CN1178006C - 对永磁支承的旋转件进行位置控制的方法 - Google Patents

对永磁支承的旋转件进行位置控制的方法 Download PDF

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CN1178006C
CN1178006C CNB028014685A CN02801468A CN1178006C CN 1178006 C CN1178006 C CN 1178006C CN B028014685 A CNB028014685 A CN B028014685A CN 02801468 A CN02801468 A CN 02801468A CN 1178006 C CN1178006 C CN 1178006C
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杨·霍夫曼
安德烈亚斯·阿恩特
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托比亚斯·默克尔
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    • A61M60/148—Implantable pumps or pumping devices, i.e. the blood being pumped inside the patient's body implantable via, into, inside, in line, branching on, or around a blood vessel in line with a blood vessel using resection or like techniques, e.g. permanent endovascular heart assist devices
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Abstract

由于特别是流过具有磁支承的转子(永磁铁和附加的控制电流线圈)的泵的脉动流情况下干扰力持续地作用于转子，所以位置调整装置必须能够迅速地对变化的转子的轴向位置进行调整。另一方面电流产生的损耗功率应控制在特别小的程度。根据本方法，对流过控制电流线圈的电流由后置于位置传感器的调节器预给定的额定值进行脉宽调制调整，在额定值较高时转换到较高的电压级并且对传感器分别在最迟开始于控制电流的控制前沿的一定时间内测出的实际值进行储存并将位置传感器在该时段内置于不工作状态。

