口腔麻醉注射无模型自适应恒流控制技术

Technology of Model-free Adaptive Control for Injection Speed of Dental Anesthesiology

针对口腔麻醉输注系统,提出了无模型自适应恒定注射流速控制方案,以实现无痛麻醉。控制方案的设计仅利用注射驱动电机的输入功率数据和注射输出速度数据,不包含麻醉输注系统和口腔组织的模型信息。因此,对于不同输注系统和口腔的不同部位组织,方案均能实现注射速度的无模型自适应控制。在口腔麻醉过程中,系统能够根据注射阻力的变化实时调整电机输入功率,改善期望注射速度的跟踪误差。方案由控制算法、参数估计算法、参数重置算法构成。针对多种外界输注阻力的变化情况,开展了仿真试验,结果表明,方案能够在注射阻力突变时保持注射速度稳定,具备较高的跟踪精度和较快的响应速度。

In this paper,a model-free adaptive control( MFAC) scheme is proposed for oral anesthesia injection system to achieve painless anesthesia. The design of the proposed scheme only depends on the input power data of the motor and the output injection velocity data,and it does not involve any model information of the injection system or the oral tissues. Therefore,the MFAC-based injection speed controlling is applicable to different kinds of injection systems and tissues in different parts of the oral. During oral anesthesia,the scheme can adjust the motor input power according to the change of injection resistance in real time. It will reduce the tracking error of the desired injection speed. This scheme consists of a control algorithm,a parameter estimation algorithm and a parameter reset algorithm. The simulation results show that the scheme can keep the injection speed stable when the injection resistance changes suddenly,and the system has small tracking errors and rapid responses.