Multi-channel non-isolated electrical stimulation output control method and system

Abstract

The invention discloses a multi-channel non-isolated electrical stimulation output control method and system, and the method comprises the steps: judging whether multiple channels are synchronous or not through adding a channel error factor epsilon and channel synchronization error time delta T, and outputting waveforms one by one according to the priority; and when overlapping exists, output time adjustment is carried out to stagger the overlapped channels, so that isolation of multiple channels in multi-channel electrical stimulation output is realized. According to the technical scheme, compared with the prior art, the problem of mutual coupling between channels can be solved without using an isolation device, so that compared with the prior art, the cost can be reduced, and miniaturization of a product applying the technical scheme is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of circuit control, and in particular to the control of multi-channel non-isolated electrical stimulation output. Background Art

[0002] When multi-channel electrical stimulation is output, the channels need to be isolated from each other to avoid coupling between multiple channels when outputting at the same time. If channel isolation is not performed, when the two channels are superimposed on the load, a "channel coupling" waveform will appear, causing errors in the output of electrical stimulation. If the channels are not isolated, and the two channels are staggered to avoid coupling between multiple channels, it is impossible to always maintain quasi-synchronization between the channels (the synchronization error between channels is within ±5ms). Therefore, isolating the channels from each other is a common method for multi-channel electrical stimulation output.

[0003] In the prior art, the methods for isolating multiple channels are as follows:

[0004] One is to isolate the power supply by electrical stimulation, such as Figure 1 This power supply isolation method can achieve isolation between two channels, but the cost is relatively high. Each channel requires an isolated power module and a microprocessor. If there are more channels, the cost will increase significantly and it is not conducive to the miniaturization of the product.

[0005] Another method is to isolate the output transformer of the electrical stimulation, such as Figure 2 As shown, the transformer isolation method can achieve isolation between two channels, but the cost is relatively high. Each channel requires an isolation transformer and an electrical stimulation shaping module. If there are more channels, the cost will increase significantly and it will be unfavorable for the miniaturization of the product.

[0006] Therefore, a new technical solution is needed to solve the above problems. Summary of the invention

[0007] Purpose of the invention: The present invention provides a control method for multi-channel non-isolated electrical stimulation output, which is used to solve the problem of how to reduce the cost of isolation between channels when isolating multiple channels in a multi-channel electrical stimulation output.

[0008] Based on the same purpose, the present invention also provides a control system for multi-channel non-isolated electrical stimulation output.

[0009] Technical solution: To solve the above technical problems, the control method of multi-channel non-isolated electrical stimulation output provided by the present invention adopts the following technical solution:

[0010] A control method for multi-channel non-isolated electrical stimulation output, comprising:

[0011] Import multi-channel parameters into the cache. The multi-channel parameters include the pulse width PW(n) and frequency Freq(n) of each channel. Channel n takes the value [1, N], where N is the total number of channels.

[0012] According to the frequency Freq(n) and frequency error ε of each channel, the frequency error time ΔTf(n) of each channel is calculated;

[0013] Determine whether the multiple channels are synchronized. If the frequency and pulse width of all channels are consistent, it is determined to be synchronized. Calculate whether each channel meets the synchronization error time ΔT range, where ΔT is the interval between the first and last waves of quasi-synchronous output; if it does not meet the synchronization error time ΔT range, exit directly and the control method process ends; if it meets the synchronization error time ΔT range, output waveforms one by one according to priority; if the frequency and pulse width of not all channels are consistent, it is determined to be asynchronous, and waveforms are output one by one according to priority; when the state of outputting waveforms one by one according to priority appears, record the current timestamp Tb(n);

[0014] After the waveform is output, the effective value Ts_rate(n), maximum value Ts_max(n) and minimum value Ts_min(n) of the next round of timestamp Ts(n) are calculated according to the current timestamp Tb(n);

[0015] The effective value Ts_rate(n) of each channel is compared to determine whether there is overlap between the effective values ​​Ts_rate(n) of the channels. If there is overlap, the output time is adjusted to stagger the overlapping channels. Then, it is determined whether the multiple channels are synchronized. If they are not synchronized or synchronized but within the synchronization error time ΔT range, the waveforms are output one by one according to the priority. If they are synchronized but do not meet the synchronization error time ΔT range, the control method is exited directly and the process ends.

