Quick-response ultrasonic transducer resonant frequency tracking system and device

Abstract

The invention relates to a quick-response ultrasonic transducer resonant frequency tracking system and device, and belongs to the technical field of ultrasonic frequency tracking, the system comprises a full-bridge inversion module with a SiC-MOSFET as a power switch device, a signal acquisition and processing module for acquiring and processing voltage phase difference and current phase difference, and a signal processing module for acquiring and processing the phase difference of the full-bridge inversion module and the signal acquisition and processing module, and the microcontroller module is used for training a machine learning model and constructing a response time model to predict the target frequency and the system response time, and controlling and tracking the frequency of the transducer according to the phase difference. According to the invention, a SiC-MOSFET with a faster switching speed is used to replace a conventional IGBT as a power switching device of the inverter circuit, and the target frequency and the system response time are predicted through the machine learning model and the response time model respectively, so that a response is made in advance. And a real-time phase difference calculation method and a quick response control strategy are adopted to realize quick response and quick tracking of the resonant frequency of the ultrasonic transducer for metal welding, so that the quick response speed of the resonant frequency of the ultrasonic transducer for metal welding reaches a microsecond level.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic frequency tracking, and in particular to a fast-response ultrasonic transducer resonant frequency tracking system and device. Background Art

[0002] Ultrasonic metal welding technology is considered to be an environmentally friendly and efficient welding technology. It has broad application prospects in the fields of automotive battery cell welding, electronic equipment assembly, etc. This technology uses an ultrasonic power supply to generate high-frequency electrical energy, and uses a transducer to convert the electrical energy into high-frequency vibration mechanical energy, thereby achieving micro-level welding of metal welds. However, in the actual working process, factors such as changes in welding load and the loss of the device itself will cause changes in the impedance characteristics of the transducer, which in turn causes the system resonant frequency to shift, making the output power of the ultrasonic transducer unstable, thereby affecting the welding effect. Therefore, the frequency tracking function of the ultrasonic power supply is crucial.

[0003] The existing ultrasonic power frequency tracking technology mainly adjusts the phase difference between the voltage and current at both ends of the transducer by changing the driving frequency so that the transducer works near the resonant frequency.

[0004] As frequency tracking technology improves, the speed of frequency tracking algorithms increases to milliseconds or even microseconds. At this time, the factor affecting the system frequency tracking performance is no longer the limitation of the frequency tracking algorithm, but mainly focuses on the response delay of the hardware circuit of the entire system. If the hardware part of the system responds too slowly, even if the response time of the tracking algorithm is fast, the entire system will not be able to perform at its best. Summary of the invention

[0005] In view of this, it is necessary to provide a fast-response ultrasonic transducer resonant frequency tracking system and device to solve the technical problem of poor resonant frequency tracking speed caused by slow hardware response speed of the ultrasonic transducer system when tracking the resonant frequency of metal welding in the prior art.

[0006] In order to solve the above problems, the present invention provides a fast-response ultrasonic transducer resonant frequency tracking system, comprising: A full-bridge inverter module and a transducer connected to each other, wherein the power switch device of the full-bridge inverter module is SiC-MOSFET; A signal acquisition and processing module connected to the transducer, used to acquire a voltage signal and a current signal of the transducer, and determine a voltage phase difference between the voltage signal and a preset reference signal, and a current phase difference between the current signal and a preset reference signal, wherein the preset reference signal is a signal having the same angular frequency as the voltage signal and the current signal; The microcontroller module connected to the signal acquisition and processing module is used to take the acquired operating frequency, input power, equivalent impedance of the transducer, and load parameters as input and the target frequency of the transducer as output, and train a pre-built machine learning model to obtain a first target model; it is also used to take the driving frequency as input and the system response time as output, and train a pre-built machine learning model to obtain a second target model; based on the system response time and target frequency obtained from the first target model and the second target model, the full-bridge inverter module is controlled to achieve rapid tracking of the resonant frequency.

