A sensor control method, device, system, apparatus and storage medium

Abstract

The application relates to the technical field of electronic control, in particular to a control method, device and system of a sensor, equipment and a storage medium. The method comprises the following steps: obtaining a current excitation signal; performing frequency sweeping on the resonant sensor based on the current excitation signal to obtain a current frequency sweeping response signal; determining a current resonance amplitude of a resonance point in the current frequency sweeping process according to the current frequency sweeping response signal; adjusting the amplitude of the current excitation signal to obtain an adjusted amplitude when the current resonance amplitude exceeds a preset amplitude range; determining an excitation signal based on the adjusted amplitude, and performing frequency sweeping on the resonant sensor again by taking the excitation signal as the current excitation signal until the current resonance amplitude is within the preset amplitude range. The method can adaptively adjust the response signal amplitude of the control system, so that the method can be applied to frequency sweeping and closed-loop control of resonant sensors of different specifications, and control of resonant sensors in different test environments.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electronic control, and in particular to a sensor control method, device, system, equipment and storage medium. BACKGROUND

[0002] Resonant sensors are a kind of sensors that convert measured quantities into frequency signals using resonant elements, such as resonant micro-cantilever sensors. Resonant sensors have become a hot topic in current sensor research due to their high sensitivity, small size, fast sensitive response, batch manufacturing, low cost, and easy array integration, and are expected to be widely used in public safety monitoring, environmental pollution detection, food safety, etc. By tracking the change of the resonant frequency of the resonant sensor, quantitative detection of trace biochemical substances can be achieved. The tracking and detection of the resonant frequency of the resonant sensor can be achieved through a software phase-locked loop control system.

[0003] When the software phase-locked loop control system controls the resonant sensor to work, it inputs an excitation signal to the resonant sensor, so that the resonant sensor generates a response signal, thereby realizing frequency detection. Generally, the response signal generated by the resonant sensor is very weak. In order to extract the weak response signal, the software phase-locked loop system usually designs the signal recognition range to be ±5V. However, the resonance amplitudes of different types of resonant sensors under the same test environment differ greatly, with a maximum difference of up to 100 times, and the amplitudes of the same type of resonant sensor under different pressure test environments also differ greatly. In this case, a fixed software phase-locked loop control system can only control the resonant sensor to work in a fixed test environment, and cannot be applied to multiple test environments or adapted to multiple resonant sensors.

[0004] In addition, the linear interval of the phase-frequency characteristic curve of the resonant sensor is very small in a low-density atmosphere and a vacuum environment, generally only about 10Hz. During the frequency tracking stage, if the frequency adjustment speed is too fast, the phenomenon of lockout or frequency oscillation may occur, which seriously affects data acquisition. SUMMARY

[0005] The present application provides a sensor control method, device, system, equipment and storage medium, which processes the excitation signal and response amplitude of the sweep, so that the amplitude of the final determined resonant frequency is within a preset range, thereby controlling multiple resonant sensors to work in various environments.

[0006] In a first aspect, the embodiments of the present application disclose a resonant sensor control method, which comprises:

[0007] obtaining a current excitation signal;

[0008] sweeping the resonant sensor based on the current excitation signal to obtain a current sweep response signal;

[0009] determining a current resonance amplitude of the resonance point in the current sweep process according to the current sweep response signal;

[0010] adjusting the amplitude of the current excitation signal to obtain an adjusted amplitude in a case where the current resonance amplitude exceeds a preset amplitude range;

[0011] determining the excitation signal based on the adjusted amplitude and reusing the excitation signal as the current excitation signal;

[0012] repeating the sweeping of the resonant sensor based on the current excitation signal to obtain the current sweep response signal until the step of reusing the excitation signal as the current excitation signal, until the current resonance amplitude is within the preset amplitude range.

[0013] Further, the preset amplitude range is greater than or equal to a first amplitude threshold and less than or equal to a second amplitude threshold; and the adjusting of the amplitude of the current excitation signal to obtain the adjusted amplitude in the case where the current resonance amplitude exceeds the preset amplitude range comprises:

[0014] amplifying the amplitude of the current excitation signal to obtain the adjusted amplitude in a case where the current resonance amplitude is less than the first amplitude threshold.

[0015] Further, the adjusting of the amplitude of the current excitation signal to obtain the adjusted amplitude in the case where the current resonance amplitude exceeds the preset amplitude range further comprises:

[0016] reducing the amplitude of the current excitation signal to obtain the adjusted amplitude in a case where the current resonance amplitude is greater than the second amplitude threshold.

[0017] Further, after the amplifying of the amplitude of the current excitation signal to obtain the adjusted amplitude in the case where the current resonance amplitude is less than the first amplitude threshold, the method further comprises:

[0018] amplifying the sweep response signal obtained by the next sweep in the case where the current resonance amplitude is less than the first amplitude threshold.

[0019] Further, after the reducing of the amplitude of the current excitation signal to obtain the adjusted amplitude in the case where the current resonance amplitude is greater than the second amplitude threshold, the method further comprises:

[0020] reducing the sweep response signal obtained by the next sweep in the case where the current resonance amplitude is greater than the second amplitude threshold.

[0021] Further, based on the current excitation signal, the method further comprises:

[0022] According to the current sweep frequency response signal, the frequency-phase coefficient and the frequency-phase linear interval length are determined.

[0023] The frequency-phase reference coefficient is determined according to the frequency-phase coefficient and the frequency-phase linear interval length.

[0024] In a case where the frequency-phase reference coefficient is less than the first coefficient threshold and greater than the second coefficient threshold, the frequency-phase reference coefficient is amplified according to a first proportion.

