Dynamic modulation method, device and equipment for medium and low frequency current and storage medium

Abstract

The invention relates to the technical field of signal processing, and provides a dynamic modulation method, device and equipment for medium and low frequency current and a storage medium. The dynamic modulation method for the medium and low frequency current comprises the following steps: acquiring an actual current at a current moment, comparing the actual current with a target current, and respectively obtaining a current error and a change rate of the current error; determining a control input signal of a sliding mode control algorithm according to the current error and the change rate of the current error; adjusting the current error and a rate of change of the current error based on the control input signal; and according to the adjusted current error and the change rate of the current error, dynamically and periodically modulating the working frequency of the current. By measuring the error between the current and the target current in real time and combining a sliding mode control algorithm and periodic dynamic frequency modulation, the adaptability and accurate control of the low and medium frequency current in rehabilitation physiotherapy are improved, and thus the user experience effect is improved.

Description

Technical Field

[0001] The present invention relates to the field of signal processing technology, and in particular to a dynamic modulation method, device, equipment and storage medium for medium and low frequency currents. Background Art

[0002] Medium and low frequency current modulation plays a vital role in modern power electronic systems, especially with the photovoltaic application of current stimulation in health therapy, precise control of current is required in muscle stimulation and rehabilitation, blood circulation improvement and pain management. Traditional medium and low frequency current modulation methods often rely on fixed frequency pulse width modulation (PWM) technology. Since fixed frequency pulse width modulation technology usually works at a predetermined frequency, its output current adjustment speed is limited, and it is not possible to optimize the current intensity and frequency according to the patient's needs. As a result, whether in pain management, muscle stimulation, nerve repair, or rehabilitation therapy such as blood circulation improvement and sports injury recovery, there are problems of poor adaptability and inability to accurately control, which seriously affects the user experience. Summary of the invention

[0003] The embodiments of the present application provide a method, apparatus, device and storage medium for dynamic modulation of medium and low frequency currents. By measuring the error between the current and the target current in real time, combined with a sliding mode control algorithm and periodic dynamic frequency modulation, the adaptability and precise control of medium and low frequency currents in rehabilitation therapy are improved, thereby improving the user experience.

[0004] In a first aspect, an embodiment of the present application provides a method for dynamic modulation of medium and low frequency currents, including: obtaining the actual current at the current moment, comparing the actual current with the target current, and respectively obtaining the current error and the rate of change of the current error; determining the control input signal of the sliding mode control algorithm according to the current error and the rate of change of the current error; adjusting the current error and the rate of change of the current error based on the control input signal; and dynamically periodically modulating the operating frequency of the current according to the adjusted current error and the rate of change of the current error.

[0005] In the second aspect, an embodiment of the present application provides a dynamic modulation device for medium and low frequency currents, including: a comparison module, used to obtain the actual current at the current moment, compare the actual current with the target current, and obtain the current error and the rate of change of the current error respectively; a determination module, used to determine the control input signal of the sliding mode control algorithm according to the current error and the rate of change of the current error; an adjustment module, used to adjust the current error and the rate of change of the current error based on the control input signal; a modulation module, used to dynamically and periodically modulate the operating frequency of the current according to the adjusted current error and the rate of change of the current error.

[0006] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0007] A memory and a processing module; the memory is used to store a computer program; the processing module is used to execute the computer program and implement the steps of the dynamic modulation method of medium and low frequency currents as described in the first aspect above when executing the computer program.

[0008] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program; when the computer program is executed by one or more processing modules, the one or more processing modules execute the steps of the dynamic modulation method of medium and low frequency currents as described in the first aspect above.

[0009] The embodiments of the present application provide a method, device, equipment and storage medium for dynamic modulation of medium and low frequency currents, wherein the method for dynamic modulation of medium and low frequency currents includes: obtaining the actual current at the current moment, comparing the actual current with the target current, and obtaining the current error and the rate of change of the current error respectively; determining the control input signal of the sliding mode control algorithm according to the current error and the rate of change of the current error; adjusting the current error and the rate of change of the current error based on the control input signal; and dynamically periodically modulating the working frequency of the current according to the adjusted current error and the rate of change of the current error. By measuring the error between the current and the target current in real time, combining the sliding mode control algorithm and periodic dynamic frequency modulation, the adaptability and precise control of medium and low frequency currents in rehabilitation therapy can be improved, thereby improving the user experience effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0011] Figure 1 A schematic flow chart of a method for dynamically modulating medium and low frequency currents provided in an embodiment of the present application;

[0012] Figure 2 A schematic diagram of the structure of a dynamic modulation device for medium and low frequency currents provided in an embodiment of the present application;

[0013] Figure 3 A schematic block diagram of a dynamic modulation device for medium and low frequency current provided in an embodiment of the present application. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0015] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0016] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0017] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0018] The technical solution provided by this application will be described in detail below with reference to the accompanying drawings.