Description

对永磁支承的旋转件进行位置控制的方法
本发明涉及一种用于对永磁支承的旋转件进行位置控制的方法，例如所述旋转件是无刷同步电机的转子，利用位置传感器对旋转件进行的位置测定和利用附加的影响永磁支承磁场的控制电流线圈对永磁支承的旋转件进行位置调整，其中旋转件的位置决定所述控制电流线圈的电流强度。同步电机例如可以作为轴流液体输送泵的驱动装置。
多相液体，例如稳定性很差的乳状液和分散液，当在相应的液体系统中被输送时很容易进入不稳定范围。
血液是一种特别敏感的液体。血液在自然的循环系统中与外部环境隔绝密封，从而不会受到外部的影响。然而当必须由一人工血液泵替代心脏或采用一附加的血液泵对循环进行辅助时，则将出现技术系统对血液的交替作用。这时血液很容易受到溶血或形成血栓的影响，并伴随有对患者的不利作用。所以最近加大力度努力实现对液体输送泵的设计，以便使对血液或对其它敏感的液体的机械影响尽可能降低到最小程度。对此的一种方案是对泵驱动装置的旋转件的磁支承。磁支承的优点不仅在于不再有相互机械摩擦的部件，而且还提高了可以实现的旋转件的旋转加速度并且改善了转速的可调整性和随之的容积流的可调整性。
这样一种液体泵通常可以安装在一无刷的同步电机内。所述液体泵根据WO 00/640 30的披露，主要由一圆柱形的管件构成，所述管件的两端与液体系统连接。管件被一定子环围，所述定子由叠片组、绕组和铁轭罩构成。转子包含永磁励磁器并在其外壳具有液体的输送装置，从而使液体在管件与转子之间的环形空间内被轴向输送。
转子被磁支承。为此转子在其两端面固定设置有圆柱状或环状的在轴向上被磁化的永磁铁。与转子的永磁铁相对反向磁化的永磁铁例如设置在导向装置的端侧，所述导向装置固定在圆柱形管件上。
当两个磁铁对相互吸引定向时，它们在径向上起着稳定作用，即径向支承是被动稳定的。但在轴向上转子是不稳定的。
在没有附加的稳定的情况下，转子将被两个永磁铁对中的一个所吸引。所以控制线圈设置在定子侧，使一个流过串联的控制线圈的电流对一个永磁铁对的磁场进行衰减并对另一个永磁铁对的磁场进行增强。必须根据实时的转子的轴向位置对控制电流进行调整。为此必须利用位置传感器检测出转子位置。
位置传感器例如由两个传感器线圈构成，所述传感器线圈设置在导向装置的端侧。铝体位于导向装置对面的转子的端侧，当对传感器线圈用交流电流加载时，在所述端侧将形成涡流。在转子轴向移动时传感器线圈的电感将会出现变化，由所述电感的变化在电桥电路内得出转子位置的测量信号。
由于特别是流过泵的脉动流情况下干扰力持续地作用于转子，所以位置调整装置必须能够迅速地对变化的转子的轴向位置进行调整。另外由于所产生的热能应保持在尽可能小的程度，所以电流产生的损耗功率应控制在特别小的程度，此点对血液泵是特别重要的。另外由于必须从植入的电池获得驱动能，所以电池的工作寿命应尽可能长。
本发明的目的在于提出一种用于对磁支承的构件进行位置调整的方法，利用此方法应将位置调整的损耗功率保持在最小的程度。
本发明的目的通过权利要求1的特征得以实现。从属权利要求中给出本发明的有益的设计。
根据本发明流过控制电流线圈的电流被由后置于位置传感器的调节器预给定的额定值进行脉宽调制调整，其中在额定值较高时将转换到较高的电压级。其优点是，可以将调整时间保持在最短并且将所需的功率保持在特别小的程度。
对传感器分别在最迟开始于控制电流的控制前沿的一定时间内测出的实际值进行储存并将传感器在该时段置于不工作状态。
在一无刷同步电机中应用时最好就电机线圈的控制脉冲在最迟开始于控制脉冲的控制前沿的一定时间内对传感器测出的实际值进行中间暂存并使位置传感器在该时段内停止工作。
对由于位置测定时的节拍脉冲而产生的干扰可以采用对测量时间的选择和对测量值的存储加以控制。
在特定的应用时最好由后置于位置传感器的调节器的额定值求出平方值并且在平均时间超过该值时将位置调整装置在下一个低于阈值前置于不工作状态。以此方式对控制线圈的加热进行模拟并避免过热。
最好后置于传感器的调节器是一个具有I2-分量的比例积分微分调节器。
下面将对照实施例对本发明做进一步说明。图中示出：
图1为液体输送泵的剖面图，所述输送泵适用于实施本发明的方法；
图2为采用本发明附加的电流调整对位置进行调整的原理图和
图3为位置调节器的框图。
图1示出适用于实施本发明方法的轴流泵。血液泵的驱动装置按照电子换向同步电机的原理工作。电机具有一个定子，所述定子由叠片组31、绕组33和铁轭罩2、2a构成；具有一个转子5，所述转子具有永磁磁芯32。所述定子包括一个管状的中空体1，在中空体内轴向上输送液体，在本例中输送的是血液。转子5被无接触地磁支承。
磁轴承由在转子端侧的永磁铁42、42a和在导向装置6和7端侧的永磁铁41、41a构成。导向装置6、7固定在管状的中空体1的内壁上。
