Control method, device and equipment of ultrasonic transducer and storage medium

Abstract

The embodiment of the invention discloses a control method, device and equipment for an ultrasonic transducer and a storage medium, and the control method comprises the steps: determining the dynamic branch reactance of the ultrasonic transducer based on an equivalent circuit model of the ultrasonic transducer, or determining the preset dynamic branch reactance of a corresponding frequency point based on the set frequency point of the ultrasonic transducer; introducing the dynamic branch reactance as an input quantity into a preset controller to obtain a corresponding output quantity; and controlling the ultrasonic transducer to work by taking the output quantity as the target control frequency. According to the invention, the ultrasonic transducer is converted into the equivalent circuit model in which the dynamic branch and the static branch are connected in parallel, and the reactance of the dynamic branch replaces the phase as a control target. The technical problems that in the prior art, the algorithm is complex and the frequency tracking stability is poor when the ultrasonic transducer is subjected to automatic frequency tracking control by using the phase as the control target are solved, and the technical effect of simply and stably carrying out automatic frequency tracking on the ultrasonic transducer is achieved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of medical devices, and in particular to a control method, device, equipment and storage medium for an ultrasonic transducer. Background Art

[0002] At present, the methods for automatic frequency tracking control of ultrasonic transducers mostly use overall phase frequency tracking control or dynamic branch phase frequency tracking. Although these methods can meet the frequency tracking control requirements of ultrasonic transducers, the algorithm is difficult and the frequency tracking stability is poor. Summary of the invention

[0003] The embodiments of the present invention provide a control method, device, equipment and storage medium for an ultrasonic transducer, which solve the technical problems of complex algorithm and poor frequency tracking stability in the prior art of automatically tracking the frequency of an ultrasonic transducer using phase as a control target.

[0004] An embodiment of the present invention provides a control method for an ultrasonic transducer, the control method comprising:

[0005] Determining the dynamic branch reactance of the ultrasonic transducer based on an equivalent circuit model of the ultrasonic transducer, or determining the dynamic branch reactance preset at the corresponding frequency point based on a set frequency point of the ultrasonic transducer;

[0006] The dynamic branch reactance is introduced as an input into a preset controller to obtain a corresponding output, wherein the preset controller includes one of the following: an incremental proportional integral differential controller, a position proportional integral differential controller, a proportional integral controller, an active disturbance rejection controller, an adaptive controller, and a sliding film controller;

[0007] The output is used as a target control frequency to control the operation of the ultrasonic transducer.

[0008] Further, determining the dynamic branch reactance of the ultrasonic transducer based on an equivalent circuit model of the ultrasonic transducer includes:

[0009] Obtaining a current vector and a voltage vector of the ultrasonic transducer based on an equivalent circuit model of the ultrasonic transducer;

[0010] determining a total admittance of the ultrasonic transducer based on the current vector and the voltage vector;

[0011] A dynamic branch reactance of the ultrasonic transducer is determined based on a total admittance of the ultrasonic transducer.

[0012] Further, determining the total admittance of the ultrasonic transducer based on the current vector and the voltage vector includes:

[0013] Based on the complex domain value of the current vector and the complex domain value of the voltage vector, the total admittance of the ultrasonic transducer is determined using Ohm's law; or,

[0014] Obtain the phase difference between the voltage and current of the ultrasonic transducer, wherein the phase difference is the phase of the voltage of the ultrasonic transducer, is the phase of the current of the ultrasonic transducer;

[0015] The total admittance of the ultrasonic transducer is determined using Ohm's law based on the magnitude of the current vector, the magnitude of the voltage vector, and the phase difference.

[0016] Further, determining the dynamic branch reactance of the ultrasonic transducer based on the total admittance of the ultrasonic transducer includes:

[0017] Determine a second relationship between the total admittance and the dynamic branch resistance and the dynamic branch reactance based on the complex domain value of the static branch impedance of the ultrasonic transducer, the complex domain value of the dynamic branch impedance of the ultrasonic transducer, and the first relationship between the total admittance and the total conductance and the total susceptance;

[0018] determining a third relationship between the dynamic branch reactance and the current vector and the voltage vector of the ultrasonic transducer based on the total admittance of the ultrasonic transducer and the second relationship;

[0019] The dynamic branch reactance is determined based on the relationship between the dynamic branch reactance and the impedance phase angle and the third relationship.

