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Tube pump transfers liquid inside an elastic tube by moving rollers that squeeze the tube from the outside. This working principle enables a simple design free from watertight requirement, clean and contamination-free transfer due to the noncontact nature and easy re-configuration by changing the tube and the liquid at the same time. However, under the simplest implementation with U-shaped tube and revolving two rollers at constant speed, flow fluctuation is inevitable when one roller leaves the tube and negative pressure is generated by the tube restoration. In this paper, the problem to reduce the flow fluctuation via open-loop control of the roller speed is considered. The ideal speed of each roller is determined from the tube deformation model and realized and tested with two motors configuration. Tracking to the periodic reference speed is achieved by repetitive control. Then the same control strategy is realized with single motor and non-circular gears. The effectiveness of the proposed method is demonstrated by experiments.

Realization of less-pulsating flow of tube pump using non-circular gears and repetitive control