Accurate volume dispensing using pump and flow sensor

1. A method of controlling a peristaltic pump to obtain a predetermined target volume, comprising:

running a calibration procedure to determine a mapping between a pump speed and a flow rate for a current configuration of the positive displacement pump, a tubing size, and a fluid characteristic;

determining a pump motion profile based on the mapping associated with the target volume, wherein the pump motion profile includes an initial acceleration phase, a constant speed phase following the acceleration phase, and a deceleration phase following the constant speed phase such that a total volume pumped according to the pump motion profile and the mapping is equal to the target volume, wherein the time duration of the acceleration phase is less than the time duration of the constant speed phase;

running the peristaltic pump according to the pump motion profile including accelerating the pump based on a first acceleration rate to a first constant speed;

measuring a constant flow rate at a downstream flow rate sensor while the pump operates at a first constant speed during the first constant speed phase;

determining an adjustment to the pump motion profile based on the constant flow rate measured by the downstream sensor, the adjustment including a second constant speed that is greater than the first constant speed;

accelerating the pump speed to the second constant speed based on the determined adjustment;

running the peristaltic pump at the second constant speed; and

at a time subsequent to running the peristaltic pump at the second constant speed, decelerating the peristaltic pump according to the adjusted pump motion profile until the target volume is dispensed.

2. The method of claim 1 , wherein the first acceleration phase includes a rapid acceleration portion having a first acceleration rate and a first break portion having a second acceleration rate that is less than the first acceleration rate.

3. The method of claim 1 , wherein the adjustment is a single adjustment of the first constant speed during the pump motion profile.

4. The method of claim 1 , wherein the deceleration phase includes a rapid deceleration portion having a first deceleration rate, a second break portion having a second deceleration rate that is less than the first deceleration rate, and a constant portion.

5. The method of claim 4 , wherein the constant portion has a constant speed based on a target precision.

6. The method of claim 1 , further comprising recalibrating the mapping for a subsequent pump motion profile based on one or more measurements of the flow rate sensor at points on the pump motion profile.

7. The method of claim 1 , wherein determining the pump motion profile based on the mapping comprises selecting a first acceleration rate, a rapid acceleration portion duration, second acceleration rate, a first break portion duration, a first constant speed, a constant speed phase duration, a first deceleration rate, a rapid deceleration portion duration, a second deceleration rate, and a second break portion duration.

8. A system of controlling a peristaltic pump to obtain a predetermined target volume, comprising:

the peristaltic pump configured to pump a fluid through a tube;

a flow sensor configured to measure a flow rate of the fluid in the tube downstream from the peristaltic pump; and

a pump controller configured to:

run a calibration procedure to determine a mapping between a pump speed and a flow rate for a current configuration of the peristaltic pump, a tubing size, and a fluid characteristic;

determine a pump motion profile based on the mapping associated with the target volume, wherein the pump motion profile includes an initial acceleration phase, a constant speed phase following the acceleration phase, and a deceleration phase following the constant speed phase such that a total volume pumped according to the pump motion profile and the mapping is equal to the target volume, wherein the time duration of the acceleration phase is less than the time duration of the constant speed phase;

run the peristaltic pump according to the pump motion profile including accelerating the pump based on a first acceleration rate to a first constant speed;

measure a constant flow rate at a downstream flow rate sensor while the pump operates at a first constant speed during the first constant speed phase;

determine an adjustment to the pump motion profile based on the constant flow rate measured by the downstream sensor, the adjustment including a second constant speed that is greater than the first constant speed;

accelerate the pump speed to the second constant speed based on the determined adjustment;

run the peristaltic pump at the second constant speed; and

at a time subsequent to running the peristaltic pump at the second constant speed, decelerate the peristaltic pump according to the adjusted pump motion profile until the target volume is dispensed.

9. The system of claim 8 , wherein the first acceleration phase includes a rapid acceleration portion having a first acceleration rate and a first break portion having a second acceleration rate that is less than the first acceleration rate.

10. The system of claim 8 , wherein the adjustment is a single adjustment of the first constant speed during the pump motion profile.

11. The system of claim 8 , wherein the deceleration phase includes a rapid deceleration portion having a first deceleration rate, a second break portion having a second deceleration rate that is less than the first deceleration rate, and a constant portion.

12. The system of claim 11 , wherein the constant portion has a constant speed based on a target precision.

13. The system of claim 8 , wherein the pump controller is configured to recalibrate the mapping for a subsequent pump motion profile based on one or more measurements of the flow rate sensor at points on the pump motion profile.

14. The system of claim 8 , wherein the pump controller is configured to select a first acceleration rate, a rapid acceleration portion duration, second acceleration rate, a first break portion duration, a first constant speed, a constant speed phase duration, a first deceleration rate, a rapid deceleration portion duration, a second deceleration rate, and a second break portion duration for the pump motion profile.

15. A peristaltic pump, comprising:

a pumphead configured to pump a fluid through a tube;

a flow sensor configured to measure a flow rate of the fluid in the tube downstream from the pumphead; and

a pump controller configured to:

run a calibration procedure to determine a mapping between a pump speed and a flow rate for a current configuration of the peristaltic pump, a tubing size, and a fluid characteristic;

determine a pump motion profile based on the mapping to obtain a predetermined target volume, wherein the pump motion profile includes an initial acceleration phase, a constant speed phase following the acceleration phase, and a deceleration phase following the constant speed phase such that a total volume pumped according to the pump motion profile and the mapping is equal to the target volume, wherein the time duration of the acceleration phase is less than the time duration of the constant speed phase;

run the peristaltic pump according to the pump motion profile including accelerating the pump based on a first acceleration rate to a first constant speed;

measure a constant flow rate at a downstream flow rate sensor while the pump operates at a first constant speed during the first constant speed phase;

determine an adjustment to the pump motion profile based on the constant flow rate measured by the downstream sensor, the adjustment including a second constant speed that is greater than the first constant speed;

run the peristaltic pump at the second constant speed; and

at a time subsequent to running the peristaltic pump at the second constant speed, decelerate the peristaltic pump according to the adjusted pump motion profile until the target volume is dispensed.

16. The positive displacement pump of claim 15 , wherein the first acceleration phase includes a rapid acceleration portion having a first acceleration rate and a first break portion having a second acceleration rate that is less than the first acceleration rate.

17. The positive displacement pump of claim 15 , wherein the adjustment is a single adjustment of the first constant speed during the pump motion profile.

18. The positive displacement pump of claim 15 , wherein the deceleration phase includes a rapid deceleration portion having a first deceleration rate, a second break portion having a second deceleration rate that is less than the first deceleration rate, and a constant portion.

19. The positive displacement pump of claim 18 , wherein the constant portion has a constant speed based on a target precision.

20. The positive displacement pump of claim 15 , wherein the pump controller is configured to recalibrate the mapping for a subsequent pump motion profile based on one or more measurements of the flow rate sensor at points on the pump motion profile.

21. The positive displacement pump of claim 15 , wherein the pump controller is configured to select a first acceleration rate, a rapid acceleration portion duration, second acceleration rate, a first break portion duration, a first constant speed, a constant speed phase duration, a first deceleration rate, a rapid deceleration portion duration, a second deceleration rate, and a second break portion duration for the pump motion profile.