[0020] Further, determining the dynamic branch reactance preset at the corresponding frequency point based on the set frequency point of the ultrasonic transducer includes:

[0021] Determine the corresponding dynamic branch reactance of the set frequency point based on a preset method;

[0022] Wherein, the preset method includes at least one of the following: admittance circle method, impedance circle method, geometric method, algebraic method;

[0023] The set frequency points include at least: a first overall phase 0 point, a second overall phase 0 point, a series resonance point, a parallel resonance point, an overall impedance minimum point, an overall impedance maximum point and an overall phase maximum point.

[0024] Further, based on the amplitude of the current vector, the amplitude of the voltage vector and the phase difference, determining the total admittance of the ultrasonic transducer using Ohm's law includes:

[0025] The total admittance of the ultrasonic transducer is determined using Ohm's law: in, is the total admittance, I a is the magnitude of the current vector, U a is the magnitude of the voltage vector, is the phase difference.

[0026] Further, based on the complex domain value of the current vector and the complex domain value of the voltage vector, determining the total admittance of the ultrasonic transducer using Ohm's law includes:

[0027] The total admittance of the ultrasonic transducer is determined using Ohm's law:

[0028]

[0029] in, is the total admittance, is the complex domain value of the current vector, is the complex domain value of the voltage vector.

[0030] An embodiment of the present invention further provides a control device for an ultrasonic transducer, the control device comprising:

[0031] A reactance determination unit, configured to determine the dynamic branch reactance of the ultrasonic transducer based on an equivalent circuit model of the ultrasonic transducer, or to determine the dynamic branch reactance preset at a corresponding frequency point based on a set frequency point of the ultrasonic transducer;

[0032] A reactance adjustment unit, used for importing the dynamic branch reactance as an input into a preset controller to obtain a corresponding output, wherein the preset controller includes one of the following: an incremental proportional integral differential controller, a position proportional integral differential controller, a proportional integral controller, an active disturbance rejection controller, an adaptive controller, and a sliding film controller;

[0033] The reactance control unit is used to control the operation of the ultrasonic transducer by taking the output as a target control frequency.

[0034] An embodiment of the present invention further provides a control device for an ultrasonic transducer, the control device comprising:

[0035] at least one processor; and

[0036] a memory communicatively connected to the at least one processor; wherein,

[0037] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method of the ultrasonic transducer described in any of the above embodiments.

[0038] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method of the ultrasonic transducer described in any of the above embodiments when executed.

[0039] The embodiment of the present invention discloses a control method, device, equipment and storage medium for an ultrasonic transducer. The control method includes: determining the dynamic branch reactance of the ultrasonic transducer based on the equivalent circuit model of the ultrasonic transducer, or determining the preset dynamic branch reactance of the corresponding frequency point based on the set frequency point of the ultrasonic transducer; importing the dynamic branch reactance as an input quantity into a preset controller to obtain a corresponding output quantity; and controlling the operation of the ultrasonic transducer by using the output quantity as a target control frequency. The present application solves the technical problems of complex algorithms and poor frequency tracking stability in the prior art of using phase as a control target to automatically track the frequency of an ultrasonic transducer by converting the ultrasonic transducer into an equivalent circuit model in which a dynamic branch and a static branch are connected in parallel, and using the dynamic branch reactance instead of phase as a control target, thereby achieving a simple and stable technical effect of automatically tracking the frequency of an ultrasonic transducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a schematic diagram of an equivalent circuit model of an ultrasonic transducer provided by an embodiment of the present invention;

[0041] Figure 2 is a flow chart of a method for controlling an ultrasonic transducer provided by an embodiment of the present invention;

[0042] Figure 3 is a structural diagram of a control device for an ultrasonic transducer provided in an embodiment of the present invention;

[0043] Figure 4 It is a structural schematic diagram of a control device of an ultrasonic transducer provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0045] It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of the present invention are used to distinguish different objects, rather than to limit a specific order. The following embodiments of the present invention can be implemented separately, or in combination with each other, and the embodiments of the present invention do not impose specific limitations on this.