[0007] In some possible implementations, the signal acquisition and processing module includes a voltage signal acquisition and processing module, a current signal acquisition and processing module, and a judgment module, wherein: The voltage signal acquisition and processing module is used to obtain the voltage phase difference between the voltage signal of the transducer and the reference signal based on the real-time phase difference calculation method; The current signal acquisition and processing module is used to obtain the current phase difference between the current signal of the transducer and the reference signal based on a real-time phase difference calculation method; The judgment module is used to compare the absolute value of the difference between the voltage phase difference and the current phase difference with a preset error threshold. If the absolute value is greater than the preset error threshold, the microcontroller module is started to control the transducer frequency. If the absolute value is less than the preset error threshold, no processing is performed.

[0008] In some possible implementations, the microcontroller module divides the response time of the system into six stages, namely: the time for the drive signal to be processed by phase shift control, the time for the gate isolation drive module to process, the switching delay time of the switching device in the full-bridge inverter circuit, the time for the transducer to respond, the signal processing response time, and the time for the microcontroller to calculate and process to send out the drive signal; the microcontroller module establishes and trains a prediction model in the six stages to predict the relationship between the drive frequency and the system response time; the system delay time is predicted based on the target frequency obtained by machine learning, so that the microcontroller sends out the drive signal in advance to achieve a rapid response of the resonant frequency tracking system.

[0009] In some possible implementations, the device further includes: a drive signal generating module, the input of the drive signal generating module is connected to the output of the microcontroller module, and the output of the drive signal generating module is connected to the full-bridge inverter module through the power switch device; The driving signal generating module is used to generate a driving signal based on the control signal of the microcontroller module to control the opening and closing of the power switch device.

[0010] In some possible implementations, the driving signal generating module includes an isolation power supply module, a gate driving module and a phase shift control module; Among them, the input end of the phase shift control module is connected to the output end of the microcontroller module, the input end of the gate drive module is connected to the output end of the phase shift control module, the output end of the gate drive module is connected to the input end of the full-bridge inverter module, the output end of the isolation power supply module is connected to the input end of the gate drive module, the isolation power supply module is used to isolate and protect the gate drive module, and the phase shift control module is used to perform on-off trigger control on the multi-channel outputs of the microcontroller module.

[0011] In some possible implementations, the isolated power supply module uses magnetic coupling isolation.

[0012] In some possible implementations, a filtering and rectifying module is further included, which is used to receive three-phase electricity and input the three-phase electricity into the full-bridge inverter module after passing through the filtering and rectifying module.

[0013] In some possible implementations, the filtering and rectifying module includes a lightning protection filtering module and a three-phase rectifying module that are connected to each other.

[0014] In some possible implementations, an impedance matching module is further included between the full-bridge inverter module and the transducer to block signal reflection of the transducer.

[0015] The present invention also provides an ultrasonic transducer resonant frequency tracking device, comprising the ultrasonic transducer resonant frequency tracking system.