[0025] Further, after the frequency-phase reference coefficient is determined according to the frequency-phase coefficient and the frequency-phase linear interval length, the method further comprises:

[0026] In a case where the frequency-phase reference coefficient is less than or equal to the second coefficient threshold, the frequency-phase reference coefficient is amplified according to a second proportion.

[0027] In a second aspect, the embodiments of the present application disclose a control device of a resonant sensor, and the device comprises:

[0028] A current excitation signal acquisition module is configured to acquire a current excitation signal.

[0029] A sweep frequency module is configured to sweep frequency based on the current excitation signal to obtain a current sweep frequency response signal.

[0030] A current resonance amplitude determination module is configured to determine a current resonance amplitude of a resonance point in a current sweep frequency process according to the current sweep frequency response signal.

[0031] An amplitude adjustment module is configured to adjust an amplitude of the current excitation signal to obtain an adjusted amplitude in a case where the current resonance amplitude exceeds a preset amplitude range.

[0032] An excitation signal determination module is configured to determine an excitation signal based on the adjusted amplitude, and to take the excitation signal as a new current excitation signal.

[0033] A sweep frequency control module is configured to repeatedly sweep frequency based on the current excitation signal to obtain a current sweep frequency response signal until the step of taking the excitation signal as a new current excitation signal, so as to make the current resonance amplitude in the preset amplitude range.

[0034] In some optional embodiments, the preset amplitude range is greater than or equal to a first amplitude threshold and less than or equal to a second amplitude threshold; and the amplitude adjustment module comprises:

[0035] The first amplitude adjustment unit is configured to amplify the amplitude of the current excitation signal to obtain an adjusted amplitude when the current resonance amplitude is less than the first amplitude threshold.

[0036] In some alternative embodiments, the amplitude adjustment module further comprises:

[0037] The second amplitude adjustment unit is configured to reduce the amplitude of the current excitation signal to obtain an adjusted amplitude when the current resonance amplitude is greater than the second amplitude threshold.

[0038] In some alternative embodiments, the apparatus further comprises:

[0039] The first processing module is configured to amplify the sweep response signal obtained by the next sweep when the current resonance amplitude is less than the first amplitude threshold.

[0040] In some alternative embodiments, the apparatus further comprises:

[0041] The second processing module is configured to reduce the sweep response signal obtained by the next sweep when the current resonance amplitude is greater than the second amplitude threshold.

[0042] In some alternative embodiments, the apparatus further comprises:

[0043] The frequency-phase coefficient and frequency-phase linear interval length determination module is configured to determine the frequency-phase coefficient and the frequency-phase linear interval length according to the current sweep response signal.

[0044] The frequency-phase reference coefficient determination module is configured to determine the frequency-phase reference coefficient according to the frequency-phase coefficient and the frequency-phase linear interval length.

[0045] The frequency-phase reference coefficient processing module is configured to amplify the frequency-phase reference coefficient by a first ratio when the frequency-phase reference coefficient is less than a first coefficient threshold and greater than a second coefficient threshold.

[0046] In some alternative embodiments, the frequency-phase reference coefficient processing module is further configured to amplify the frequency-phase reference coefficient by a second ratio when the frequency-phase reference coefficient is less than or equal to the second coefficient threshold.

[0047] In a third aspect, the embodiments of the present application disclose a control system of a resonant sensor, which is controlled by using the control method of the resonant sensor as described above.

[0048] In a fourth aspect, the embodiments of the present application disclose an electronic device, which comprises a processor and a memory. The memory stores at least one instruction or at least one program. The at least one instruction or the at least one program is loaded and executed by the processor to perform the control method of the resonant sensor as described above.

[0049] In a fifth aspect, the embodiments of the present application disclose a computer readable storage medium, which stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the control method of the resonant sensor.

[0050] The technical scheme provided by the embodiments of the present application has the following technical effects:

[0051] The control method of the resonant sensor can make the control system adaptively adjust the response signal amplitude, so that the control method can be applied to the frequency sweeping and closed-loop control of resonant sensors of different specifications, and can also be applied to the control of the same resonant sensor in different pressure test environments where the response signal changes greatly. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art and the advantages thereof, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0053] Figure 1 is an application environment schematic diagram of a control method of a resonant sensor provided by the embodiments of the present application;

[0054] Figure 2 is a structural schematic diagram of a signal control module provided by the embodiments of the present application;

[0055] Figure 3 is a flow schematic diagram of a control method of a resonant sensor provided by the embodiments of the present application;

[0056] Figure 4 is a structural schematic diagram of a control device of a resonant sensor provided by the embodiments of the present application;

[0057] Figure 5 is a hardware structural block diagram of a server of a control method of a resonant sensor provided by the embodiments of the present application. DETAILED DESCRIPTION

[0058] With reference to the drawings and embodiments described below, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0059] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in other than the order illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server including a series of steps or units need not be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0060] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present application, and not to limit the embodiments of the present application.