[0046] Figure 1Schematic diagram of an equivalent circuit model of an ultrasonic transducer provided in an embodiment of the present invention.

[0047] like Figure 1 As shown, an equivalent circuit model of an ultrasonic transducer is constructed based on a centralized equivalent construction model method of an ultrasonic transducer. The equivalent circuit model includes a first branch and a second branch connected in parallel, wherein the first branch is also called a static branch, and the second branch is also called a dynamic branch. Figure 1 , C s is the static branch capacitance, C s It can be obtained through MP (Matching Pursuit, matching pursuit) algorithm, impedance analyzer or admittance circle algorithm, R d is the dynamic branch resistance, L d is the dynamic branch inductance, C d is the dynamic branch capacitance, X d is the dynamic branch reactance. Therefore, there exists:

[0048]

[0049] Among them, Z a is the total impedance, Z s is the static branch impedance, Z d is the dynamic branch impedance.

[0050] Static branch impedance Z s for:

[0051] Dynamic branch impedance Z d for:

[0052] And, Z d =R d +X d j;(4);

[0053] Where W is the angular frequency and j is the imaginary number of the complex number.

[0054] According to the complex impedance calculation, the dynamic branch reactance X d for:

[0055] Total impedance Z a The reciprocal of is the total admittance, Among them, G a is the total conductance, B a is the total electrical admittance.

[0056] The inverse of the dynamic branch impedance Among them, G d is the dynamic branch conductance, B dis the dynamic branch susceptance; Substituting formula (2) and formula (6) into formula (1) for simplification, we can obtain:

[0057]

[0058] The phase difference θ between the dynamic branch voltage and current is: therefore,

[0059] Therefore, combining the above formulas, substituting formula (2) and formula (4) into formula (1) for simplification, and then according to formula (6), we can get:

[0060]

[0061] Figure 2 It is a flow chart of a control method of an ultrasonic transducer provided by an embodiment of the present invention.

[0062] like Figure 2 As shown, the control method of the ultrasonic transducer specifically includes the following steps:

[0063] S101, determining a dynamic branch reactance of an ultrasonic transducer based on an equivalent circuit model of the ultrasonic transducer, or determining a dynamic branch reactance preset at a corresponding frequency point based on a set frequency point of the ultrasonic transducer.

[0064] In an optional embodiment, the Figure 1 The equivalent circuit model of the ultrasonic transducer shown in the figure converts the phase difference θ between the dynamic branch voltage and current into the dynamic branch reactance X d , and then the dynamic branch reactance X d As the control target; among them, the phase difference θ between the dynamic branch voltage and current can be directly obtained through the amplitude detector and phase detector.

[0065] In another optional implementation, due to the phase difference between the dynamic branch voltage and current θ or the dynamic branch reactance X d It is not very intuitive to understand the specific working point of the ultrasonic transducer, so the corresponding control target XO can be obtained by directly planning the control frequency point (i.e. the above-mentioned set frequency point) in advance. d , XO d It is the dynamic branch reactance at the set frequency point.

[0066] S102, importing the dynamic branch reactance as an input into a preset controller to obtain a corresponding output, wherein the preset controller includes one of the following: an incremental proportional integral derivative (PID) controller, a position proportional integral derivative controller, a proportional integral (PI) controller, an active disturbance rejection controller, an adaptive controller (ADRC), and a sliding membrane controller.

[0067] Specifically, the dynamic branch reactance X is obtained d After that, due to the dynamic branch reactance X d It is linearly related to the angular frequency W within the control bandwidth, that is, there is a linear relationship between the control target and the control output. Therefore, it is only necessary to use a conventional controller, not limited to the preset controller listed above, to achieve automatic frequency tracking of the ultrasonic transducer.

[0068] S103, using the output as the target control frequency to control the operation of the ultrasonic transducer.

[0069] Specifically, after the corresponding output of the preset controller is obtained, it is used as the target control frequency to control the ultrasonic transducer, thereby achieving stable automatic frequency tracking of the ultrasonic transducer.