[0016] The beneficial effects of the present invention are: The system provided by the present application includes a full-bridge inverter module whose power switching device is SiC-MOSFET, a signal acquisition and processing module that collects and processes voltage phase difference and current phase difference, and a microcontroller module that trains a machine learning model to predict the target frequency, builds and trains a model to predict the system response time, and controls and tracks the transducer frequency according to the phase difference. The present application uses SiC-MOSFET with faster switching speed to replace the traditional IGBT as the power switching device of the inverter circuit, predicts the target frequency and system response time through a machine learning model and a response time prediction model, reacts in advance, and realizes the rapid response and rapid tracking of the resonant frequency of the ultrasonic transducer for metal welding by a real-time phase difference calculation method and a fast response control strategy, which can achieve the purpose of achieving a frequency tracking algorithm speed of microseconds. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A system architecture diagram of an embodiment of a fast-response ultrasonic transducer resonant frequency tracking system provided by the present invention; Figure 2It is a schematic diagram of the principle of processing voltage phase difference and current phase difference by the signal acquisition and processing module in an embodiment of the present invention; Figure 3 Schematic diagram of the process of controlling the phase difference of the transducer in an embodiment of the present invention; Figure 4 Schematic diagram of the structure of a microcontroller, a drive signal generating module and a full-bridge inverter module in an embodiment of the present invention; Figure 5 It is a schematic diagram of each stage of delay of the ultrasonic transducer resonant frequency tracking system in an embodiment of the present invention; Figure 6 It is a flow chart of an embodiment of frequency tracking control of ultrasonic transducer resonance in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0019] A specific embodiment of the present invention discloses a fast-response ultrasonic transducer resonant frequency tracking system, such as Figure 1 As shown, it includes: a full-bridge inverter module and a transducer connected to each other, wherein the power switch device of the full-bridge inverter module is SiC-MOSFET; A signal acquisition and processing module connected to the transducer, used to acquire a voltage signal and a current signal of the transducer, and determine a voltage phase difference between the voltage signal and a preset reference signal, and a current phase difference between the current signal and a preset reference signal, wherein the preset reference signal is a signal having the same angular frequency as the voltage signal and the current signal; The microcontroller module connected to the signal acquisition and processing module is used to take the acquired operating frequency, input power, equivalent impedance of the transducer, and load parameters as input and the target frequency of the transducer as output, and train a pre-built machine learning model to obtain a first target model; it is also used to take the driving frequency as input and the system response time as output, and train a pre-built machine learning model to obtain a second target model; based on the system response time and target frequency obtained from the first target model and the second target model, the full-bridge inverter module is controlled to achieve rapid tracking of the resonant frequency.

[0020] It should be noted that the first target model is used to predict the target frequency, and the second target model is used to predict the system response time. The machine learning models corresponding to the first target model and the second target model can be a neural network model, a convolutional neural network model, and the like.

[0021] During implementation, the full-bridge inverter module provides alternating current of a specific frequency, and uses a cross-correlation function to obtain the phase difference between the current signal and the voltage signal at both ends of the transducer and the reference signal. The microcontroller module generates a control signal based on the phase difference to achieve rapid real-time control of the transducer.

[0022] Furthermore, the microcontroller module collects the operating frequency, input power, equivalent impedance of the transducer, and load parameters to train the machine learning model, builds and trains a prediction model of the driving frequency and system response time, predicts the system response time and target frequency, and is able to react in advance and respond quickly.

[0023] Compared with the prior art, this application uses SiC-MOSFET with faster switching speed to replace the traditional IGBT as the power switching device of the inverter circuit, predicts the target frequency of the transducer through a machine learning model, and then predicts the system response time based on the mathematical model of the driving frequency and the system response time, reacts in advance, and uses a real-time phase difference calculation method and a fast response control strategy to achieve fast response and fast tracking of the resonant frequency of the ultrasonic transducer for metal welding, which can achieve the purpose of achieving a frequency tracking algorithm speed of microseconds. At the same time, the use of SiC-MOSFET can increase the upper limit of the operating frequency of the system, reduce energy loss, and reduce heat. The machine learning model can enable the system to shorten the response time outside the frequency tracking algorithm. This device is designed from the perspective of the response time of the entire system, which can better reflect the speed of the existing frequency tracking algorithm.

[0024] In a further preferred solution, the signal acquisition and processing module includes a voltage signal acquisition and processing module, a current signal acquisition and processing module and a judgment module, wherein: The voltage signal acquisition and processing module is used to obtain the voltage phase difference between the voltage signal of the transducer and the reference signal based on the real-time phase difference calculation method; The current signal acquisition and processing module is used to obtain the current phase difference between the current signal of the transducer and the reference signal based on a real-time phase difference calculation method; The judgment module is used to compare the absolute value of the difference between the voltage phase difference and the current phase difference with a preset error threshold. If the absolute value is greater than the preset error threshold, the microcontroller module is started to control the transducer frequency. If the absolute value is less than the preset error threshold, no processing is performed.