[0061] Hereinafter, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments, unless otherwise specified, the meaning of "a plurality of" is two or more. In order to facilitate the understanding of the technical solutions and the technical effects generated by the above technical solutions of the present application, the present application first explains the related professional terms:

[0062] The software phase-locked loop control system has two processes of open loop test and closed loop detection in operation. The system enters the open loop test stage at the beginning of starting. The open loop test is to excite the resonant sensor by a series of low to high driving frequency signals and detect the corresponding amplitude information. When the driving frequency is very small, the amplitude response of the resonant sensor is very small. When the driving frequency is closer and closer to the natural frequency of the resonant sensor, the response amplitude of the resonant sensor gradually increases and reaches the maximum at the resonance frequency point, and then gradually decreases, so that the resonance point frequency (natural frequency) of the resonant sensor, the phase difference between the excitation signal and the response signal at the resonance point and other control parameters can be determined. After the sweep is completed, the system enters the closed loop detection state. The phase-locked loop realizes closed loop control and resonance frequency tracking by tracking the phase difference between the excitation signal and the response signal at the resonance point based on the above control parameters, so as to realize the detection of the mass change of the matter on the resonant sensor.

[0063] At present, the recognition interval length of the resonant sensor response amplitude of the control system based on the software phase-locked loop is 5V. In order to ensure that there is no distortion and the system can well recognize the resonance frequency, it is necessary to control the resonance amplitude in the range of 0.3V-2.5V, that is, the maximum absolute value of the resonance amplitude cannot exceed 2.5V, and the minimum cannot be lower than 0.3V. At present, the existing control system cannot adapt to the resonance frequency, which leads to the inability to adapt to the data acquisition and control of different types of resonant sensors in different environments. In addition, the system cannot automatically adapt to the frequency phase coefficient in the vacuum test environment. Because there is no air damping in the vacuum condition, the frequency phase coefficient is much larger than that in the air, and the linear interval of the phase frequency characteristic curve in the vacuum is only about 10Hz, so the frequency tracking of the control system in the vacuum will cause the frequency to suddenly jump out of the linear interval of the phase frequency characteristic curve due to occasional large phase fluctuations, thereby causing very large oscillation fluctuations, which seriously affects the data acquisition.

[0064] Therefore, the embodiment of the present application provides a control method of a resonant sensor, which adjusts the response amplitude of the resonant sensor in the sweep process in the open loop test stage to stabilize it in the amplitude interval that can be recognized by the system, so that the resonant sensor can be controlled according to the resonance amplitude in the closed loop detection stage.

[0065] Please refer to Figure 1 , Figure 1 is a schematic diagram of an application environment of a control method of a resonant sensor provided by the embodiment of the present application, as shown in Figure 1 , the application environment can include a resonant sensor, a signal control module and a control terminal.

[0066] In the embodiments of the present application, the resonant sensor can convert the measured quantity into a frequency signal. When the measured quantity changes, the natural resonant frequency of the vibrating element of the resonant sensor changes accordingly. The resonant sensor can be a sensor for measuring mass change of a substance, for example, a resonant micro-cantilever sensor. The resonant micro-cantilever adopts an electric heating excitation and piezoresistive detection mode, and the resonant frequency on the cantilever is obtained through a Wheatstone bridge. The cantilever end of the micro-cantilever is coated with a sensitive material, and when adsorbed to a biochemical substance, the mass of the cantilever changes, thereby changing the resonant frequency thereof. The content or concentration of the to-be-measured substance is determined by monitoring the change in the resonant frequency.

[0067] In the embodiments of the present application, the signal control module is used to input an excitation signal to the resonant sensor and collect a response signal of the resonant sensor, and control the amplitude of the response signal within a preset range. Figure 2 is a structural schematic diagram of a signal control module provided by the embodiments of the present application, as Figure 2As shown, the signal control module includes a pre-instrument amplification unit, a signal processing unit, an analog-to-digital conversion unit, a processor unit, a digital-to-analog conversion unit, a digital frequency synthesis unit, and a drive shaping filter unit. The pre-instrument amplification unit is connected with the response module of the resonant sensor, and is used for amplifying and filtering the response signal of the resonant sensor. The signal processing unit is connected with the pre-instrument amplification unit, and is used for adaptively amplifying, shaping, and filtering the response signal pre-processed by the pre-instrument amplification unit, so as to obtain a high-quality sinusoidal response signal. The response signal is finally sent to the control terminal through the digital acquisition card interface, and is sent to the analog-to-digital conversion unit. The analog-to-digital conversion unit is used for digitizing the response signal, and then outputting the response signal to the processor unit for processing. The processor unit is used for obtaining the amplitude of the response signal, and judging whether the amplitude is within a preset range. If the amplitude is not within the preset range, the processor unit sends an excitation signal amplitude adjustment signal to the digital frequency synthesis unit to adjust the amplitude of the excitation signal, and / or sends a response signal amplitude adjustment signal to the signal processing unit to adjust the amplitude of the response signal, so that the amplitude of the response signal is finally within the preset range. Optionally, the processor unit can be a single-chip microcomputer, a microcontroller unit (MCU), a field programmable gate array (FPGA) digital signal processing (DSP) chip, or a device with a computing and processing function. The digital-to-analog conversion module is used for converting the excitation signal amplitude adjustment signal sent by the processor unit into an analog signal, and outputting the analog signal to the digital frequency synthesis unit. The digital frequency synthesis unit is used for synthesizing the excitation signal according to the excitation signal amplitude output by the processor unit and the excitation signal frequency control word received through the digital acquisition card interface, and outputting the excitation signal to the drive shaping filter unit. Optionally, the digital frequency synthesis unit can be a direct digital synthesis (DDS). The drive shaping filter unit shapes, filters, and amplifies the excitation signal generated by the digital frequency synthesis unit, obtains the final excitation signal of the resonant sensor, and simultaneously outputs the excitation signal to the excitation module of the resonant sensor and the digital acquisition card.