[0019] See also Figure 1 , Figure 1 The flowchart of the dynamic modulation method of medium and low frequency current provided in the embodiment of the present application is shown in FIG. The dynamic modulation method of medium and low frequency current provided in the embodiment of the present application is implemented by a muscle state monitoring device. The embodiment of the present application does not impose any limitation on the dynamic modulation device of medium and low frequency current. Specifically, Figure 1 As shown, the dynamic modulation method of medium and low frequency current includes steps S101 to S104. The details are as follows:

[0020] S101: Acquire the actual current at the current moment, compare the actual current with the target current, and obtain the current error and the change rate of the current error respectively.

[0021] In the present application, the actual current is the current obtained by measurement, for example, the current monitored in real time by a sensor or other measuring equipment.

[0022] The target current is the current expected by the target user. The target current provides a user operation interface through the device for the target user to select or set according to the physical therapy needs or experience effects. It should be noted that when the target user uses the device, he can dynamically select or set according to the experience effect. In other words, the value of the target current can change dynamically as the physical therapy progresses to improve the user's experience effect.

[0023] The current error includes the difference between the actual current and the target current, and the rate of change of the current error includes the derivative of the current error.

[0024] Exemplarily, the difference between the actual current and the target current is expressed as: e(t)=I actual (t)-I target

[0025] (t)

[0026] The rate of change of the current error is expressed as:

[0027] Where e(t) represents the current error, Indicates the rate of change of current error, I actual (t) is the actual current, I target (t) is the target current.

[0028] S102: Determine a control input signal of a sliding mode control algorithm according to the current error and the rate of change of the current error.

[0029] In the present application, the control input signal of the sliding mode control algorithm is determined based on the current error and the rate of change of the current error, including: constructing the expected control item and the sliding mode control item of the sliding mode control algorithm according to the current error and the rate of change of the current error, respectively; superimposing the expected control item and the sliding mode control item to obtain the control input signal.

[0030] Exemplarily, according to the current error and the rate of change of the current error, the desired control term and the sliding mode control term of the sliding mode control algorithm are respectively constructed, including:

[0031]

[0032] u s (t) = -K s sign(s(t))

[0033] Among them, u des (t) is the desired control term, K1 and K2 are the designed control gains, representing the error e(t) and the error change rate The degree of impact on the desired control items;

[0034] u s(t) is the sliding mode control term, K s is the sliding mode gain, which indicates the strength of the sliding mode control. sign(s(t)) is the sign function of the sliding surface function s(t), which indicates that when s(t)>0, it returns 1, and when s(t)<0, it returns -1.

[0035] The desired control term and the sliding mode control term are superimposed to obtain the control input signal, including:

[0036]

[0037] Among them, u(t) is the final control input signal;

[0038] λ is a design parameter, representing the error e(t) and the error change rate Influence on sliding surface.

[0039] S103: Adjusting the current error and the rate of change of the current error based on the control input signal.

[0040] In the present application, the current error and the rate of change of the current error are adjusted to ensure that the current can respond to external changes quickly and stably and keep the current close to the expected value. Exemplarily, the current error and the rate of change of the current error based on the control input signal can be expressed as: Among them, K p is the proportional gain, which is used to determine the speed effect on the current error; K i is the integral gain, which is used to eliminate the accumulation of current error over time; K d is the differential gain, which is used to increase the response speed.

[0041] By adjusting the current error and the rate of change of the current error, precise current control is achieved to ensure stable operation of the equipment.

[0042] S104: Dynamically and periodically modulate the operating frequency of the current according to the adjusted current error and the rate of change of the current error.