[0025] It should be noted that there are many methods for calculating the phase difference with a shorter calculation time, which are not limited here, and the calculation of the phase difference using the cross-correlation function is taken as an example.

[0026] In a specific implementation, when calculating the phase, in order to reduce the influence of noise, a reference signal is introduced S (t ), and compare them with the sampling voltage U ( t ) and sampling current signal I ( t ) is calculated as follows Figure 2 and Figure 3 shown.

[0027] Reference signal S ( t ), sampling voltage U ( t ) and sampling current signal I ( t ) is expressed as follows:

[0028]

[0029]

[0030] in, m 1( t )and m 2( t ) are the noise of the sampled voltage signal and the sampled current signal respectively.

[0031] Let A1 be S ( t )and U ( t ), A2 is S ( t )and I ( t ), then A1 and A2 are:

[0032]

[0033] in, S is the amplitude of the reference signal, I is the amplitude of the sampled current signal, U is the amplitude of the sampled voltage signal.

[0034] The sampling frequency is M , then the discrete expressions of A1 and A2 are:

[0035]

[0036] in, K is the value of the sampling point, N is the total number of sampled points.

[0037] According to the calculated values ​​after sampling, A1 and A2 are obtained, and the voltage phase difference between the sampled voltage and the sampled current is and current phase difference They are:

[0038]

[0039] The judgment module is used to calculate the voltage phase difference and current phase difference The absolute value of the difference With the preset error threshold Compare, if it is greater than the preset error threshold The microcontroller module is used for control. If the error is less than the preset error threshold, No processing is performed, so that the phase difference can be kept within the allowable error range.

[0040]

[0041] From the above formula, we can see that in the process of calculating the phase difference, the noise signal m 1( t )and m 2( t ) is small and can be ignored, so this method can effectively reduce the impact of strong electric radiation and improve the anti-interference ability of the device. At the same time, since the present application only calculates two inverse trigonometric functions to calculate the voltage and current phase difference at both ends of the transducer, the calculation is simple, the microcontroller's computing resources are less consumed, and the computing speed is improved.

[0042] In some embodiments of the present invention, the microprocessor module includes a training set acquisition module, which is used to collect operating frequency, input power, equivalent impedance of the transducer, and load parameters, and establish a training set.

[0043] In some embodiments of the present invention, the system further comprises: a drive signal generating module, the input of the drive signal generating module is connected to the output of the microcontroller module, and the output of the drive signal generating module is connected to the full-bridge inverter module through the power switch device; The driving signal generating module is used to generate a driving signal based on the control signal of the microcontroller module to control the opening and closing of the power switch device.

[0044] Specifically, the present invention uses a target frequency prediction method based on a machine learning model. Figure 6 , the target frequency is the resonant frequency of the transducer under fixed conditions at a certain moment.

[0045] The dataset for machine learning is (x i ,y i ), where x i =[x i1, x i2, x i3, x i4 ] is the input feature vector, y i is the target frequency. The input layer here is composed of four parameters: the operating frequency of the transducer, the input power, the equivalent impedance, and the parameters of the load.

[0046] Machine learning can build a variety of models. For example, one of them is the decision tree prediction model, which generates a tree structure by gradually splitting the data. Each node represents an object, the branching path represents the possible attribute value, and the leaf node corresponds to the specific target frequency.

[0047] The model uses the mean square error M SE As a splitting criterion:

[0048]

[0049] Where |N i | is the dataset N i The number of internal sample points; y ik Represents the dataset N i The delay time of the kth sample in , Represents the dataset N i The average of the predictions of all samples in j Represents a feature set, which is randomly selected each time a node is split; t represents the threshold of the feature, which is used to determine the split.