[0016] Furthermore, after importing the multi-channel parameters into the cache, a priority number [1, N] is set for each channel, and the smaller the number, the higher the priority.

[0017] Furthermore, the frequency error time ΔTf(n) per channel is calculated by the following formula:

[0018] ΔTf(n)=ε / (Freq(n)*100).

[0019] Furthermore, the effective value Ts_rate(n), the maximum value Ts_max(n) and the minimum value Ts_min(n) of the next round of timestamp Ts(n) are calculated by the following formula:

[0020] Ts_min(n)=Ts_Clac(Tb(n),ΔTf(n),Freq(n),-1*PW(n))

[0021] Ts_rate(n)=Ts_Clac(Tb(n),ΔTf(n),Freq(n),0*PW(n))

[0022] Ts_max(n)=Ts_Clac(Tb(n),ΔTf(n),Freq(n),1*PW(n)).

[0023] Further, the timestamp Ts(n) of each channel is set to Ts_rate(n); when there is overlap between the effective values ​​Ts(n) of the channels, the priorities of the overlapping channels are compared, the effective value Ts(n) of the channel with the later priority remains unchanged, and the output time of all channels whose priorities are before the channel with the later priority is changed to Ts(n)-Ts_min(n)*M, where M takes a value of 0 to 1;

[0024] Then, it is determined whether there is still overlap in the effective value Ts(n) between the channels; if there is still overlap, the output time of the channel with the next priority and all channels with priority after the channel with the next priority are changed to Ts(n)+Ts_max(n)*M;

[0025] Then determine whether there is still overlap in the effective value Ts(n) between the channels; if there is still overlap, exit directly and the control method process ends; if there is no overlap, enter the process of determining whether the multiple channels are synchronized.

[0026] The control of the multi-channel non-isolated electrical stimulation output provided by the present invention adopts the following technical solutions:

[0027] A control system for multi-channel non-isolated electrical stimulation output, comprising:

[0028] Cache, used to import multi-channel parameters, including pulse width PW(n) and frequency Freq(n) of each channel, channel n takes the value [1, N], N is the total number of channels;

[0029] Arbitration predictor and output actuator,

[0030] The arbitration predictor is used to calculate the frequency error time ΔTf(n) of each channel according to the frequency Freq(n) and frequency error ε of each channel; and determine whether the multiple channels are synchronized. If the frequency and pulse width of all channels are consistent, it is determined to be synchronized, and calculate whether each channel meets the synchronization error time ΔT range. ΔT is the interval time between the first wave and the last wave of quasi-synchronous output; if it does not meet the synchronization error time ΔT range, exit directly; if it meets the synchronization error time ΔT range, output waveforms one by one according to priority; if the frequency and pulse width of not all channels are consistent, it is determined to be asynchronous, and the waveforms are output one by one according to priority through the output actuator; when the state of outputting waveforms one by one according to priority appears, Record the current timestamp Tb(n); after the waveform is output, calculate the effective value Ts_rate(n), maximum value Ts_max(n) and minimum value Ts_min(n) of the next round of timestamp Ts(n) according to the current timestamp Tb(n); compare the effective value Ts_rate(n) of each channel to determine whether there is overlap between the effective values ​​Ts_rate(n) of the channels. If there is overlap, adjust the output time to stagger the overlapping channels; then determine whether the multiple channels are synchronized. If they are not synchronized or synchronized but within the synchronization error time ΔT range, output the waveforms one by one according to the priority through the output executor. If they are synchronized but within the synchronization error time ΔT range, exit directly.

[0031] Furthermore, a priority allocator is included to set a priority number [1, N] for each channel, and the smaller the number, the higher the priority.

[0032] Furthermore, in the arbitration predictor, the frequency error time ΔTf(n) of each channel is calculated by the following formula:

[0033] ΔTf(n)=ε / (Freq(n)*100);

[0034] The effective value Ts_rate(n), maximum value Ts_max(n) and minimum value Ts_min(n) of the next round of timestamp Ts(n) are calculated by the following formula:

[0035] Ts_min(n)=Ts_Clac(Tb(n),ΔTf(n),Freq(n),-1*PW(n))

[0036] Ts_rate(n)=Ts_Clac(Tb(n),ΔTf(n),Freq(n),0*PW(n))

[0037] Ts_max(n)=Ts_Clac(Tb(n),ΔTf(n),Freq(n),1*PW(n)).