[0068] In an embodiment of the present application, the control terminal is a terminal device provided with a software phase-locked loop control system for realizing data acquisition and control of the resonant sensor. Optionally, the control terminal can be, but is not limited to, electronic devices such as smart phones, desktop computers, tablet computers, laptops, smart speakers, digital assistants, augmented reality (AR) / virtual reality (VR) devices, and smart wearable devices. It can also be software running on the above-mentioned electronic devices, such as applications, applets, etc. Optionally, the operating system running on the electronic device can include, but is not limited to, Android systems, IOS systems, Linux, Windows, Unix, etc. The control terminal is connected to the signal control module via a digital acquisition card.

[0069] The following describes a specific embodiment of a method of the present application. Figure 3 It is a flow chart of a control method for a resonant sensor provided in an embodiment of the present application. This specification provides method operation steps such as the embodiment or flow chart, but may include more or fewer operation steps based on conventional or non-creative work. The order of steps listed in the embodiment is only one way of executing the steps among many, and does not represent the only execution order. When the actual system or server product is executed, it can be executed in sequence or in parallel (for example, in a parallel processor or multi-threaded processing environment) according to the method shown in the embodiment or the accompanying drawings. Specifically, Figure 3 As shown, the control method of the resonant sensor is applied to a software phase-locked loop control system, and the method may include:

[0070] S301: Acquire the current excitation signal.

[0071] In the embodiment of the present application, when the software phase-locked loop control system controls the resonant sensor to work, an open-loop test is first performed to obtain parameters such as the resonant frequency, phase difference, and frequency phase coefficient of the resonant sensor. During the open-loop test, an excitation signal is input to the resonant sensor and scanned multiple times from low frequency to high frequency to determine the resonant point of the resonant sensor. During one frequency sweep, the excitation signal is generated by a digital frequency synthesis unit. Specifically, the control terminal inputs the frequency control word of the excitation signal to the digital frequency synthesis unit through the digital acquisition card, and the processor unit inputs the amplitude of the excitation signal to the digital frequency synthesis unit. The digital frequency synthesis unit generates a complete excitation signal based on the frequency and amplitude, and outputs the excitation signal to the drive filter shaping unit.

[0072] S303: Sweep the resonant sensor based on the current excitation signal to obtain a current sweep frequency response signal.

[0073] In the embodiment of the present application, after the driving filter and shaping unit receives the excitation signal, the excitation signal is processed such as shaping filtering, and then the excitation signal is output to the excitation module in the resonant sensor, so as to drive the excitation module to perform this time of sweep frequency. When the excitation module in the resonant sensor is swept, the response module in the resonant sensor will generate a sweep frequency response signal. After the pre-instrument amplification unit connected with the response module acquires the sweep frequency response signal, the sweep frequency response signal is amplified, and then the amplified sweep frequency response signal is sent to the signal processing unit for processing. The processing of the sweep frequency response signal by the signal processing unit includes amplification, shaping and filtering, etc.

[0074] It should be noted that the amplification of the sweep frequency response signal by the pre-instrument amplification unit is amplification according to the inherent amplification multiple of the device, and the signal processing unit adopts a digital controllable amplifier shaping filter circuit as a signal processing circuit. The amplification of the sweep frequency response signal by the signal processing unit is controllable amplification, that is, the amplification of the sweep frequency response signal by the signal processing module is controlled by the processor unit, and the sweep frequency response signal is amplified according to the amplification multiple set by the processor unit. The amplification multiple set by the processor unit can be greater than 1 or less than 1.

[0075] S305: According to the current sweep frequency response signal, the current resonance amplitude of the resonance point in the current sweep frequency process is determined.

[0076] In the embodiment of the present application, after the signal processing unit processes the sweep frequency response signal, the processed sweep frequency response signal is sent to the analog-to-digital conversion unit for analog-to-digital conversion, and then the processor unit processes the analog-to-digital converted sweep frequency response signal. When the resonant sensor is swept, each sweep will obtain a resonance point, which is a frequency point close to the inherent frequency of the resonant sensor in this sweep process. The amplitude of the resonance point is the largest, so that the processor unit can determine the resonance amplitude of the resonance point in this sweep process.

[0077] S307: In the case where the current resonance amplitude exceeds the preset amplitude range, the amplitude of the current excitation signal is adjusted to obtain an adjusted amplitude.

[0078] In the embodiment of the present application, the processor unit judges the resonance amplitude value of the resonance point, and judges whether the resonance amplitude value is within the preset amplitude value range. The preset amplitude value range is related to the design amplitude value identification range of the software phase-locked loop control system. For example, the length of the amplitude value identification interval of the software phase-locked loop control system is ±5V. In order to ensure that the resonance amplitude value is not distorted and the system can well identify the resonance frequency, the absolute value of the resonance amplitude value needs to be controlled to be between 0.3V and 2.5V. If the current resonance amplitude value does not exceed the preset amplitude value range, the processor unit does not perform any processing, that is, the amplitude value of the excitation signal used in the current sweep frequency is used as the excitation signal amplitude value in the next sweep frequency. If the current resonance amplitude value exceeds the preset amplitude value range, the amplitude value of the current excitation signal needs to be adjusted so that the amplitude value of the sweep frequency response signal obtained in the next sweep frequency is within the preset range. Specifically, the preset amplitude value range is greater than or equal to a first amplitude threshold and less than or equal to a second amplitude threshold. If the current resonance amplitude value is less than the first amplitude threshold, the processor unit amplifies the amplitude value of the current excitation signal to obtain an adjusted amplitude value. If the current resonance amplitude value is greater than the second amplitude threshold, the processor unit reduces the amplitude value of the current excitation signal to obtain an adjusted amplitude value.