[0070] The present application converts the ultrasonic transducer into an equivalent circuit model in which a dynamic branch is connected in parallel with a static branch, and uses the dynamic branch reactance instead of the phase as the control target. This solves the technical problems of complex algorithms and poor frequency tracking stability in the prior art when using the phase as the control target for automatic frequency tracking control of the ultrasonic transducer, and achieves the technical effect of simple and stable automatic frequency tracking of the ultrasonic transducer.

[0071] On the basis of the above technical solutions, S101, determining the dynamic branch reactance of the ultrasonic transducer based on the equivalent circuit model of the ultrasonic transducer specifically includes:

[0072] S1, obtaining the current vector and voltage vector of the ultrasonic transducer based on the equivalent circuit model of the ultrasonic transducer.

[0073] S2, determining the total admittance of the ultrasonic transducer based on the current vector and the voltage vector.

[0074] S3, determining the dynamic branch reactance of the ultrasonic transducer based on the total admittance of the ultrasonic transducer.

[0075] Specifically, the current vector of the ultrasonic transducer is obtained based on the equivalent circuit model of the ultrasonic transducer. And the voltage vector Based on the current vector And the voltage vector Determining the total admittance of an ultrasonic transducer Then based on the total admittance of the ultrasonic transducer Determine the dynamic branch reactance X of the ultrasonic transducer d .

[0076] In one embodiment, S2, determining the total admittance of the ultrasonic transducer based on the current vector and the voltage vector specifically includes:

[0077] S21, determining the total admittance of the ultrasonic transducer using Ohm's law based on the complex domain value of the current vector and the complex domain value of the voltage vector; or,

[0078] S22, obtaining the phase difference between the voltage and current of the ultrasonic transducer, where the phase difference is the phase of the voltage of the ultrasonic transducer, is the phase of the current of the ultrasonic transducer;

[0079] S23, determining the total admittance of the ultrasonic transducer using Ohm's law based on the amplitude of the current vector, the amplitude of the voltage vector and the phase difference.

[0080] In an optional embodiment, S21, based on the complex domain value of the current vector and the complex domain value of the voltage vector Determining the total admittance of an ultrasonic transducer using Ohm's law involves:

[0081] Use Ohm's law to determine the total admittance of an ultrasonic transducer:

[0082]

[0083] in, is the total admittance, is the complex domain value of the current vector, is the complex domain value of the voltage vector. The corresponding current vector and voltage vector can be obtained by spectrum methods such as FFT (Fast Fourier Transform), DFT (Discrete Fourier Transform), periodogram method, AFFL (All-Phase Fast Fourier Transform), etc.

[0084] In another optional embodiment, in S22, the phase difference between the voltage and current of the ultrasonic transducer is obtained. After that, S23, based on the current vector The amplitude I a , voltage vector The amplitude U a And the phase difference Determining the total admittance of an ultrasonic transducer using Ohm's law involves:

[0085] Use Ohm's law to determine the total admittance of an ultrasonic transducer:

[0086]

[0087] in, is the total admittance, I a is the magnitude of the current vector, U a is the magnitude of the voltage vector, is the phase difference.

[0088] In one embodiment, S3, determining the dynamic branch reactance of the ultrasonic transducer based on the total admittance of the ultrasonic transducer specifically includes:

[0089] S31, determining a second relationship between the total admittance and the dynamic branch resistance and the dynamic branch reactance based on the complex domain value of the static branch impedance of the ultrasonic transducer, the complex domain value of the dynamic branch impedance of the ultrasonic transducer, and the first relationship between the total admittance and the total conductance and the total susceptance.

[0090] Specifically, based on the static branch impedance Z of the ultrasonic transducer s The complex domain value of Dynamic branch impedance Z of ultrasonic transducer d The complex domain value Z d =R d +X d j, total admittance and the total conductance G a and total susceptance B a The first relationship between Determine the total admittance The dynamic branch resistance R d And the dynamic branch reactance X d The second relationship between:

[0091]

[0092] S32, determining a third relationship between the dynamic branch reactance and the current vector and the voltage vector of the ultrasonic transducer based on the total admittance of the ultrasonic transducer and the second relationship;

[0093] Specifically, when the total admittance of the ultrasonic transducer is When , that is, the above formula (11), the third relationship is:

[0094]

[0095] When the total admittance of the ultrasonic transducer is When , that is, the above formula (12), the third relationship is:

[0096]

[0097] S33, determining the dynamic branch reactance based on the relationship between the dynamic branch reactance and the impedance phase angle and the third relationship.