[0038] Furthermore, the arbitration predictor is also used to: convert the timestamp Ts(n) of each channel to Ts_rate(n); when there is overlap between the effective values ​​Ts(n) of the channels, the priorities of the overlapping channels are compared, the effective value Ts(n) of the channel with the later priority remains unchanged, and the output time of all channels whose priorities are before the channel with the later priority is changed to Ts(n)-Ts_min(n)*M, where M takes a value of 0 to 1;

[0039] Then, it is determined whether there is still overlap in the effective value Ts(n) between the channels; if there is still overlap, the output time of the channel with the next priority and all channels with priority after the channel with the next priority are changed to Ts(n)+Ts_max(n)*M;

[0040] Then determine whether there is still overlap in the effective value Ts(n) between the channels; if there is still overlap, exit directly and the control method process ends; if there is no overlap, enter the process of determining whether the multiple channels are synchronized.

[0041] Beneficial effects: The present invention achieves isolation of multiple channels in multi-channel electrical stimulation output by increasing the channel error factor ε, the channel synchronization error time ΔT, and adjusting the output time to stagger the overlapping channels when there is overlap. Compared with the prior art, this technical solution does not require the use of isolation devices to solve the mutual coupling problem between channels, so it can reduce costs compared with the prior art and is conducive to miniaturization of products using this technical solution.

[0042] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the control method for multi-channel non-isolated electrical stimulation output when executing the computer program. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of using power supply isolation for multi-channel electrical stimulation output in the prior art;

[0044] Figure 2 It is a schematic diagram of using transformer isolation for multi-channel electrical stimulation output in the prior art;

[0045] Figure 3 It is a flow chart of the control method of multi-channel non-isolated electrical stimulation output in the present invention;

[0046] Figure 4 It is a schematic diagram when timestamp overlap exists in multiple channels;

[0047] Figure 5 It is a schematic diagram of outputting the same frequency and pulse width after arbitration prediction in a four-channel embodiment of the present invention;

[0048] Figure 6 It is a schematic diagram of outputting different frequencies and pulse widths after arbitration prediction in a four-channel embodiment of the present invention. DETAILED DESCRIPTION

[0049] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0050] Please combine Figure 3 As shown, this embodiment provides a control system for multi-channel non-isolated electrical stimulation output, characterized in that it includes: a cache, an arbitration predictor, an output executor, and a priority allocator.

[0051] The cache is used to import multi-channel parameters, including the pulse width PW(n) and frequency Freq(n) of each channel. Channel n takes the value [1, N], where N is the total number of channels. Multi-channel parameters include the number of channels CH that need to be synchronized, the frequency Freq range and frequency error factor ε range of each channel, the pulse width PW range of each channel, and the synchronization error time ΔT range. In this embodiment, the frequency Freq range is 0 to 500, unit Hz, step 0.5Hz; the pulse width PW range is 10 to 1000, unit us, step 10us; the frequency error factor ε range is ±10, unit %, and the maximum can be set to ±20%; the synchronization error time ΔT range is ±5, unit ms, and the maximum can be set to ±20ms.

[0052] The priority allocator is used to set a priority number [1, N] for each channel. The smaller the number, the higher the priority.

[0053] The arbitration predictor is used to calculate the frequency error time ΔTf(n) of each channel according to the frequency Freq(n) and the frequency error ε of each channel:

[0054] ΔTf(n)=ε / (Freq(n)*100).

[0055] Then, determine whether the multiple channels are synchronized. If the frequency and pulse width of all channels are consistent, they are determined to be synchronized, and calculate whether each channel meets the synchronization error time ΔT range. ΔT is the interval time between the first and last waves of quasi-synchronous output. If it does not meet the synchronization error time ΔT range, exit directly. If it meets the synchronization error time ΔT range, output waveforms one by one according to priority. If the frequency and pulse width of not all channels are consistent, it is determined to be asynchronous, and the waveforms are output one by one according to priority through the output actuator.

