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MAGLEV BLOOD

PUMPS
Haris Sheh Zad

Second generation:

The current pumps are rotary pumps that use blood itself as lubricant in fluid film
bearings [1]

Third Generation:

Heart pumps being developed in commercial research laboratories

Employ feedback-controlled magnetically levitated pump impellers

Minimizes the risk of damage of red blood cells and blood clots during operation

However
the small size, short time constants, nonlinearity, and instability from the natural heart

pose an awesome challenge to control

Magnetic Bearing Types

Active/passive magnetic bearings

electrically controlled
no control system

Radial/axial magnetic bearings [8]

Motivations
Advantages of magnetic bearings:

contact-free

no lubricant

(no) maintenance

tolerable against heat, cold, vacuum, chemicals

low losses

very high rotational speeds

Disadvantages:

complexity

high initial cost

Equipment for AMB


The minimum equipment needed [8]

Electromagnets

Sensors

Data acquision system

Control Unit (with A-D and D-A sensors)

Power Amplifiers

Current Source

Magnetism
north pole

magnetic
field line

south pole

iron filings

Magnetic Field
Magnetic field, H, is found round a magnet or a current carrying body

H ds i

H
i

i
2r

(for one
current loop)

Magnetic Flux Density

B H
B = magnetic flux density
= magnetic permeability
H = magnetic field

0 r
0 = permeability of free space
r = relative permeability

multiple loops
of wire, n

ni
H
2r

Magnetic force

Two categories

-Reluctance force
Results from a difference of permeabilities between two materials
-Lorentz force
Results from the movement of charges in a magnetic field

Lorentz Force


f Q EvB

f = force
Q = electric charge
E = electric field

V = velocity of charge Q
B = magnetic flux density

Lorentz Force
Simplification:


f Q EvB


E v B


f Q vB


f Qv B

As

i Qv


f i B
force is perpendicular to flux!

Reluctance Force
Force resulting from a difference between magnetic permeabilities in
the presence of a magnetic field.
force perpendicular to surface!
The energy in a magnetic field with
linear materials is given by:

1
U BHdV
2V
U = energy
V = volume

U
l

B A
f
2

Elements of System (AMB)

Electromagnet

Rotor

Sensor

Controller

Amplifier

Force Behavior (AMB)


Spring Force

Magnetic Force

1
~ 2
xs

Force

fs

Force

fm

Distance

xs

Distance

xs

Closed Loop Control


Open Loop Equation:

f x, i ks x kii

Controller function?
- Provide force, f
Controller signals?
- Input: position, x
- Output: current, i
i = i(x)

Artifical damping and stiffness:

f kx dx

k
x

Closed Loop Control


Solving for controller function:

ks x kii kx dx

k k s x dx
ix

i
x

ki

To model position of rotor:


f mx

f x, i ks x kii

mx ks x kii

Just like for the spring system!

mx dx kx 0

Closed Loop Control


System characteristics:
x(t)

m2 d k 0

j
t

Ce t

with

k
d2

m 4m 2

d
2m

General solution for position:

xt Ce t cost

Eigenfrequency:

0 2 2 k m

Closed Loop Control


Controller Abilities:
1)

k, d can be varied in controller

2)

air gap can be varied in controller

3)

specify position for different loads

4)

rotor balancing, vibrations, monitoring...

Sensors
Position Sensor

contact-free

measure rotating surface


surface quality

Other Sensors

speed

current

flux density

temperature

other concerns:
observability
placement
cost

Amplifier

Converts control signals to control currents.