[0079] In some cases, for example, the resonance amplitude value of the sweep frequency response signal obtained in the first sweep frequency is less than the first amplitude threshold, then the processor unit amplifies the amplitude value of the first sweep frequency excitation signal to obtain the amplitude value of the second sweep frequency excitation signal, the digital frequency synthesis unit synthesizes the second sweep frequency excitation signal according to the amplitude value of the second sweep frequency excitation signal and the frequency control word of the second sweep frequency excitation signal input by the control terminal to the digital frequency synthesis unit through the digital acquisition card, and then uses the second sweep frequency excitation signal to sweep the resonant sensor to obtain a second sweep frequency response signal. If the resonance amplitude value of the second sweep frequency response signal is still less than the first amplitude threshold, in this case the processor unit controls the amplification gain of the signal processing unit, that is, increases the amplification multiple of the signal processing unit to the sweep frequency response signal to amplify the sweep frequency response signal obtained in the next sweep frequency. That is, in the case where the current resonance amplitude value is less than the first amplitude threshold, the sweep frequency response signal obtained in the next sweep frequency is amplified.

[0080] In other cases, for example, the resonance amplitude value of the first sweep response signal is greater than the second amplitude threshold value, then the processor unit reduces the amplitude of the first sweep excitation signal to obtain the amplitude of the second sweep excitation signal, the digital frequency synthesis unit synthesizes the second sweep excitation signal according to the amplitude of the second sweep excitation signal and the frequency control word of the second sweep excitation signal input by the terminal through the digital acquisition card to the digital frequency synthesis unit, and then uses the second sweep excitation signal to sweep the resonant sensor to obtain a second sweep response signal. If the resonance amplitude value of the second sweep response signal is still greater than the second amplitude threshold value, in this case the processor unit controls the amplification gain of the signal processing unit, that is, reduces the amplification multiple of the signal processing unit to the sweep response signal to reduce the sweep response signal obtained in the next sweep. That is, in the case where the current resonance amplitude value is greater than the second amplitude threshold value, the sweep response signal obtained in the next sweep is reduced.

[0081] It should be noted that the processor unit controls the amplification gain of the signal processing unit to control the sweep response signal, which is not limited to the above two cases, but also can be that when the resonance amplitude value of the current sweep response signal exceeds the preset range, the amplification multiple of the signal processing unit is controlled to amplify or reduce the sweep response signal obtained in the next sweep. In addition, when the resonance amplitude value of the current sweep response signal exceeds the preset range, the processor unit can control the amplitude of the excitation signal alone, or control the amplification multiple of the signal processing unit alone, or control both the amplitude of the excitation signal and the amplification multiple of the signal processing unit.

[0082] As an optional embodiment, the processor unit collects the amplitude of the frequency sweep response signal in real time through the analog-to-digital conversion unit to determine whether a frequency sweep is in progress. If a frequency sweep is in progress, the processor unit detects whether the resonance amplitude during the current frequency sweep is between 0.3V and 2.5V. If so, no adjustment is made. In one embodiment, if the resonance amplitude is less than 0.3V, the amplitude of the excitation signal output by the digital frequency synthesis unit is increased after the current frequency sweep ends, and a determination is made as to whether the resonance amplitude obtained in the next frequency sweep is less than 0.3V. If still less than 0.3V, the amplification gain of the signal processing unit is increased at the end of the next frequency sweep. If greater than 0.3V, a determination is made as to whether the amplitude is less than 2.5V. If so, adjustment is stopped. If not, the amplification gain of the signal processing unit is reduced at the end of the next frequency sweep. In another case, if the resonance amplitude is greater than 2.5V, the amplitude of the excitation signal output by the digital frequency synthesis unit is reduced after the current frequency sweep ends, and a determination is made as to whether the resonance amplitude obtained by the next frequency sweep is greater than 2.5V. If the resonance amplitude obtained by the next frequency sweep is still greater than 2.5V, the amplification gain of the signal processing unit is reduced at the end of the next frequency sweep. If the resonance amplitude is less than 2.5V, a determination is made as to whether the amplitude is less than 0.3V. If not, adjustment is stopped. If so, the amplification gain of the signal processing unit is increased at the end of the next frequency sweep.

[0083] S309: Determine an excitation signal based on the adjusted amplitude, and use the excitation signal as the current excitation signal again.

[0084] In an embodiment of the present application, after the processor unit determines the amplitude of the adjusted excitation signal, it sends the adjusted amplitude to the digital frequency synthesis unit after digital-to-analog conversion. At the same time, the control terminal inputs the frequency control word of the excitation signal to the digital frequency synthesis unit through the digital acquisition card. The digital frequency synthesis unit generates a new excitation signal according to the frequency and amplitude, and outputs the excitation signal as the current excitation signal to the driving filter shaping unit, thereby starting another frequency sweep.

[0085] S311: Repeat the steps of sweeping the resonant sensor based on the current excitation signal to obtain a current frequency sweep response signal, and then using the excitation signal as the current excitation signal again, until the current resonance amplitude is within a preset amplitude range.