[0098] Specifically, the relationship between the dynamic branch reactance and the impedance phase angle is: That is the above formula (9).

[0099] When the third relationship is the above formula (13) and (14), the dynamic branch reactance X d for:

[0100]

[0101] When the third relationship is the above formula (15) and (16), the dynamic branch reactance X d for:

[0102]

[0103] For the control object X d The feedback of is decoupled and calculated. According to formulas (4) and (8), we can get:

[0104]

[0105] On the basis of the above technical solutions, S101, determining the preset dynamic branch reactance at the corresponding frequency point based on the set frequency point of the ultrasonic transducer specifically includes:

[0106] The corresponding dynamic branch reactance of the set frequency point is determined based on a preset method; wherein the preset method includes at least one of the following: admittance circle method, impedance circle method, geometric method, algebraic method; the set frequency point includes at least: the first overall phase is 0 point, the second overall phase is 0 point, the series resonance point, the parallel resonance point, the overall impedance minimum point, the overall impedance maximum point and the overall phase maximum point.

[0107] Specifically, the frequency point can be directly and simply planned in advance by the admittance circle method, impedance circle method, geometric method, algebraic method, etc., and the dynamic branch reactance X can be obtained. d control target, and then realize combined control or independent control. Assuming XO d is the dynamic branch reactance X at the set frequency point d, you can select the first overall phase 0 point, the second overall phase 0 point, the series resonance point, the parallel resonance point, the overall impedance minimum point, the overall impedance maximum point and the overall phase maximum point as the set frequency points as needed, see Table 1.

[0108] Table 1. Control targets corresponding to set frequency points

[0109]

[0110]

[0111] In short, after determining the dynamic branch reactance X d After that, it is input into the preset controller. Assuming that the preset controller is an incremental proportional integral derivative controller, it can be known that:

[0112] The feedback of PID is:

[0113] The given value of PID is: or or XO d .

[0114] Therefore, the given error of PID is:

[0115]

[0116] or

[0117] or

[0118] According to the conventional incremental PID formula, it can be expressed as:

[0119] Λf[n]=K p {e[n]-e[n-1]}+K i e[n]+K d {e[n]-2e[n-1]+e[n-2]};

[0120] The output of the final frequency f[n] is: f[n]=f[n-1]+Λf[n].

[0121] Figure 3 It is a structural diagram of a control device for an ultrasonic transducer provided in an embodiment of the present invention.

[0122] like Figure 3 As shown, the control device of the ultrasonic transducer specifically includes:

[0123] The reactance determination unit 31 is used to determine the dynamic branch reactance of the ultrasonic transducer based on the equivalent circuit model of the ultrasonic transducer, or to determine the dynamic branch reactance preset at the corresponding frequency point based on the set frequency point of the ultrasonic transducer;

[0124] The reactance adjustment unit 32 is used to import the dynamic branch reactance as an input into a preset controller to obtain a corresponding output, wherein the preset controller includes one of the following: an incremental proportional integral differential controller, a position proportional integral differential controller, a proportional integral controller, an active disturbance rejection controller, an adaptive controller, and a sliding film controller;

[0125] The reactance control unit 33 is used to control the operation of the ultrasonic transducer by taking the output as the target control frequency.

[0126] Optionally, the reactance determination unit 31 includes:

[0127] A vector determination subunit, used for obtaining a current vector and a voltage vector of the ultrasonic transducer based on an equivalent circuit model of the ultrasonic transducer;

[0128] An admittance determination subunit, used for determining a total admittance of the ultrasonic transducer based on a current vector and a voltage vector;

[0129] The first reactance determination subunit is used to determine the dynamic branch reactance of the ultrasonic transducer based on the total admittance of the ultrasonic transducer.