Analog Amplifier:

Switching Amplifier:

- simple structure
- low power applications
P<0.6 kVA

- lower losses
- high power applications
- remagnetization loss

Electrical Response (AMB)


There is an inherent delay in the electrical system
inductance

di
voltage drops: u L L
dt

and u R Ri

Total voltage drop:

di
u Ri L ku x
dt
ku = voltage-velocity coefficient

velocity within magnetic field


induces a voltage

Control System Block Diagram


Block diagram with voltage control [5]:

di
u Ri L ku x
dt

f ( x, i) ks x kii

mx f

Current vs Voltage Control


Voltage Control:
- more accurate model

- better stability
- low stiffness easier to realize
- voltage amplifier often more convenient
- possible to avoid using position sensor

Current Control:
- simple control plant description

- simple PD or PID control

Types of Losses in AMB


Air Losses
- air friction

Copper Losses (Stator)


- wire resistance
Iron Losses (Rotor)
- hysteresis (higher with switching amplifier)
- eddy currents

Rotor Dynamics (AMB)


Areas of Consideration

natural vibrations

forward/backward whirl (natural vibrations)

critical speeds

nutation

precession (change in rotation axis)

Permanent Magnet Bearings

More economical in that the control system is avoided along with the electricity
for power

Economical

At least one degree of freedom unstable!

There is no active control of the system

must be supported by a normal bearing or an active magnetic bearing (Hybrid


Bearing)

Permanent Maglev Blood Pumps

According to tradition, permanent maglev cannot achieve stable equilibrium

Earnshaws theory:

Magnetic body cannot be supported in a stable manner in the field produced by


any combination of mere passive magnetic poles

Braunbecks extension :

Levitation in electrostatic, magneto-static and stationary field is impossible if the


relative dielectric constant (r) and the relative permeability (r) are both greater
than or equal to unity everywhere in the system

Permanent Maglev Blood Pumps

A stable levitation of a moving (rotating) magnetic body is achievable in a field


acted by permanent magnetic and non-magnetic forces [3]

The stability of levitation can be maintained when these non-magnetic forces are
replaced by other non-magnetic forces

A passive magnetic levitator with high rotating speed and large rotating inertia
can maintain the levitation stably.

Hybrid axial flow maglev blood pump


Fig. 1 shows the cross section of maglev blood pump structure equipping hybrid magnetic
levitation [4]

Three-Pole Hybrid Magnetic Bearing

Compactness in design and low power loss than the conventional four- or
eight-pole AMB [2]

One of the inherent drawbacks in controller design of three-pole AMB is the


strong coupling in magnetic flux between magnetic poles

Strongly Non-linear system

Use of redundant bearing coordinates [2]

Virtual Zero Power Control Maglev LVADS

Source: [1]

References:

[1] Chandrasekhar Samiappan, Nasim Mirnateghi, Brad E. Paden, Fellow, IEEE, and James F. Antaki, Member, IEEE;
Maglev Apparatus for Power Minimization and Control of Artificial Hearts; IEEE TRANSACTIONS ON CONTROL
SYSTEMS TECHNOLOGY, VOL. 16, NO. 1, JANUARY 2008

[2] Sang-Hyun Park and Chong-Won Lee; Decoupled Control of a Disk-Type Rotor Equipped With a Three-Pole Hybrid
Magnetic Bearing; IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 15, NO. 5, OCTOBER 2010

[3] K.X. Qian , P. Zeng, W.M. Ru, H.Y. Yuan; New concepts and new design of permanent maglev rotary artificial heart
blood pumps; Medical Engineering & Physics 28 (2006) 383388

[4] Huachun Wu, Ziyan Wang and Xujun Lv ; Design and Simulation of Axial Flow Maglev Blood Pump ; I.J. Information
Engineering and Electronic Business, 2011, 2, 42-48

[5] Jeffrey Hillyard; Magnetic Bearings ;Joint Advanced Student School ;April 2006 St. Petersburg, Russia

[6] Schweitzer G; Active magnetic bearings - chances and limitations; International Centre for Magnetic Bearings, ETH
Zurich

[7] TauMengLim , DongshengZhang, JuanjuanYang, ShanbaoCheng, SzeHsienLow, Leok PohChua, XiaoweiWu ;


Design and parameter estimation of hybrid magnetic bearings for blood pump applications ; Mechanical Systems and
Signal Processing 23 (2009) 23522382

[8] Felix Betschon; Design Principles of Integrated Magnetic Bearings

Thank You

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