JP2017163738A - モータ駆動制御装置、モータ駆動制御方法及びチューブポンプ - Google Patents
モータ駆動制御装置、モータ駆動制御方法及びチューブポンプ Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/10—Location thereof with respect to the patient's body
- A61M60/104—Extracorporeal pumps, i.e. the blood being pumped outside the patient's body
- A61M60/109—Extracorporeal pumps, i.e. the blood being pumped outside the patient's body incorporated within extracorporeal blood circuits or systems
- A61M60/113—Extracorporeal pumps, i.e. the blood being pumped outside the patient's body incorporated within extracorporeal blood circuits or systems in other functional devices, e.g. dialysers or heart-lung machines
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/20—Type thereof
- A61M60/205—Non-positive displacement blood pumps
- A61M60/216—Non-positive displacement blood pumps including a rotating member acting on the blood, e.g. impeller
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/20—Type thereof
- A61M60/247—Positive displacement blood pumps
- A61M60/253—Positive displacement blood pumps including a displacement member directly acting on the blood
- A61M60/268—Positive displacement blood pumps including a displacement member directly acting on the blood the displacement member being flexible, e.g. membranes, diaphragms or bladders
- A61M60/279—Peristaltic pumps, e.g. roller pumps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/40—Details relating to driving
- A61M60/403—Details relating to driving for non-positive displacement blood pumps
- A61M60/422—Details relating to driving for non-positive displacement blood pumps the force acting on the blood contacting member being electromagnetic, e.g. using canned motor pumps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/50—Details relating to control
- A61M60/508—Electronic control means, e.g. for feedback regulation
- A61M60/515—Regulation using real-time patient data
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/50—Details relating to control
- A61M60/508—Electronic control means, e.g. for feedback regulation
- A61M60/538—Regulation using real-time blood pump operational parameter data, e.g. motor current
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B43/00—Machines, pumps, or pumping installations having flexible working members
- F04B43/12—Machines, pumps, or pumping installations having flexible working members having peristaltic action
- F04B43/1253—Machines, pumps, or pumping installations having flexible working members having peristaltic action by using two or more rollers as squeezing elements, the rollers moving on an arc of a circle during squeezing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/20—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by changing the driving speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/03—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for very low speeds