[0130] Optionally, the admittance determination subunit is specifically used for:

[0131] Based on the complex domain value of the current vector and the complex domain value of the voltage vector, the total admittance of the ultrasonic transducer is determined using Ohm's law; or,

[0132] Get the phase difference between the voltage and current of the ultrasonic transducer, where the phase difference is the phase of the voltage of the ultrasonic transducer, is the phase of the current of the ultrasonic transducer;

[0133] Based on the magnitude of the current vector, the magnitude of the voltage vector, and the phase difference, the total admittance of the ultrasonic transducer is determined using Ohm's law.

[0134] Optionally, the first reactance determination subunit is specifically used for:

[0135] Determine a second relationship between the total admittance and the dynamic branch resistance and the dynamic branch reactance based on the complex domain value of the static branch impedance of the ultrasonic transducer, the complex domain value of the dynamic branch impedance of the ultrasonic transducer, and the first relationship between the total admittance and the total conductance and the total susceptance;

[0136] determining a third relationship between the dynamic branch reactance and the current vector and the voltage vector of the ultrasonic transducer based on the total admittance of the ultrasonic transducer and the second relationship;

[0137] The dynamic branch reactance is determined based on the relationship between the dynamic branch reactance and the impedance phase angle and the third relationship.

[0138] Optionally, the reactance determination unit 31 further includes:

[0139] A second reactance determination subunit, configured to determine a corresponding dynamic branch reactance at a set frequency point based on a preset method;

[0140] Wherein, the preset method includes at least one of the following: admittance circle method, impedance circle method, geometric method, algebraic method;

[0141] The set frequency points include at least: a first overall phase 0 point, a second overall phase 0 point, a series resonance point, a parallel resonance point, an overall impedance minimum point, an overall impedance maximum point, and an overall phase maximum point.

[0142] Optionally, the admittance determination subunit is specifically used for:

[0143] Use Ohm's law to determine the total admittance of an ultrasonic transducer: in, is the total admittance, I a is the magnitude of the current vector, U a is the magnitude of the voltage vector, is the phase difference.

[0144] Optionally, the admittance determination subunit is further configured to:

[0145] Use Ohm's law to determine the total admittance of an ultrasonic transducer:

[0146]

[0147] in, is the total admittance, is the complex domain value of the current vector, is the complex domain value of the voltage vector.

[0148] The control device of the ultrasonic transducer provided in the embodiment of the present invention has the same technical features as the control method of the ultrasonic transducer provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0149] Figure 41 is a schematic diagram of the structure of a control device for an ultrasonic transducer provided in an embodiment of the present invention. The control device for the ultrasonic transducer is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0150] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0151] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0152] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a control method for an ultrasonic transducer.

[0153] In some embodiments, the control method of the ultrasonic transducer may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method of the ultrasonic transducer described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the control method of the ultrasonic transducer in any other appropriate manner (e.g., by means of firmware).

[0154] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0155] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0156] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0157] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0158] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0159] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0160] An embodiment of the present invention further provides a computer program product, which includes computer executable instructions. When the computer executable instructions are executed by a computer processor, they are used to execute the control method of the ultrasonic transducer provided by any embodiment of the present invention.

[0161] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code of the present invention, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0162] Of course, the computer program product provided in the embodiments of the present application, whose computer executable instructions are not limited to the method operations described above, can also execute related operations in the method provided in any embodiment of the present application.

[0163] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document is not limited here.

[0164] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling an ultrasonic transducer, characterized in that: The control method comprises: Determining the dynamic branch reactance of the ultrasonic transducer based on an equivalent circuit model of the ultrasonic transducer, or determining the dynamic branch reactance preset at the corresponding frequency point based on a set frequency point of the ultrasonic transducer; The dynamic branch reactance is introduced as an input into a preset controller to obtain a corresponding output, wherein the preset controller includes one of the following: an incremental proportional integral differential controller, a position proportional integral differential controller, a proportional integral controller, an active disturbance rejection controller, an adaptive controller, and a sliding film controller; The output is used as a target control frequency to control the operation of the ultrasonic transducer.