[0086] In the embodiments of the present application, in order to determine the resonance frequency of the resonant sensor, multiple frequency sweeps are performed in the open loop test stage, and each frequency sweep is performed from low frequency to high frequency. As an example, the frequency sweep range is 10 kHz-100 kHz in the first frequency sweep, and the frequency sweep step is 1 kHz. Assuming that the resonance point determined by the first frequency sweep is 50 kHz, it indicates that the resonance point of the resonant sensor is between 49 kHz and 51 kHz. Then the frequency range of 49 kHz-51 kHz can be used for the second frequency sweep, and the frequency sweep step is 100 Hz. Assuming that the resonance point determined by the second frequency sweep is 50.2 kHz. It indicates that the resonance point of the resonant sensor is between 50.1 kHz and 50.3 kHz. Then the frequency range of 50.1 kHz-50.3 kHz can be used for the third frequency sweep, and the frequency sweep step is 10 Hz. The frequency sweep is repeated multiple times in this way, so as to determine the resonance frequency of the resonant sensor. The resonance point amplitude of the frequency sweep response signal obtained by each frequency sweep needs to be judged whether it is within the preset range, if not, it needs to be adjusted according to the above adjustment method, so that the amplitude of the final resonance point is within the preset range.

[0087] It should be noted that the condition for ending the frequency sweep is that on the one hand the resonance point frequency of the resonant sensor meeting the control needs is determined, and on the other hand the resonance amplitude of the resonance point is controlled within the preset range, so as to ensure the identification accuracy of the software phase-locked loop control system to the resonance amplitude.

[0088] In the embodiments of the present application, the processor unit realizes the amplitude acquisition and control function. The processor unit automatically obtains the resonance frequency point amplitude by reading the response amplitude of the resonant sensor in real time, and then adjusts the amplitude output according to the resonance frequency point amplitude and the amplification gain of the signal processing unit, so as to automatically adjust the output excitation amplitude in the closed loop detection stage, and realize the function of self-adaptively adjusting the response amplitude of the resonant sensor.

[0089] In the embodiments of the present application, after the signal processing unit processes the frequency sweep response signal, in addition to sending the processed frequency sweep response signal to the analog-to-digital conversion unit for analog-to-digital conversion, the control terminal determines the frequency phase reference coefficient according to the frequency sweep response signal and the excitation signal. Specifically, the control terminal determines the frequency phase coefficient and the frequency phase linear interval length according to the current frequency sweep response signal. And the frequency phase reference coefficient is determined according to the frequency phase coefficient and the frequency phase linear interval length. The frequency phase reference coefficient can be calculated according to the following calculation formula:

[0090] C=L / |K|;

[0091] Wherein, C is the frequency phase reference coefficient, L is the frequency phase linear interval length, and K is the frequency phase coefficient.

[0092] In the software phase-locked loop control system in the closed-loop test phase, the resonant frequency of the resonant sensor is tracked and controlled according to the following formula:

[0093] f t = ΔP * K + f0;

[0094] Wherein, ΔP is the phase difference change difference, K is the frequency phase coefficient, f0 is the resonant frequency point of the resonant sensor determined in the frequency sweep stage. When the test environment is air, the value of the frequency phase reference coefficient is usually appropriate, because when the test environment is air, the linear interval of the frequency phase characteristic curve is large, so that the closed-loop detection stage is not easy to be unlocked. But in low density atmosphere or even vacuum environment, the linear interval of the frequency phase characteristic curve is very small, which leads to the phenomenon of frequency oscillation caused by excessive frequency adjustment. Therefore, at this time, the adjustment speed is sacrificed to obtain the stability of the system. The function of the frequency phase reference coefficient is to determine whether the frequency phase coefficient and its linear interval of the frequency phase characteristic curve are in a suitable interval, so as to determine the adjustment speed of the frequency in the closed-loop detection stage. The value of the frequency phase reference coefficient is used to ensure that the frequency tracking stage does not easily appear the phenomenon of unlocking and frequency oscillation.

[0095] In the embodiment of the application, after the frequency phase reference coefficient is determined, it is necessary to judge whether the frequency phase reference coefficient is in a suitable interval, and if not, the frequency phase reference coefficient needs to be processed. Specifically, in the case that the frequency phase reference coefficient is less than the first coefficient threshold and greater than the second coefficient threshold, the frequency phase reference coefficient is amplified by a first ratio. In the case that the frequency phase reference coefficient is less than or equal to the second coefficient threshold, the frequency phase reference coefficient is amplified by a second ratio.

[0096] As an optional implementation, after the open-loop frequency sweep is completed, when calculating the frequency phase coefficient, the control terminal will calculate the frequency phase reference coefficient and judge the frequency phase reference coefficient. When the frequency phase reference coefficient is greater than the first coefficient threshold, the system can directly enter the closed-loop detection stage. If the frequency phase reference coefficient is less than the first coefficient threshold, it is judged whether the frequency phase reference coefficient is greater than the second coefficient threshold. If yes, the frequency phase coefficient is divided by 5, that is, the frequency phase reference coefficient is amplified by 5 times, and then the system can enter the closed-loop state. If the frequency phase coefficient is less than or equal to the second coefficient threshold, the frequency phase coefficient is divided by 10, that is, the frequency phase reference coefficient is amplified by 10 times, and then the system can enter the closed-loop state. In this way, the frequency phase coefficient and the linear interval can meet the requirements of the closed-loop frequency tracking, so as to adapt to the closed-loop tracking state in different test environments.

[0097] In the embodiment of the application, by using the above segmented frequency phase coefficient algorithm, the currently applicable frequency phase coefficient is automatically judged and calculated, so as to achieve the self-adaptive ability of different types of cantilever beam sensors and different application environments.

[0098] The embodiment of the present application discloses a control device of a resonant sensor, Figure 4 is a structural schematic diagram of a control device of a resonant sensor provided by the embodiment of the present application, as Figure 4 The device comprises:

[0099] The current excitation signal acquisition module 401 is configured to acquire a current excitation signal.