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
Abstract
Description
以下では、本実施形態に係るモータ駆動制御装置が用いられるチューブポンプが、人工透析システムの血液ポンプである場合について説明する。図1は、本実施形態に係る血液ポンプが組み込まれる人工透析システムの構成例を示す図である。
2 チューブ
3 ダイアライザー
4 透析液供給装置
P 患者
10 モータ装置
11 モータ
12 制御部(モータ駆動制御装置の一部)
13 モータ駆動部(モータ駆動制御装置の一部)
14 エンコーダ(位置検出器の一例)
15 ホール素子
20 減速機
30 ポンプシステム
31 ハウジング
32 ロータ
33 ローラ支持部
34a,34b ローラ
100 速度指令信号生成部
Claims (12)
- 速度指令信号の入力により、駆動制御信号を生成する制御部と、
前記駆動制御信号の入力により、駆動信号を生成しモータに出力するモータ駆動部と、
を備え、
前記制御部は、前記速度指令信号の入力期間で前記駆動制御信号を生成し、前記速度指令信号の入力停止期間で前記駆動制御信号の生成を停止することを繰り返すことで、前記モータが回転する運転期間と、非励磁状態で前記モータが停止する停止期間とを繰り返させる、モータ駆動制御装置。 - 前記モータは、ブラシレスDCモータであり、
前記速度指令信号は、パルス数が回転ステップ数となり、単位時間当たりのパルス数が回転速度となるパルス信号であり、
前記制御部は、前記運転期間と前記停止期間とを繰り返させることで、前記モータの1回転当たりの回転速度を、前記速度指令信号に対応する第1の回転速度より低速度の第2の回転速度とする、請求項1に記載のモータ駆動制御装置。 - 前記運転期間の長さと、前記停止期間の長さとは、前記第1の回転速度と前記第2の回転速度との比率によって設定される、請求項2に記載のモータ駆動制御装置。
- 前記第1の回転速度は、前記モータの回転を維持可能な単位時間当たりの下限回転数である、請求項2又は3に記載のモータ駆動制御装置。
- 前記下限回転数は、前記モータ駆動部が生成可能な駆動信号のパルス幅の下限値に対応する、請求項4に記載のモータ駆動制御装置。
- 前記制御部は、前記停止期間で前記モータの移動を検知すると、非励磁状態から励磁状態にして前記モータを前記運転期間の終了時の停止位置に戻す制御を行う、請求項1〜5のいずれか1つに記載のモータ駆動制御装置。
- 前記モータの位置を検出する位置検出器、を更に備え、
前記位置検出器は、前記速度指令信号と同期したパルス信号を出力し、当該パルス信号のカウント数に基づく検出信号を出力し、
前記制御部は、前記位置検出器から出力された検出信号に基づく前記モータの位置を記憶する、請求項6に記載のモータ駆動制御装置。 - 前記制御部は、前記停止期間中に前記位置検出器から出力された検出信号に基づくカウント数に基づいて、前記モータを前記停止位置に戻す駆動制御信号を生成する、請求項7に記載のモータ駆動制御装置。
- 前記速度指令信号は、外部装置が生成し、前記制御部に出力される、請求項1〜8のいずれか1つに記載のモータ駆動制御装置。
- 前記速度指令信号を生成する速度指令信号生成部、を更に備える、請求項1〜8のいずれか1つに記載のモータ駆動制御装置。
- 速度指令信号の入力期間において生成された駆動制御信号の入力により、駆動信号を生成しモータに出力する出力ステップと、
前記速度指令信号の入力停止期間において前記駆動制御信号の生成が停止されることにより、前記駆動信号の出力を停止する停止ステップと、
前記出力ステップと前記停止ステップとを繰り返すことで、前記モータが回転する運転期間と、非励磁状態で前記モータが停止する停止期間とを繰り返させる繰り返しステップと、
を含む、モータ駆動制御方法。 - モータと、
前記モータの駆動により回転することでチューブを押圧し、該チューブ内の液体を送出するローラと、
速度指令信号の入力により、駆動制御信号を生成する制御部と、前記駆動制御信号の入力により、駆動信号を生成し前記モータに出力するモータ駆動部とを有するモータ駆動制御装置と、
を備え、
前記制御部は、前記速度指令信号の入力期間で前記駆動制御信号を生成し、前記速度指令信号の入力停止期間で前記駆動制御信号の生成を停止することを繰り返すことで、前記モータが回転する運転期間と、非励磁状態で前記モータが停止する停止期間とを繰り返させる、チューブポンプ。
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JP2016047013A JP6430425B2 (ja) | 2016-03-10 | 2016-03-10 | モータ駆動制御装置、モータ駆動制御方法及びチューブポンプ |
US15/445,047 US10381963B2 (en) | 2016-03-10 | 2017-02-28 | Motor drive controlling apparatus, motor drive controlling method, and tube pump |
EP17159290.0A EP3217530B1 (en) | 2016-03-10 | 2017-03-06 | Motor drive controlling apparatus, motor drive controlling method, and tube pump |
CN201710130714.8A CN107181430B (zh) | 2016-03-10 | 2017-03-07 | 电机驱动控制装置、电机驱动控制方法和管道泵 |
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EP3217530B1 (en) | 2021-06-16 |
CN107181430B (zh) | 2020-03-31 |
US20170264223A1 (en) | 2017-09-14 |
CN107181430A (zh) | 2017-09-19 |
US10381963B2 (en) | 2019-08-13 |
EP3217530A3 (en) | 2018-01-17 |
JP6430425B2 (ja) | 2018-11-28 |
EP3217530A2 (en) | 2017-09-13 |
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