[0050] For the new input feature vector a i0 , predicted by this model, the expression is as follows: y io =f(a i0 ) Where y io Represents the prediction result of the decision tree model on the target frequency.

[0051] Based on the input information, the delay time that needs to be changed before the transducer works can be predicted, and a response can be made in advance. In the case of known input, the frequency that the device needs to change can be predicted based on the constructed model, and the driving signal can be controlled in advance based on the predicted delay time, so that the transducer can enter the resonant state faster when it works.

[0052] It should be noted that the commonly used control strategy is used to obtain the target frequency during model training, and model prediction is used in actual work.

[0053] In a further preferred embodiment, a drive signal generating module is further included, the input of the drive signal generating module is connected to the output of the microcontroller module, and the output of the drive signal generating module is connected to the full-bridge inverter module through a power switching device, so as to generate a drive signal based on the control signal of the microcontroller module.

[0054] In a further preferred solution, the drive signal generating module of the present application includes an isolated power supply module, a gate drive module and a phase shift control module, wherein the input end of the phase shift control module is connected to the output end of the controller module, the input end of the gate drive module is connected to the output end of the phase shift control module, the output end of the gate drive module is connected to the input end of the full-bridge inverter module through a power switch device, and the output end of the isolated power supply module is connected to the input end of the gate drive module. The phase shift control module is mainly composed of a phase shift control chip and its peripheral circuits, and a microcontroller module can also be used directly to generate four drive signals, which are then level-converted and input into the gate drive module. The isolated power supply module is used to isolate and protect the gate drive module, and the phase shift control module is used to trigger the opening and closing of the multi-channel outputs of the microcontroller module.

[0055] The power switching device of the present application adopts SiC-MOSFET. Compared with the traditional IGBT, the SiC-MOSFET of the present application has a higher switching speed and a smaller on-resistance. Therefore, the power switching device of the present application can further reduce the delayed response of the entire device.

[0056] The applicant further discovered that when SiC-MOSFET is used to replace IGBT, the higher switching frequency and potential higher voltage of SiC-MOSFET may require stronger isolation for its gate. Additional protection circuits may be required to prevent device damage and ensure long-term reliability. In addition, there are differences in characteristics such as gate capacitance and threshold voltage, and control and stability considerations may need to be adjusted. Therefore, the circuit of the gate drive module of the power switching device must be redesigned.

[0057] The main function of the gate drive module is to drive, isolate and provide reasonable protection for the power switch device to ensure its efficient and safe operation. Figure 4As shown, the circuit of the gate drive module in the present application includes: a signal input circuit, a fault processing circuit, and a power amplifier circuit. The output of the phase shift control module is connected to the signal input circuit, and is connected to the power switch device through the power amplifier circuit after passing through the isolation power supply module. The fault processing circuit ensures that the power switch device will not cause performance degradation or equipment damage due to gate drive problems during operation. For example, it may include overcurrent protection, overvoltage protection, overtemperature protection, etc. The function of the isolation power supply module is to provide safe isolation and effective drive signal transmission. The power amplifier circuit is used to convert the received level signal and provide the current and voltage required by the drive device. In some possible implementations, the isolation power supply module uses magnetic coupling isolation.

[0058] In this circuit, one of the links that affects the response speed is the isolation method. There are currently three common isolation methods: optocoupler isolation, magnetic coupling isolation, and capacitive isolation. When implementing it, choose the isolation method based on the actual situation.

[0059] Optical coupling technology achieves isolation by transmitting light on a transparent insulating isolation layer. Magnetic coupling isolation uses the current change at the front end of the isolation to cause the current change on the other side of the isolation through the coil. Capacitive isolation devices mostly use on-offkeying (OOK) modulation. The transmitter sends a high-frequency signal to represent one digital state, and no signal is sent to represent another digital state. After signal conditioning, it is sent through a buffer. The applicant has studied three isolation methods as shown in Table 1.