[0043] Dynamically and periodically modulating the operating frequency of the current according to the adjusted current error and the rate of change of the current error includes: dynamically adjusting the modulation period of the controller according to the adjusted current error and the rate of change of the current error to modulate the operating frequency of the current.

[0044] Through the above analysis, it can be known that the dynamic modulation method of medium and low frequency current provided by the embodiment of the present application includes: obtaining the actual current at the current moment, comparing the actual current with the target current, and obtaining the current error and the rate of change of the current error respectively; determining the control input signal of the sliding mode control algorithm according to the current error and the rate of change of the current error; adjusting the current error and the rate of change of the current error based on the control input signal; and dynamically periodically modulating the working frequency of the current according to the adjusted current error and the rate of change of the current error. By measuring the error between the current and the target current in real time, combining the sliding mode control algorithm and periodic dynamic frequency modulation, the adaptability and precise control of medium and low frequency current in rehabilitation therapy can be improved, thereby improving the user experience effect.

[0045] See also Figure 2 As shown, Figure 2 This is a schematic diagram of the structure of the dynamic modulation device for medium and low frequency current provided in the embodiment of the present application. Figure 2 It can be seen that the medium and low frequency current dynamic modulation device 200 provided in the embodiment of the present application includes:

[0046] A comparison module 210 is used to obtain the actual current at the current moment, compare the actual current with the target current, and obtain the current error and the change rate of the current error respectively;

[0047] A determination module 220, configured to determine a control input signal of a sliding mode control algorithm according to a current error and a rate of change of the current error;

[0048] An adjustment module 230, configured to adjust a current error and a rate of change of the current error based on a control input signal;

[0049] The modulation module 240 is used to dynamically and periodically modulate the operating frequency of the current according to the adjusted current error and the rate of change of the current error.

[0050] In one embodiment, the determination module 220 includes:

[0051] A construction unit, used to respectively construct a desired control item and a sliding mode control item of a sliding mode control algorithm according to a current error and a rate of change of the current error;

[0052] The superposition unit is used to superimpose the desired control item and the sliding mode control item to obtain a control input signal.

[0053] In one embodiment, the construction unit is specifically used to construct:

[0054]

[0055] u s (t) = -K s sign(s(t))

[0056] Among them, u des (t) is the desired control term, K1 and K2 are the designed control gains, representing the error e(t) and the error change rate The degree of impact on the desired control items;

[0057] u s (t) is the sliding mode control term, K s is the sliding mode gain, which indicates the strength of the sliding mode control. sign(s(t)) is the sign function of the sliding surface function s(t), which indicates that when s(t)>0, it returns 1, and when s(t)<0, it returns -1.

[0058] In one embodiment, the superposition unit is specifically used to obtain:

[0059] u(t)=--K1e(t)-K2e(t)-K s sign(s(t))

[0060] Among them, u(t) is the final control input signal;

[0061] In one embodiment, the modulation module 240 is specifically configured to:

[0062] According to the adjusted current error and the rate of change of the current error, the modulation period of the controller is dynamically adjusted to modulate the working frequency of the current.

[0063] In one embodiment, the current error includes a difference between an actual current and a target current, and the rate of change of the current error includes a derivative of the current error.

[0064] In one embodiment, the target current is a current desired by a target user.

[0065] It should be noted that the specific implementation process of the above modules or units can refer to the specific implementation process of each step in the previous method embodiment, which will not be repeated here.

[0066] See also Figure 3 As shown, Figure 3 A schematic block diagram of a dynamic modulation device for medium and low frequency current provided in an embodiment of the present application.

[0067] Exemplarily, the medium and low frequency current dynamic modulation device 300 includes a processing module 301 and a memory 302 .

[0068] Exemplarily, the processing module 301 and the memory 302 are connected via a bus 303 , and the bus 303 is, for example, an I2C (Inter-integrated Circuit) bus.

[0069] Specifically, the processing module 301 may be a micro-controller unit (MCU), a central processing unit (CPU) or a digital signal processing module (DSP).

[0070] Specifically, the memory 302 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0071] The processing module 301 is used to run the computer program stored in the memory 302 and implement the steps of the above-mentioned dynamic modulation method of medium and low frequency current when executing the computer program.

