain is Δ K
i=3 ,-2 ,-1,0,1,2,3}, integral coefficient correction amount k
iScale factor
E and ec multiply by respectively to round behind the quantizing factor and obtain corresponding grade point E and EC.Then obtain Δ K through fuzzy reasoning and decision-making
pWith Δ K
iDomain in a grade point, multiply by behind the scale factor and grade point to be converted to actual Δ k
pWith Δ k
i
With reference to Proportional coefficient K in the PI controller
pWith integral coefficient K
iEffect in the control of transfusion drip speed system for improving system response time and control accuracy, is determined K according to practical operation experience and experiment experience
p, K
iThe control principle: if when the target transfusion speed of current transfusion speed and setting differs larger, in order to realize quick adjustment, should choose larger K
pValue is accelerated system response time, selects simultaneously less K
iValue prevents that integration is saturated, avoids system larger overshoot to occur; If the target transfusion speed of current transfusion speed and setting differs hour, then should suitably reduce K
pValue increases K
iValue, make system keep preferably stability.By arrangement and summary manual operation experience and repeatedly fixedly PI controller parameter transfusion speed control experiment, make fuzzy proportionality coefficient correction value Δ K shown in table 1, table 2
pWith fuzzy integral coefficient correction value Δ K
iFuzzy control rule table, as shown in the table.
Table 1 Δ K
pFuzzy control rule table
Table 2 Δ K
iFuzzy control rule table
The fuzzy subset of fuzzy deviation variables E selects respectively Z-type membership function (zmf), Triangleshape grade of membership function (trimf) and S type membership function (smf).Wherein, the membership function figure of fuzzy deviation variables E as shown in Figure 6, wherein, the membership function of fuzzy subset NB is that the membership function of Z-type membership function (zmf), fuzzy subset PB is S type membership function (smf), and all the other fuzzy subsets select Triangleshape grade of membership function (trimf).
The fuzzy subset of fuzzy change of error amount EC selects respectively Gaussian membership function (gaussmf) and triangular form membership function (trimf).Blur the membership function figure of change of error amount EC as shown in Figure 7, wherein, the membership function of fuzzy subset NB and PB is Gaussian membership function (gaussmf), and all the other fuzzy subsets select Triangleshape grade of membership function (trimf).
Fuzzy controller output Δ K
p, Δ K
iEach fuzzy subset all select triangular form membership function (trimf).Fuzzy proportionality coefficient correction value Δ K
pThe membership function figure as shown in Figure 8; Fuzzy integral coefficient correction value Δ K
iThe membership function figure as shown in Figure 9.
The fuzzy inference rule of fuzzy controller adopts the max-min method of Mamdani among the present invention.The fuzzy proportionality coefficient correction value Δ K that obtains exporting according to centroid method
pWith fuzzy integral coefficient correction value Δ K
i, again it be multiply by respectively corresponding scale factor
Obtain proportionality coefficient correction value Δ k
pWith integral coefficient correction value Δ k
i, current revised Proportional coefficient K then
p, integral coefficient K
iBe respectively K
p(n)=K
p(n-1)+Δ k
pAnd K
i(n)=K
i(n-1)+Δ k
iAccording to each group grade combination E and EC, Repeated Fuzzy compose operation and fuzzy decision calculate the court verdict under the various input combined situation, wherein, and proportionality coefficient correction value Δ k
pAll court verdicts as shown in figure 10; Integral coefficient correction value Δ k
iAll court verdicts as shown in figure 11.From Figure 10 and Figure 11, can draw the corresponding proportionality coefficient correction value Δ K of difference under different E and EC value combined situation
pWith integral coefficient correction value Δ K
iCourt verdict.
Two parameters of PI controller are calculated it according to following formula:
Drip speed control part PI controller processed and adopt increment type PI control algolithm, because of the present invention speed control system is the discrete time control system, need be applicable to simultaneously computer-controlled discrete control, so its control law is as follows:
M-sampling sequence number in the formula, m=0,1,2,
System's output valve of u (m)-m sampling instant
The deviate of e (m)-m sampling instant input
K
pThe proportionality coefficient of-PI controller
K
iThe integral coefficient of-PI controller
u
0-system output response initial value
For fear of when asking for controlled quentity controlled variable u (m) to the summation operation of deviation, adopt increment type Solving Equations motor pulse controlling increment Δ u (m)=K
pEc (m)+K
iE (m), then current step motor control amount is u (m)=u (m-1)+Δ u (m).