[0060] Table 1: Performance comparison of three isolation methods

[0061] Therefore, the present application adopts a magnetic coupling isolation method with short transmission delay, high reliability and high data transmission rate as the isolation method of the driving circuit. After adopting SiC-MOSFET and its driving circuit, the response speed of the entire device is further improved due to the faster switching speed of SiC-MOSFET and the shorter delay time of gate drive.

[0062] In a further preferred solution, it also includes a filter and rectifier module, and the three-phase electricity is input into the full-bridge inverter module after passing through the filter and rectifier module.

[0063] In a further preferred embodiment, the filter and rectifier module includes a lightning protection filter module and a three-phase rectifier module connected in sequence. The input end of the lightning protection filter module is connected to the received three-phase electricity, and the output end of the lightning protection filter module is connected to the three-phase rectifier module, wherein the lightning protection filter module is used to prevent lightning strikes, electrostatic discharges and other overvoltage events from damaging the equipment and protect the equipment from harmonic interference and other power quality problems in the power device.

[0064] The response time of the transducer depends on the properties of the transducer itself. This device can process the collected voltage and current signals to obtain the opening delay of the transducer. The specific operation is to test under different frequency and different power changes, and at the same time let the microcontroller generate a reference signal for comparison. When the signal at both ends of the transducer changes, the time difference between it and the reference signal is calculated, which is the response time of the transducer.

[0065] In a further preferred solution, the fast-response ultrasonic transducer resonant frequency tracking system further includes an impedance matching module disposed between the full-bridge inverter module and the transducer for optimizing energy transmission efficiency.

[0066] Based on the above design, the working process of the fast-response ultrasonic transducer resonant frequency tracking device of the present application is to start the device, the transducer works at the initial frequency by default, collect the voltage signal at both ends of the transducer, the current signal flowing through the transducer and the reference signal; send the collected signal to the microcontroller to calculate the phase difference between the voltage and the reference signal respectively φ 1 and the phase difference between the current and the reference signal φ 2; Judgment φ 1- φ 2. Whether it is within the value set in the error range; if so, keep the current frequency; if not, adjust the frequency through the control algorithm.

[0067] In summary, in the device of this application, if Figure 5 As shown, the overall response time is divided into 6 stages. When the microcontroller module does not output a control signal, the phase shift control module has already generated a drive signal. Therefore, the time when the phase shift control module generates a signal is taken as the beginning, and the time after the phase shift control processing is recorded as t01, the time processed by the gate isolation drive module is t02, the switching delay time of the switching device in the full-bridge inverter circuit is t03, the transducer response time is t04, the signal processing response time is t05, and the time from the microcontroller calculating and processing to issuing the drive signal is t06.

[0068] A model of driving frequency and response time is established and trained for the above six stages to predict the delay time of the system. According to the model, the microcontroller sends a driving signal in advance, thereby achieving a rapid response of the ultrasonic transducer resonant frequency tracking system.

[0069] A second aspect of the present application provides an ultrasonic transducer resonant frequency tracking device as described above, and the ultrasonic transducer resonant frequency tracking device includes the ultrasonic transducer resonant frequency tracking system as described above.

[0070] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0071] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A fast-response ultrasonic transducer resonant frequency tracking system, characterized in that: include: A full-bridge inverter module and a transducer connected to each other, wherein the power switch device of the full-bridge inverter module is SiC-MOSFET; A signal acquisition and processing module connected to the transducer, used to acquire a voltage signal and a current signal of the transducer, and determine a voltage phase difference between the voltage signal and a preset reference signal, and a current phase difference between the current signal and a preset reference signal, wherein the preset reference signal is a signal having the same angular frequency as the voltage signal and the current signal; The microcontroller module connected to the signal acquisition and processing module is used to take the acquired operating frequency, input power, equivalent impedance of the transducer, and load parameters as input and the target frequency of the transducer as output, and train a pre-built machine learning model to obtain a first target model; it is also used to take the driving frequency as input and the system response time as output, and train a pre-built machine learning model to obtain a second target model; based on the system response time and target frequency obtained from the first target model and the second target model, the full-bridge inverter module is controlled to achieve rapid tracking of the resonant frequency.

