System and method for controlling a motor in a catheter procedure system
A catheter procedure system includes a bedside system having a percutaneous device, at least one drive mechanism coupled to the percutaneous device and at least one motor coupled to the at least one drive mechanism. The system also includes a workstation that is coupled to the bedside system and includes a user interface and a controller coupled to the bedside system and the user interface. The controller is programmed to receive at last one parameter of the motor, determine a quadrature current of the motor based on at least the at least one parameter, determine a load torque on the motor based on at least the quadrature current, an angular velocity and an angular acceleration and control the operation of the motor based on the load torque, wherein the operation of the motor causes the drive mechanism to move the percutaneous device.
1. A catheter procedure system comprising:
a bedside system comprising a percutaneous device, at least one drive mechanism coupled to the percutaneous device and at least one motor coupled to the at least one drive mechanism, the at least one motor including at least one of a brushless DC motor or a stepper motor; and
a workstation coupled to the bedside system, the workstation comprising:
a user interface; and
a controller coupled to the bedside system and the user interface, the controller programmed to:
receive at least one parameter of the motor;
determine a quadrature current of the motor based on the at least one parameter;
determine a load torque on the motor based on at least the quadrature current, an angular velocity and an angular acceleration; and
control the operation of the motor based on the load torque, wherein the operation of the motor causes the drive mechanism to move the percutaneous device,
wherein the load torque for the brushless DC motor is determined in accordance with:
{circumflex over (τ)} l [ k ] =Ki q-set [ k ] −B {circumflex over (ω)}[ k ]− J {dot over ({circumflex over (ω)})}[ k ]
where {circumflex over (τ)} l [k] is the load torque, {circumflex over (ω)}[k] is the angular velocity, {circumflex over ({dot over (ω)})}[k] is the angular acceleration, K is a torque constant, B is damping coefficient of the rotor, J is moment of inertia of the rotor and i q-set is a desired setpoint of the quadrature current, and
wherein the load torque for the stepper motor is determined in accordance with:
i q [ k ]=(−sin( n p θ[ k ]) i α [ k ]+cos( n p θ[ k ]) i β [ k ])
{circumflex over (τ)} l [ k ] =Ki q [ k ] −B {circumflex over (ω)}[ k ]− J {dot over ({circumflex over (ω)})}[ k ] −K d4 sin(4 n p θ[ k ])
where i q is the quadrature current, i α is a measured phase current, i β is a measured phase current, n p is a number of magnetic pole pairs of the rotor, θ is the angular position of the rotor, and K d4 is a detent torque amplitude.
2. A catheter procedure system according to claim 1 , wherein the motor is a brushless DC motor.
3. A catheter procedure system according to claim 2 , further comprising controlling the quadrature current to maintain the quadrature current at a predetermined setpoint.
4. A catheter procedure system according to claim 3 , further comprising generating a pulse width modulated signal based on the quadrature current.
5. A catheter procedure system according to claim 1 , wherein the motor is a stepper motor.
6. A catheter procedure system according to claim 1 , wherein the at least one parameter is an angular position of the motor.
7. A catheter procedure system according to claim 1 , wherein the at least one parameter is a phase current of the motor.
8. A catheter procedure system according to claim 1 , wherein the angular velocity and angular acceleration are estimated using a discrete time command filter using two discrete time integrators with a saturation function.
9. A catheter procedure system according to claim 1 , wherein determining a quadrature current comprises measuring the quadrature current.
10. A catheter procedure system according to claim 1 , wherein the operation of the motor causes the drive mechanism to cause the percutaneous device to advance.
11. A catheter procedure system according to claim 1 , wherein the operation of the motor causes the drive mechanism to cause the percutaneous device to retract.
12. A catheter procedure system according to claim 1 , wherein the operation of the motor causes the drive mechanism to cause the percutaneous device to rotate.
13. A catheter procedure system according to claim 1 , wherein the controller provides a feedback signal to the user interface based on the load torque.
14. A catheter procedure system according to claim 1 , wherein workstation further comprises a monitor coupled to the user interface and the controller, wherein the load torque is displayed on the monitor.
15. A method for controlling a motor in a catheter procedure system, the method comprising:
receiving at least one parameter of the motor;
determining a quadrature current of the motor based on at least the at least one parameter;
determining a load torque on the motor based on at least the quadrature current, an angular velocity and an angular acceleration; and
controlling the operation of the motor based on the load torque, wherein the operation of the motor causes the drive mechanism to move the percutaneous device,
wherein the load torque for a brushless DC motor is determined in accordance with:
{circumflex over (τ)} l [ k ] =Ki q-set [ k ] −B {circumflex over (ω)}[ k ]− J {dot over ({circumflex over (ω)})}[ k ]
where τ l [k] is the load torque, {circumflex over (ω)}[k] is the angular velocity, {circumflex over ({dot over (ω)})}[k] is the angular acceleration, K is a torque constant, B is damping coefficient of the rotor, J is moment of inertia of the rotor and i q-set is a desired setpoint of the quadrature current, and
wherein the load torque for a stepper motor is determined in accordance with:
i q [ k ]=(−sin( n p θ[ k ]) i α [ k ]+cos( n p θ[ k ]) i β [ k ])
{circumflex over (τ)} l [ k ] =Ki q [ k ] −B {circumflex over (ω)}[ k ]− J {dot over ({circumflex over (ω)})}[ k ] −K d4 sin(4 n p θ[ k ])
where i q is the quadrature current, i α is a measured phase current, i β is a measured phase current, n p is a number of magnetic pole pairs of the rotor, θ is the angular position of the rotor, and K d4 is a detent torque amplitude.
16. A method according to claim 15 , wherein the motor is a brushless DC motor.
17. A method according to claim 16 , further comprising controlling the quadrature current to maintain the quadrature current at a predetermined setpoint.
18. A method according to claim 17 , further comprising generating a pulse width modulated signal based on the quadrature current.
19. A method according to claim 15 , wherein the motor is a stepper motor.
20. A method according to claim 15 , wherein the at least one parameter is an angular position of the motor.
21. A method according to claim 15 , wherein the at least one parameter is a phase current of the motor.
22. A method according to claim 15 , wherein the angular velocity and angular acceleration are estimated using a discrete time command filter.
23. A method according to claim 15 , wherein determining a quadrature current comprises measuring the quadrature current.
24. A method according to claim 15 , further comprising displaying the load torque on a monitor.