2. The control method of the ultrasonic transducer according to claim 1, characterized in that: Determining the dynamic branch reactance of the ultrasonic transducer based on the equivalent circuit model of the ultrasonic transducer includes: Obtaining a current vector and a voltage vector of the ultrasonic transducer based on an equivalent circuit model of the ultrasonic transducer; determining a total admittance of the ultrasonic transducer based on the current vector and the voltage vector; A dynamic branch reactance of the ultrasonic transducer is determined based on a total admittance of the ultrasonic transducer.

3. The control method of the ultrasonic transducer according to claim 2, characterized in that: Determining the total admittance of the ultrasonic transducer based on the current vector and the voltage vector comprises: Based on the complex domain value of the current vector and the complex domain value of the voltage vector, the total admittance of the ultrasonic transducer is determined using Ohm's law; or, Obtain the phase difference between the voltage and current of the ultrasonic transducer, wherein the phase difference is the phase of the voltage of the ultrasonic transducer, is the phase of the current of the ultrasonic transducer; The total admittance of the ultrasonic transducer is determined using Ohm's law based on the magnitude of the current vector, the magnitude of the voltage vector, and the phase difference.

4. The control method of the ultrasonic transducer according to claim 3, characterized in that: Determining the dynamic branch reactance of the ultrasonic transducer based on the total admittance of the ultrasonic transducer comprises: Determine a second relationship between the total admittance and the dynamic branch resistance and the dynamic branch reactance based on the complex domain value of the static branch impedance of the ultrasonic transducer, the complex domain value of the dynamic branch impedance of the ultrasonic transducer, and the first relationship between the total admittance and the total conductance and the total susceptance; determining a third relationship between the dynamic branch reactance and the current vector and the voltage vector of the ultrasonic transducer based on the total admittance of the ultrasonic transducer and the second relationship; The dynamic branch reactance is determined based on the relationship between the dynamic branch reactance and the impedance phase angle and the third relationship.

5. The control method of the ultrasonic transducer according to claim 1, characterized in that: The dynamic branch reactance preset at the corresponding frequency point is determined based on the set frequency point of the ultrasonic transducer, including: Determine the corresponding dynamic branch reactance of the set frequency point based on a preset method; Wherein, the preset method includes at least one of the following: admittance circle method, impedance circle method, geometric method, algebraic method; The set frequency points include at least: a first overall phase 0 point, a second overall phase 0 point, a series resonance point, a parallel resonance point, an overall impedance minimum point, an overall impedance maximum point and an overall phase maximum point.

6. The control method of the ultrasonic transducer according to claim 3, characterized in that: Determining the total admittance of the ultrasonic transducer using Ohm's law based on the amplitude of the current vector, the amplitude of the voltage vector, and the phase difference includes: The total admittance of the ultrasonic transducer is determined using Ohm's law: in, is the total admittance, I a is the magnitude of the current vector, U a is the magnitude of the voltage vector, is the phase difference.

7. The control method of the ultrasonic transducer according to claim 3, characterized in that: Determining the total admittance of the ultrasonic transducer using Ohm's law based on the complex domain value of the current vector and the complex domain value of the voltage vector includes: The total admittance of the ultrasonic transducer is determined using Ohm's law: in, is the total admittance, is the complex domain value of the current vector, is the complex domain value of the voltage vector.

8. A control device for an ultrasonic transducer, characterized in that: The control device comprises: A reactance determination unit, configured to determine the dynamic branch reactance of the ultrasonic transducer based on an equivalent circuit model of the ultrasonic transducer, or to determine the dynamic branch reactance preset at a corresponding frequency point based on a set frequency point of the ultrasonic transducer; A reactance adjustment unit, used for importing the dynamic branch reactance as an input into a preset controller to obtain a corresponding output, wherein the preset controller includes one of the following: an incremental proportional integral differential controller, a position proportional integral differential controller, a proportional integral controller, an active disturbance rejection controller, an adaptive controller, and a sliding film controller; The reactance control unit is used to control the operation of the ultrasonic transducer by taking the output as a target control frequency.

9. A control device for an ultrasonic transducer, characterized in that: The control device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the method for controlling the ultrasonic transducer according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method of the ultrasonic transducer according to any one of claims 1 to 7 when executed.

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