基于无传感器反馈的潜血式医用高速微电机驱动控制系统研究

Research on Drive Control System for Occult Blood Medical High-Speed Micromotor Based on Sensorless Feedback

摘要: 潜血式医用高速微电机由于具有直径小、效率高、防水性好、温升小、运行稳定的优点，在可植入血泵领域中具有广泛的应用前景。要求其驱动控制系统可驱动直流无刷微电机高速稳定运转，最高转速可达35000 r/min，并实现无位置传感反馈速度闭环控制。本文利用MATLAB SIMULINK对直流无刷电机(BLDC)无感控制和永磁同步电机(PMSM)磁场定向(FOC)无感控制两种控制方式进行仿真实验，从相电流、速度、转矩不同波形对电机的性能进行了分析。结果表明，在直径为5 mm的无位置传感器的高速微电机中，永磁同步电机FOC无感控制方式相较于直流无刷电机无感控制方式效率更高，优势更大。除此之外，本文还研究证明了扩展卡尔曼滤波(EKF)器可以在高速驱动器中用于转子位置和速度的观测，而不会损失精度和鲁棒性。

Abstract: Occult blood medical high-speed micro motors require small diameter, high efficiency, good water-proof performance, low temperature rise, stable operation, and have a wide application prospect in the field of implantable blood pump. The driving control system should be able to drive a DC brush-less micro motor to run at high speed and stably, with a maximum speed of up to 35,000 r/min. In this study, MATLAB SIMULINK was used to simulate and experiment with two control methods: sensorless control of the brushless DC motor (BLDC) and sensorless control of the permanent mag-net synchronous motor (PMSM) using field-oriented control (FOC). The performance of the motors was analyzed based on different waveforms of phase current, speed, and torque. The results showed that in high-speed micro motors with a diameter of approximately 5 mm and no position sensors, the FOC sensorless control method for the PMSM exhibited higher efficiency and greater advantages compared to the sensorless control method for the BLDC motor. Furthermore, this study also demonstrated that the Extended Kalman Filter (EKF) can be used for rotor position and speed es-timation in high-speed drives without sacrificing accuracy and robustness.