[0056] When the waveform is output one by one according to the priority, the current timestamp Tb(n) is recorded; after the waveform is output, the effective value Ts_rate(n), maximum value Ts_max(n) and minimum value Ts_min(n) of the next round of timestamp Ts(n) are calculated according to the current timestamp Tb(n).

[0057] In the arbitration predictor, the frequency error time ΔTf(n) per channel is calculated by the following formula:

[0058] ΔTf(n)=ε / (Freq(n)*100);

[0059] The effective value Ts_rate(n), maximum value Ts_max(n) and minimum value Ts_min(n) of the next round of timestamp Ts(n) are calculated by the following formula:

[0060] Ts_min(n)=Ts_Clac(Tb(n),ΔTf(n),Freq(n),-1*PW(n))

[0061] Ts_rate(n)=Ts_Clac(Tb(n),ΔTf(n),Freq(n),0*PW(n))

[0062] Ts_max(n)=Ts_Clac(Tb(n),ΔTf(n),Freq(n),1*PW(n)).

[0063] Compare the effective value Ts_rate(n) of each channel to determine whether there is overlap between the effective values ​​Ts_rate(n) of the channels. If there is overlap, adjust the output time to stagger the overlapping channels. Then determine whether the multiple channels are synchronized. If they are not synchronized or synchronized but within the synchronization error time ΔT range, output waveforms one by one through the output actuator according to the priority. If they are synchronized but within the synchronization error time ΔT range, exit directly.

[0064] How to stagger the overlapping channels, the timestamp Ts(n) of each channel = Ts_rate(n); when there is overlap between the effective values ​​Ts(n) of the channels, the priorities of the overlapping channels are compared, the effective value Ts(n) of the channel with the later priority remains unchanged, and the output time of all channels with the priority before the channel with the later priority becomes Ts(n)-Ts_min(n)*M, where M takes a value of 0 to 1;

[0065] Then, it is determined whether there is still overlap in the effective value Ts(n) between the channels; if there is still overlap, the output time of the channel with the next priority and all channels with priority after the channel with the next priority are changed to Ts(n)+Ts_max(n)*M;

[0066] Then determine whether there is still overlap in the effective value Ts(n) between the channels; if there is still overlap, exit directly and the control method process ends; if there is no overlap, enter the process of determining whether the multiple channels are synchronized.

[0067] The following uses 4-channel output as an example to explain how to stagger overlapping channels:

[0068] The effective output time and tolerance time of 4 channels are as follows:

[0069] Channel 1 effective output time: [Ts(1), Ts(1)+PW(1)]

[0070] Channel 1 tolerance time range: [Ts(1)-Ts_min(1), Ts(1)+PW(1)+Ts_max(1)]

[0071] Channel 2 effective output time: [Ts(2), Ts(1)+PW(2)]

[0072] Channel 2 tolerance time range: [Ts(2)-Ts_min(1), Ts(2)+PW(2)+Ts_max(1)]

[0073] Channel 3 effective output time: [Ts(3), Ts(3)+PW(3)]

[0074] Channel 3 tolerance time range: [Ts(3)-Ts_min(1), Ts(3)+PW(3)+Ts_max(1)]

[0075] Channel 4 effective output time: [Ts(4), Ts(4)+PW(4)]

[0076] Channel 4 tolerance time range: [Ts(4)-Ts_min(1), Ts(4)+PW(4)+Ts_max(1)]

[0077] Sort channels 1 to 4 in chronological order; if there is overlap in time, such as Figure 4As shown, CH2 and CH3 overlap, then the arbitration predictor will shift the waveform before CH3, Ts(n) as a whole to the left by their respective Ts_min(n)*M, where M takes a value of 0 to 1, that is, to ensure that after the shift, the output time is Ts(n)-Ts_min(n)*M, which is still within the tolerance range of [Ts(n)-Ts_min(n), Ts(n)+PW(n)+Ts_max(n)]. This gives CH3 space to output the waveform, and the time after the shift is re-arbitrated. If it passes, that is, there is no channel overlap, and the multi-channel synchronization is continued. If the frequency and pulse width of all channels are consistent, it is determined to be synchronized, and it is calculated whether each channel meets the synchronization error time ΔT range, ΔT is the interval time between the first and last waves of the quasi-synchronous output; if it does not meet the synchronization error time ΔT range, it exits directly; if it meets the synchronization error time ΔT range, the waveforms are output one by one according to the priority; if the frequency and pulse width of not all channels are consistent, it is determined to be asynchronous, and the waveforms are output one by one according to the priority through the output actuator.