另外控制线圈12、12a也属于磁轴承的一部分。导向装置6、7内的传感线圈43、43a和与前者相对的短路环80、80a用于对转子的实时位置进行测量。
永磁铁对41、42、41a、42a的极性分别相互吸引。永磁铁对磁性串接。
在没有附加稳定的情况下，转子将被吸引到一侧，在轴向上存在一不稳定的平衡。在径向上两个磁铁对同心起作用，因此径向位置是被动稳定的。
控制线圈12、12a电气串联并且其磁性设置应使一个电流起着减弱其中的一个磁铁对的磁场并增强另一个磁铁对的磁场的作用。通过铁轭罩2、2a和定子的叠片组31磁性接地。
利用传感器线圈43、43a检测出转子5的轴向位置。利用一较高频率的电压对传感器线圈43、43a加载。在转子5轴向移动时将导致传感器线圈43、43a电感的变化。通过将传感器线圈43、43a设置在一电桥电路内将获得转子5的轴向位置的测量信号。
如图2所示一个对流过控制线圈12、12a的控制电流的控制值加在后置于传感器的调节器的输出端。控制电流通过一电流调节器被馈送给控制线圈12、12a。电流调节器作为闭合的调节回路工作，其中调节器对流过控制线圈12、12a的电流进行测量并与位置调节器的预给定(额定电流)进行比较。通过一个脉冲控制的功率级的脉宽调制将实际电流调整到额定电流上。该过程需要一特定的时间，所述时间取决于额定电流与实际电流的差。功率级工作的电压越高，则电流调节器的调整时间越短。另一方面随着电压的升高，功率级的损耗功率也随之增大。为了实现电流调节器的快速反应和较少的损耗功率，只有在额定值与测量值之间的差很大时，才接入较高的电压，否则将用低电压工作。
由于脉冲控制的功率级对控制线圈12、12a的控制在传感器线圈43、43a内将产生干扰，所述干扰将导致转子5位置测定出现差错。所述干扰在控制线圈12、12a上的每个脉冲前沿耦合到传感器线圈43、43a上并在一定的时间后消隐。所以在该干扰的预期的时间内将直接在事先获得的位置信号进行中间暂存并中断位置的测定。在该时间位置调节器用中间存储的值工作。一旦干扰消隐，则重新用传感器线圈43、43a对位置进行测定。而且由于对电机线圈33的控制也会产生类似的干扰。为此也可以采用中间暂存的方法。用于抑制干扰的电子装置由电流调节器和电机的控制电子装置精确地获得可能出现干扰的时间点，以便其可以对位置信号进行存储。
图3示出磁轴承的位置调整电路。根据在电路21上测出的转子位置求出将导致转子5在所有工作状态的可靠的悬浮的控制线圈12、12a的控制电流并加在位置调节器的输出端22上。位置调节器由一个比例积分微分调节器构成，所述调节器的特征由积分器Ti和微分器Td的时间常数以及调节放大器的增益系数kr决定。为了避免控制线圈12、12a受到热过载还可以由电流的平方值求出预期的损耗功率。当在低通滤波器上平均时间上超过阈值时将断开位置调节，直至重新低于阈值。位置调节器作为附加的预定将流过控制线圈12、12a的电流保持在尽可能小的程度。控制电流通过积分器(I2-电路)被反馈到调节器的输入端。作为结果转子5总是位于泵的轴向位置，在该位置仅有一个很小的电流流过控制线圈12、12a。
附图标记对照表
2     铁轭罩
2a    铁轭罩
5     转子
6     导向装置
7     导向装置
12    控制线圈
12a   控制线圈
31    叠片组
33    绕组
41    永磁铁
41a   永磁铁
42    永磁铁
42a   永磁铁
43    传感器线圈
43a   传感器线圈
21    电路
22    输出端
80    短路环
80°      短路环
Ti    积分器
Td    微分器
kr    放大因数

Claims (4)

1.一种方法，用于利用位置传感器对旋转件的位置测定和利用附加影响永磁支承的磁场的控制电流线圈对永磁支承的旋转件进行位置调整，控制电流线圈的电流强度是由旋转件的位置决定的，其特征在于，流过控制电流线圈的电流被由后置于位置传感器的调节器预给定的额定值进行脉宽调制调整，在额定值较高时转换到较高的电压级，对传感器分别在最迟开始于控制电流的控制前沿的一定时间内测出的实际值进行储存并将位置传感器在该时段内置于不工作状态。
2.按照权利要求1所述的方法，其特征在于，在一无刷同步电机中应用时就电机线圈的控制脉冲在最迟开始于控制脉冲的控制前沿的一定时间内对传感器测出的实际值进行中间暂存并将位置传感器在该时段内置于不工作状态。
3.按照权利要求1或2的方法，其特征在于，由后置于传感器的调节器的额定值求出平方值并且在平均时间超过该值时在下一个个低于阈值前将位置调整置于不工作状态。
4.按照上述权利要求中任一项所述的方法，其特征在于，对后置于传感器的调节器采用一个具有I2-分量的比例积分微分调节器。
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