2. The fast-response ultrasonic transducer resonant frequency tracking system according to claim 1, characterized in that: The signal acquisition and processing module includes a voltage signal acquisition and processing module, a current signal acquisition and processing module and a judgment module, wherein: The voltage signal acquisition and processing module is used to obtain the voltage phase difference between the voltage signal of the transducer and the reference signal based on the real-time phase difference calculation method; The current signal acquisition and processing module is used to obtain the current phase difference between the current signal of the transducer and the reference signal based on a real-time phase difference calculation method; The judgment module is used to compare the absolute value of the difference between the voltage phase difference and the current phase difference with a preset error threshold. If the absolute value is greater than the preset error threshold, the microcontroller module is started to control the transducer frequency. If the absolute value is less than the preset error threshold, no processing is performed.

3. The fast-response ultrasonic transducer resonant frequency tracking system according to claim 1, characterized in that: The microcontroller module includes a training set acquisition module, which is used to collect operating frequency, input power, equivalent impedance and load parameters of the transducer and establish a training set.

4. The fast-response ultrasonic transducer resonant frequency tracking system according to claim 3, It is characterized in that The microcontroller module divides the response time of the system into six stages, namely: the time for the drive signal to be processed by phase shift control, the time for the gate isolation drive module to process, the switching delay time of the switching device in the full-bridge inverter circuit, the time for the transducer to respond, the signal processing response time, and the time for the microcontroller to calculate and process to send out the drive signal; the microcontroller module establishes and trains a prediction model in the six stages to predict the relationship between the drive frequency and the system response time; the system delay time is predicted based on the target frequency obtained by machine learning, so that the microcontroller sends out the drive signal in advance to achieve a rapid response of the resonant frequency tracking system.

5. The fast-response ultrasonic transducer resonant frequency tracking system according to claim 1, characterized in that: Also includes: A drive signal generating module, wherein the input of the drive signal generating module is connected to the output of the microcontroller module, and the output of the drive signal generating module is connected to the full-bridge inverter module through the power switch device; The driving signal generating module is used to generate a driving signal based on the control signal of the microcontroller module to control the opening and closing of the power switch device.

6. The fast-response ultrasonic transducer resonant frequency tracking system according to claim 5, characterized in that: The driving signal generating module includes an isolation power supply module, a gate driving module and a phase shift control module; Among them, the input end of the phase shift control module is connected to the output end of the microcontroller module, the input end of the gate drive module is connected to the output end of the phase shift control module, the output end of the gate drive module is connected to the input end of the full-bridge inverter module, the output end of the isolation power supply module is connected to the input end of the gate drive module, the isolation power supply module is used to isolate and protect the gate drive module, and the phase shift control module is used to perform on-off trigger control on the multi-channel outputs of the microcontroller module.

7. The fast-response ultrasonic transducer resonant frequency tracking system according to claim 1, characterized in that: It also includes a filtering and rectifying module, which is used to receive three-phase electricity and input the three-phase electricity into the full-bridge inverter module after passing through the filtering and rectifying module.

8. The fast-response ultrasonic transducer resonant frequency tracking system according to claim 7, characterized in that: The filtering and rectifying module comprises a lightning protection filtering module and a three-phase rectifying module which are connected to each other.

9. The fast-response ultrasonic transducer resonant frequency tracking system according to claim 1, characterized in that it also includes an impedance matching module arranged between the full-bridge inverter module and the transducer to optimize energy transmission efficiency.

10. A fast-response ultrasonic transducer resonant frequency tracking device, characterized in that: A fast-response ultrasonic transducer resonant frequency tracking system comprising the method described in any one of claims 1 to 9.

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