[0078] If there is still channel overlap after the above-mentioned overall left shift of Ts(n), then shift the waveform after CH3 to the right by their respective Ts_max(n)*M, and the output time is Ts(n)+Ts_max(n)*M, which is still within the tolerance [Ts(n)-Ts_min(n), Ts(n)+PW(n)+Ts_max(n)]. If it fails, it will prompt that arbitration failed, indicating that the parameters of the solution cannot meet the actual requirements. If it passes, that is, there is no channel overlap, and the process will continue to determine whether the multiple channels are synchronized in the previous paragraph.

[0079] When the frequency and pulse width of the 4-channel electrical stimulation output are consistent, that is, it is judged to be synchronized, the output of multiple channels after arbitration prediction is seen Figure 5 . Wherein, Tnf=1 / Freq(n), n=1~4.

[0080] When the frequency and pulse width of the 4-channel electrical stimulation output are inconsistent, that is, it is judged to be out of sync, the output of the multi-channel after arbitration prediction is seen Figure 6 . Wherein, Tnf=1 / Freq(n), n=1~4.

[0081] In addition, there are many specific implementation methods and approaches of the present invention, and the above is only a preferred implementation of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A control method for multi-channel non-isolated electrical stimulation output, characterized in that: include: Import multi-channel parameters into the cache. The multi-channel parameters include the pulse width PW(n) and frequency Freq(n) of each channel. Channel n takes the value [1, N], where N is the total number of channels. According to the frequency Freq(n) and frequency error ε of each channel, the frequency error time ΔTf(n) of each channel is calculated; Determine whether multiple channels are synchronized. If the frequency and pulse width of all channels are consistent, they are considered synchronized. Calculate whether each channel meets the synchronization error time range ΔT. ΔT is the interval between the first and last waves of quasi-synchronous output. If it does not meet the synchronization error time ΔT range, exit directly and the control method process ends; if it meets the synchronization error time ΔT range, output waveforms one by one according to priority; If the frequency and pulse width of all channels are not consistent, they are judged as asynchronous and the waveforms are output one by one according to the priority; When the state of outputting waveforms one by one according to the priority appears, the current timestamp Tb(n) is recorded; After the waveform is output, the effective value Ts_rate(n), maximum value Ts_max(n) and minimum value Ts_min(n) of the next round of timestamp Ts(n) are calculated according to the current timestamp Tb(n); The effective value Ts_rate(n) of each channel is compared to determine whether there is overlap between the effective values ​​Ts_rate(n) of the channels. If there is overlap, the output time is adjusted to stagger the overlapping channels. Then, it is determined whether the multiple channels are synchronized. If they are not synchronized or synchronized but within the synchronization error time ΔT range, the waveforms are output one by one according to the priority. If they are synchronized but do not meet the synchronization error time ΔT range, the control method is exited directly and the process ends.

2. The control method for multi-channel non-isolated electrical stimulation output according to claim 1, characterized in that: After importing multi-channel parameters into the cache, set a priority number [1, N] for each channel. The smaller the number, the higher the priority.

3. The control method for multi-channel non-isolated electrical stimulation output according to claim 1 or 2, characterized in that: The frequency error time ΔTf(n) per channel is calculated by the following formula: ΔTf(n)=ε / (Freq(n)*100).

4. The control method for multi-channel non-isolated electrical stimulation output according to claim 1, characterized in that: The effective value Ts_rate(n), maximum value Ts_max(n) and minimum value Ts_min(n) of the next round of timestamp Ts(n) are calculated by the following formula: Ts_min(n)=Ts_Clac(Tb(n),ΔTf(n),Freq(n),-1*PW(n)) Ts_rate(n)=Ts_Clac(Tb(n),ΔTf(n),Freq(n),0*PW(n)) Ts_max(n)=Ts_Clac(Tb(n),ΔTf(n),Freq(n),1*PW(n)).