[0072] Exemplarily, the processing module 301 is used to run the computer program stored in the memory 302, and implement the following steps when executing the computer program:

[0073] Obtain the actual current at the current moment, compare the actual current with the target current, and obtain the current error and the rate of change of the current error respectively;

[0074] Determine the control input signal of the sliding mode control algorithm according to the current error and the rate of change of the current error;

[0075] regulating a current error and a rate of change of the current error based on a control input signal;

[0076] The operating frequency of the current is dynamically and periodically modulated according to the adjusted current error and the rate of change of the current error.

[0077] In one embodiment, determining a control input signal of a sliding mode control algorithm according to a current error and a rate of change of the current error includes:

[0078] According to the current error and the rate of change of the current error, the desired control term and the sliding mode control term of the sliding mode control algorithm are respectively constructed;

[0079] The desired control term and the sliding mode control term are superimposed to obtain the control input signal.

[0080] In one embodiment, according to the current error and the rate of change of the current error, a desired control term and a sliding mode control term of the sliding mode control algorithm are respectively constructed, including:

[0081]

[0082] u s (t) = -K s sign(s(t))

[0083] Among them, u des (t) is the desired control term, K1 and K2 are the designed control gains, representing the error e(t) and the error change rate The degree of impact on the desired control items;

[0084] u s (t) is the sliding mode control term, K s is the sliding mode gain, which indicates the strength of the sliding mode control. sign(s(t)) is the sign function of the sliding surface function s(t), which indicates that when s(t)>0, it returns 1, and when s(t)<0, it returns -1.

[0085] In one embodiment, the desired control term and the sliding mode control term are superimposed to obtain a control input signal, including:

[0086]

[0087] Among them, u(t) is the final control input signal;

[0088] λ is a design parameter, representing the error e(t) and the error change rate Influence on sliding surface.

[0089] In one embodiment, dynamically periodically modulating the operating frequency of the current according to the adjusted current error and the rate of change of the current error includes:

[0090] According to the adjusted current error and the rate of change of the current error, the modulation period of the controller is dynamically adjusted to modulate the working frequency of the current.

[0091] In one embodiment, the current error includes a difference between an actual current and a target current, and the rate of change of the current error includes a derivative of the current error.

[0092] In one embodiment, the target current is a current desired by a target user.

[0093] The specific principles and implementation methods of the dynamic modulation device for medium and low frequency currents provided in the embodiments of the present application are similar to the dynamic modulation methods for medium and low frequency currents in the aforementioned embodiments, and will not be repeated here.

[0094] The embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by the processing module, the processing module implements the following steps:

[0095] Obtain the actual current at the current moment, compare the actual current with the target current, and obtain the current error and the rate of change of the current error respectively;

[0096] Determine the control input signal of the sliding mode control algorithm according to the current error and the rate of change of the current error;

[0097] regulating a current error and a rate of change of the current error based on a control input signal;

[0098] The operating frequency of the current is dynamically and periodically modulated according to the adjusted current error and the rate of change of the current error.

[0099] In one embodiment, determining a control input signal of a sliding mode control algorithm according to a current error and a rate of change of the current error includes:

[0100] According to the current error and the rate of change of the current error, the desired control term and the sliding mode control term of the sliding mode control algorithm are respectively constructed;

[0101] The desired control term and the sliding mode control term are superimposed to obtain the control input signal.

[0102] In one embodiment, according to the current error and the rate of change of the current error, a desired control term and a sliding mode control term of the sliding mode control algorithm are respectively constructed, including:

[0103]

[0104] u s (t) = -K s sign(s(t))

[0105] Among them, u des (t) is the desired control term, K1 and K2 are the designed control gains, representing the error e(t) and the error change rate The degree of impact on the desired control items;

[0106] u s (t) is the sliding mode control term, K s is the sliding mode gain, which indicates the strength of the sliding mode control. sign(s(t)) is the sign function of the sliding surface function s(t), which indicates that when s(t)>0, it returns 1, and when s(t)<0, it returns -1.

[0107] In one embodiment, the desired control term and the sliding mode control term are superimposed to obtain a control input signal, including:

[0108] u(t)=--K1e(t)-K2e(t)-K s sign(s(t))

[0109] Among them, u(t) is the final control input signal;

[0110] s(t)=λe(t)+e(t), where λ is a design parameter representing the influence of the error e(t) and the error change rate e(t) on the sliding surface.