[0100] The frequency sweeping module 403 is configured to perform frequency sweeping on the resonant sensor based on the current excitation signal to obtain a current frequency sweeping response signal.

[0101] The current resonance amplitude value determination module 405 is configured to determine a current resonance amplitude value of a resonance point in a current frequency sweeping process according to the current frequency sweeping response signal.

[0102] The amplitude adjustment module 407 is configured to adjust the amplitude of the current excitation signal to obtain an adjusted amplitude in a case where the current resonance amplitude value exceeds a preset amplitude range.

[0103] The excitation signal determination module 409 is configured to determine an excitation signal based on the adjusted amplitude and re-use the excitation signal as the current excitation signal.

[0104] The frequency sweeping control module 411 is configured to repeatedly perform frequency sweeping on the resonant sensor based on the current excitation signal to obtain the current frequency sweeping response signal until the step of re-using the excitation signal as the current excitation signal is performed, until the current resonance amplitude value is within the preset amplitude range.

[0105] In some optional embodiments, the preset amplitude range is greater than or equal to a first amplitude threshold and less than or equal to a second amplitude threshold; and the amplitude adjustment module comprises:

[0106] The first amplitude adjustment unit is configured to amplify the amplitude of the current excitation signal to obtain the adjusted amplitude in a case where the current resonance amplitude value is less than the first amplitude threshold.

[0107] In some optional embodiments, the amplitude adjustment module further comprises:

[0108] The second amplitude adjustment unit is configured to reduce the amplitude of the current excitation signal to obtain the adjusted amplitude in a case where the current resonance amplitude value is greater than the second amplitude threshold.

[0109] In some optional embodiments, the device further comprises:

[0110] The first processing module is configured to perform amplification processing on a frequency sweeping response signal obtained by next frequency sweeping in a case where the current resonance amplitude value is less than the first amplitude threshold.

[0111] In some alternative embodiments, the apparatus further comprises:

[0112] The second processing module is configured to, in a case where the current resonance amplitude is greater than the second amplitude threshold, perform a reduction processing on the sweep response signal obtained by the next sweep.

[0113] In some alternative embodiments, the apparatus further comprises:

[0114] The frequency-phase coefficient and frequency-phase linear interval length determination module is configured to determine the frequency-phase coefficient and the frequency-phase linear interval length according to the current sweep response signal.

[0115] The frequency-phase reference coefficient determination module is configured to determine the frequency-phase reference coefficient according to the frequency-phase coefficient and the frequency-phase linear interval length.

[0116] The frequency-phase reference coefficient processing module is configured to, in a case where the frequency-phase reference coefficient is less than the first coefficient threshold and greater than the second coefficient threshold, perform an amplification processing on the frequency-phase reference coefficient according to a first proportion.

[0117] In some alternative embodiments, the frequency-phase reference coefficient processing module is further configured to, in a case where the frequency-phase reference coefficient is less than or equal to the second coefficient threshold, perform an amplification processing on the frequency-phase reference coefficient according to a second proportion.

[0118] The control apparatus of the resonant sensor and the control method of the resonant sensor described in the embodiments of the present application are based on the same application concept. For the implementation of the control apparatus of the resonant sensor, please refer to the implementation of the control method of the resonant sensor, which will not be described here.

[0119] The embodiments of the present application disclose a control system of a resonant sensor, which is controlled by the control method of the resonant sensor described above.

[0120] In the embodiments of the present application, the control system of the resonant sensor is a software phase-locked loop control system, which is controlled by the control method of the resonant sensor described above.

[0121] The embodiments of the present application disclose an electronic device, which comprises a processor and a memory. The memory stores at least one instruction or at least one program, which is loaded and executed by the processor to perform the control method of the resonant sensor described above.

[0122] The control method of the resonant sensor provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal, a server or a similar computing device. Taking the case of running on a server as an example, Figure 5 is a hardware structure block diagram of a server of the control method of the resonant sensor provided in the embodiments of the present application. As shown in Figure 5As shown, the server 500 can vary greatly in configuration and performance, and can include one or more Central Processing Units (CPU) 510 (processor 510 can include, but is not limited to, a microprocessor, a programmable logic device (FPGA), or the like), a memory 530 for storing data, one or more storage media 520 (e.g., one or more mass storage devices) for storing applications 523 or data 522. The memory 530 and the storage media 520 can be of the temporary or persistent storage variety. The programs stored in the storage media 520 can include one or more modules, each of which can include a series of instructions for operating on the server. Further, the CPU 510 can be configured to communicate with the storage media 520 to execute the series of instructions in the storage media 520 on the server 500. The server 500 can also include one or more power supplies 560, one or more wired or wireless network interfaces 550, one or more input / output interfaces 540, and / or one or more operating systems 521, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, and the like.

[0123] The input / output interface 540 can be configured to receive or transmit data via a network. Examples of the network can include a wireless network provided by a communication provider of the server 500. In one example, the input / output interface 540 includes a network interface controller (NIC) that can be connected to other network devices through a base station to communicate with the Internet. In one example, the input / output interface 540 can be a radio frequency (RF) module configured to communicate with the Internet through a wireless manner.

[0124] Those of ordinary skill in the art can understand that, Figure 5 The structure shown is merely illustrative and does not limit the structure of the electronic device described above. For example, the server 500 can include more or fewer components than those shown in Figure 5 or have a different configuration than that shown in Figure 5 .