5. The control method for multi-channel non-isolated electrical stimulation output according to claim 1 or 4, characterized in that: Set the timestamp Ts(n) of each channel to Ts_rate(n); when there is overlap between the effective values ​​Ts(n) of the channels, compare the priorities of the overlapping channels, the effective value Ts(n) of the channel with the later priority remains unchanged, and the output time of all channels with the priority before the channel with the later priority is changed to Ts(n)-Ts_min(n)*M, where M is 0 to 1; Then, it is determined whether there is still overlap in the effective value Ts(n) between the channels; if there is still overlap, the output time of the channel with the next priority and all channels with priority after the channel with the next priority are changed to Ts(n)+Ts_max(n)*M; Then determine whether there is still overlap in the effective value Ts(n) between the channels; if there is still overlap, exit directly and the control method process ends; if there is no overlap, enter the process of determining whether the multiple channels are synchronized.

6. A control system for multi-channel non-isolated electrical stimulation output, characterized in that: include: Cache, used to import multi-channel parameters, including pulse width PW(n) and frequency Freq(n) of each channel, channel n takes the value [1, N], N is the total number of channels; Arbitration predictor and output actuator, The arbitration predictor is used to calculate the frequency error time ΔTf(n) of each channel according to the frequency Freq(n) and frequency error ε of each channel; and to determine whether the multiple channels are synchronized. If the frequency and pulse width of all channels are consistent, it is determined to be synchronized, and calculate whether each channel meets the synchronization error time ΔT range. ΔT is the interval time between the first wave and the last wave of the quasi-synchronous output; If it does not meet the synchronization error time ΔT range, it will exit directly; if it meets the synchronization error time ΔT range, it will output waveforms one by one according to the priority; if the frequency and pulse width of all channels are not consistent, it will be judged as asynchronous, and the waveforms will be output one by one according to the priority through the output actuator; When the waveform is output one by one according to the priority, the current timestamp Tb(n) is recorded; after the waveform is output, the effective value Ts_rate(n), the maximum value Ts_max(n) and the minimum value Ts_min(n) of the next round of timestamp Ts(n) are calculated according to the current timestamp Tb(n); the effective value Ts_rate(n) of each channel is compared to determine whether there is overlap between the effective values ​​Ts_rate(n) of the channels. If there is overlap, the output time is adjusted to stagger the overlapping channels; then determine whether the multiple channels are synchronized. If they are not synchronized or synchronized but within the synchronization error time ΔT range, the waveforms are output one by one according to the priority through the output executor. If they are synchronized but not within the synchronization error time ΔT range, exit directly.

7. The control system for multi-channel non-isolated electrical stimulation output according to claim 6, characterized in that: It also includes a priority allocator for setting a priority number [1, N] for each channel. The smaller the number, the higher the priority.

8. The control system for multi-channel non-isolated electrical stimulation output according to claim 6 or 7, characterized in that: In the arbitration predictor, the frequency error time ΔTf(n) per channel is calculated by the following formula: ΔTf(n)=ε / (Freq(n)*100); The effective value Ts_rate(n), maximum value Ts_max(n) and minimum value Ts_min(n) of the next round of timestamp Ts(n) are calculated by the following formula: Ts_min(n)=Ts_Clac(Tb(n),ΔTf(n),Freq(n),-1*PW(n)) Ts_rate(n)=Ts_Clac(Tb(n),ΔTf(n),Freq(n),0*PW(n)) Ts_max(n)=Ts_Clac(Tb(n),ΔTf(n),Freq(n),1*PW(n)).

9. The control system for multi-channel non-isolated electrical stimulation output according to claim 8, characterized in that: The arbitration predictor is also used to: convert the timestamp Ts(n) of each channel to Ts_rate(n); when there is overlap between the effective values ​​Ts(n) of the channels, the priorities of the overlapping channels are compared, the effective value Ts(n) of the channel with the later priority remains unchanged, and the output time of all channels whose priorities are before the channel with the later priority is changed to Ts(n)-Ts_min(n)*M, where M takes a value of 0 to 1; Then, it is determined whether there is still overlap in the effective value Ts(n) between the channels; if there is still overlap, the output time of the channel with the next priority and all channels with priority after the channel with the next priority are changed to Ts(n)+Ts_max(n)*M; Then determine whether there is still overlap in the effective value Ts(n) between the channels; if there is still overlap, exit directly and the control method process ends; if there is no overlap, enter the process of determining whether the multiple channels are synchronized.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

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