[0111] In one embodiment, dynamically periodically modulating the operating frequency of the current according to the adjusted current error and the rate of change of the current error includes:

[0112] According to the adjusted current error and the rate of change of the current error, the modulation period of the controller is dynamically adjusted to modulate the working frequency of the current.

[0113] In one embodiment, the current error includes a difference between an actual current and a target current, and the rate of change of the current error includes a derivative of the current error.

[0114] In one embodiment, the target current is a current desired by a target user.

[0115] The computer-readable storage medium may be an internal storage unit of the medium- and low-frequency current dynamic modulation device in the aforementioned embodiment, such as a hard disk or memory of the medium- and low-frequency current dynamic modulation device. The computer-readable storage medium may also be an external storage device of the medium- and low-frequency current dynamic modulation device, such as a plug-in hard disk equipped on the medium- and low-frequency current dynamic modulation device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc.

[0116] It should be understood that the terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0117] It will also be understood that the term "and / or" used in this application and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0118] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A dynamic modulation method for medium and low frequency current, characterized in that: include: Obtaining an actual current at a current moment, comparing the actual current with a target current, and obtaining a current error and a change rate of the current error; Determining a control input signal of a sliding mode control algorithm according to the current error and the rate of change of the current error; adjusting the current error and the rate of change of the current error based on the control input signal; The operating frequency of the current is dynamically and periodically modulated according to the adjusted current error and the rate of change of the current error.

2. The dynamic modulation method of medium and low frequency current according to claim 1, characterized in that: Determining a control input signal of a sliding mode control algorithm according to the current error and the rate of change of the current error includes: constructing a desired control term and a sliding mode control term of the sliding mode control algorithm according to the current error and the rate of change of the current error; The desired control term and the sliding mode control term are superimposed to obtain a control input signal.

3. The dynamic modulation method of medium and low frequency current according to claim 2, characterized in that: The step of constructing the desired control term and the sliding mode control term of the sliding mode control algorithm according to the current error and the rate of change of the current error comprises: u s (t)=-K s sign(s(t)) Among them, u des (t) is the desired control term, K1 and K2 are the designed control gains, representing the error e(t) and the error change rate The degree of impact on the desired control items; u s (t) is the sliding mode control term, K s is the sliding mode gain, which indicates the strength of the sliding mode control. sign(s(t)) is the sign function of the sliding surface function s(t), which indicates that when s(t)>0, it returns 1, and when s(t)<0, it returns -1.

4. The dynamic modulation method of medium and low frequency current according to claim 3, characterized in that: The superimposing the desired control term and the sliding mode control term to obtain a control input signal includes: Among them, u(t) is the final control input signal.

5. The dynamic modulation method of medium and low frequency current according to claim 1, characterized in that: The dynamically periodically modulating the operating frequency of the current according to the adjusted current error and the rate of change of the current error comprises: According to the adjusted current error and the rate of change of the current error, the modulation period of the controller is dynamically adjusted to modulate the working frequency of the current.

6. The dynamic modulation method of medium and low frequency current according to claim 1, characterized in that: The current error includes a difference between the actual current and the target current, and the rate of change of the current error includes a derivative of the current error.

7. The dynamic modulation method of medium and low frequency current according to claim 6, characterized in that: The target current is the current expected by the target user.

8. A dynamic modulation device for medium and low frequency current, characterized in that: include: A comparison module, used to obtain the actual current at the current moment, compare the actual current with the target current, and obtain a current error and a change rate of the current error respectively; A determination module, used for determining a control input signal of a sliding mode control algorithm according to the current error and the rate of change of the current error; a regulating module, configured to regulate the current error and the rate of change of the current error based on the control input signal; The modulation module is used to dynamically and periodically modulate the operating frequency of the current according to the adjusted current error and the change rate of the current error.

9. An electronic device, characterized in that: include: Memory and processing modules; The memory is used to store computer programs; The processing module is used to execute the computer program and implement the steps of the dynamic modulation method of medium and low frequency current as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer readable storage medium stores a computer program; When the computer program is executed by one or more processing modules, the one or more processing modules execute the steps of the dynamic modulation method of medium and low frequency current as described in any one of claims 1 to 7.

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