The present invention design based on the intravenous infusion device of fuzzy PI hybrid control in the middle of actual application, driving device 5 adopts motor, wherein drop monitoring sensor 4 adopts infrared transmitting tube and infrared receiving tube, when having drop to pass through, the signal that infrared receiving tube receives changes, export irregular pulse signal, the process shaping circuit obtains the pulse signal of standard, and shaping circuit is comprised of comparator circuit and Schmidt trigger circuit.This pulse signal is sent into control module count, and can show in real time transfusion drip speed by the display device that is connected with control module.Drip speed and the transfusion drip speed of being set by input equipment not simultaneously when what detect, regulate turning to of speed regulating bolt 11 by motor, thereby drive motion in the slideway 21 of speed governing jacking block 12 on infusion set pedestal 10, push or unclamp tube for transfusion 2; If in the time of in the fast accuracy rating setting value regulation that detects, then motor is not worked.
In the season of cold, especially in the infusion in winter process, it is larger usually can excessively to hang down the fluid temperature and the body temperature drop that cause inputting in the patient body because of temperature, causes the symptoms such as limbs feel cold, shiver with cold, monospasm, affects therapeutic quality.At present during method commonly used on tube for transfusion the heat release water bag to improve the fluid temperature in the input body, although this method is easy to operate, to the unusual inaccuracy of the control of temperature, cause easily fluid temperature too high, directly stimulate blood vessel and cause pain, also might make some drugs lose drug effect.Therefore transfusion remains on a suitable temperature range, not only is conducive to patient's rehabilitation, and is conducive to the performance of drug effect.
The present invention design based on the intravenous infusion device of fuzzy PI hybrid control in the middle of actual application, be provided with temperature sensor 16 and ptc heater 20, wherein, carry the temperature of medicinal liquid by temperature sensor 15 Real-Time Monitorings, and monitor signal sent to control module, the real-time transfusion temperature monitoring signal that control module relatively receives and the transfusion temperature value of being set by input equipment, if when the temperature that monitoring obtains is lower than the temperature value of input setting, control ptc heater 20 carries out work; If the temperature of monitoring is higher than or in the accuracy rating that desired temperature allows the time, then control ptc heater 20 and quit work.Make and carry the temperature of medicinal liquid to remain in the scope of a setting.
As shown in Figure 4, in the intravenous delivery system based on fuzzy PI hybrid control, the intravenous infusion device on each transfusion path links to each other with total control module by the CAN bus, and the CAN bus connects into a distributed intelligent monitoring system with each intravenous infusion device.Total control module adopts computer or liquid crystal touch to touch the demonstration main frame.Wherein, each intravenous infusion device consists of an intelligent node in the CAN bus network.Total control module can arrange the transfusion order of each transfusion path, and respectively the infuse information such as transfusion speed, temperature, running status of path of in real time demonstration.
As shown in Figure 5, total control module forms distributed monitoring systems by the CAN bus with a plurality of intravenous infusion devices, and can link to each other with the nurse station computer by wired or wireless mode, and the infusion information in the total control module is sent on the nurse station computer simultaneously.
The intravenous delivery system based on fuzzy PI hybrid control of the present invention's design, solved the automatic monitoring problem in the infusion process, thorough liberation traditional infusion need the nurse to pay close attention at any time the transfusion situation so that the situation of changing dressings, improve the work efficiency of hospital, reduced medical personnel's working strength.
The above has done detailed description to embodiments of the present invention by reference to the accompanying drawings, but the present invention is not limited to above-mentioned embodiment, in the ken that those of ordinary skills possess, can also make a variety of changes under the prerequisite that does not break away from aim of the present invention.
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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| CN106075636A (en) * | 2016-06-21 | 2016-11-09 | 中国矿业大学 | Intelligent transfusion robot based on internet of things |
| CN107823754A (en) * | 2017-11-27 | 2018-03-23 | 钱昱昭 | One kind transfusion intelligent management system |
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