[0125] The embodiments of the present application disclose a computer readable storage medium, and the storage medium stores at least one instruction or at least one program. The at least one instruction or the at least one program is loaded and executed by a processor to implement the control method of the resonant sensor.

[0126] In the embodiments of the present application, the computer storage medium can be located in at least one of the plurality of network servers of a computer network. Optionally, the computer readable storage medium can include a read-only memory (ROM), a random access memory (RAM), a solid state disk (SSD), an optical disk, or the like. The random access memory can include a resistance random access memory (ReRAM) and a dynamic random access memory (DRAM).

[0127] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that in the embodiments and still achieve the desired result. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired result. In some embodiments, multi-task processing and parallel processing are possible or can be advantageous.

[0128] Each of the embodiments in the present specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiments.

[0129] A person of ordinary skill in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by program instructing relevant hardware to complete, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk.

[0130] The above only describes the preferred embodiments of the present application and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a resonant sensor, characterized in that: The method comprises: Get the current stimulus signal; Performing a frequency sweep on the resonant sensor based on the current excitation signal to obtain a current frequency sweep response signal; determining a current resonance amplitude of a resonance point in a current frequency sweep process according to the current frequency sweep response signal; When the current resonance amplitude exceeds a preset amplitude range, adjusting the amplitude of the current excitation signal to obtain an adjusted amplitude; determining an excitation signal based on the adjusted amplitude, and reusing the excitation signal as the current excitation signal; Repeating the steps of sweeping the resonant sensor based on the current excitation signal to obtain a current frequency sweep response signal, and reusing the excitation signal as the current excitation signal, until the current resonance amplitude is within the preset amplitude range; After the open-loop frequency sweep is completed, determining the frequency phase coefficient and the length of the frequency-phase linear interval according to the current frequency sweep response signal; Determine the frequency-phase reference coefficient according to the frequency-phase coefficient and the length of the frequency-phase linear interval; When the frequency-to-phase reference coefficient is smaller than a first coefficient threshold and larger than a second coefficient threshold, the frequency-to-phase reference coefficient is amplified according to a first ratio.

2. The method according to claim 1, characterized in that The preset amplitude range is greater than or equal to a first amplitude threshold and less than or equal to a second amplitude threshold; and when the current resonance amplitude exceeds the preset amplitude range, adjusting the amplitude of the current excitation signal to obtain the adjusted amplitude includes: When the current resonance amplitude is less than the first amplitude threshold, the amplitude of the current excitation signal is amplified to obtain the adjusted amplitude.

3. The method according to claim 2, characterized in that When the current resonance amplitude exceeds a preset amplitude range, the amplitude of the current excitation signal is adjusted to obtain an adjusted amplitude, further comprising: When the current resonance amplitude is greater than the second amplitude threshold, the amplitude of the current excitation signal is reduced to obtain the adjusted amplitude.

4. The method according to claim 2, characterized in that When the current resonance amplitude is less than the first amplitude threshold, after amplifying the amplitude of the current excitation signal to obtain the adjusted amplitude, the method further includes: When the current resonance amplitude is less than the first amplitude threshold, a frequency sweep response signal obtained by the next frequency sweep is amplified.

5. The method according to claim 3, characterized in that When the current resonance amplitude is greater than the second amplitude threshold, reducing the amplitude of the current excitation signal to obtain the adjusted amplitude, the method further includes: When the current resonance amplitude is greater than the second amplitude threshold, a frequency sweep response signal obtained by the next frequency sweep is reduced.

6. The method according to claim 1, characterized in that After determining the frequency-phase reference coefficient according to the frequency-phase coefficient and the frequency-phase linear interval length, the method further includes: When the frequency-to-phase reference coefficient is less than or equal to the second coefficient threshold, the frequency-to-phase reference coefficient is amplified according to a second ratio.

7. A control device for a resonant sensor, characterized in that: The device comprises: A current excitation signal acquisition module is used to obtain the current excitation signal; A frequency sweep module, configured to sweep the frequency of the resonant sensor based on the current excitation signal to obtain a current frequency sweep response signal; a current resonance amplitude determination module, configured to determine a current resonance amplitude of a resonance point during a current frequency sweep process according to the current frequency sweep response signal; an amplitude adjustment module, configured to adjust the amplitude of the current excitation signal to obtain an adjusted amplitude when the current resonance amplitude exceeds a preset amplitude range; an excitation signal determining module, configured to determine an excitation signal based on the adjusted amplitude, and use the excitation signal as a current excitation signal; a frequency sweep control module, configured to repeat the steps of sweeping the resonant sensor based on the current excitation signal to obtain a current frequency sweep response signal, and reusing the excitation signal as the current excitation signal, until the current resonance amplitude is within the preset amplitude range; A frequency phase coefficient and frequency phase linear interval length determination module, configured to determine the frequency phase coefficient and the frequency phase linear interval length according to the current frequency sweep response signal after the open-loop frequency sweep is completed; A frequency-phase reference coefficient determination module, configured to determine the frequency-phase reference coefficient according to the frequency-phase coefficient and the length of the frequency-phase linear interval; The frequency-to-phase reference coefficient processing module is configured to amplify the frequency-to-phase reference coefficient according to a first ratio when the frequency-to-phase reference coefficient is less than a first coefficient threshold and greater than a second coefficient threshold.

8. A control system for a resonant sensor, characterized in that: The system is controlled by using the control method of the resonant sensor according to any one of claims 1 to 6.

9. An electronic device, characterized in that: The device includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded by the processor and executes the control method of the resonant sensor according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that The storage medium stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the control method of the resonant sensor according to any one of claims 1 to 6.

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