Ultrasonic cleaner control method and device and storage medium

Abstract

The invention relates to an ultrasonic cleaner control method and device and a storage medium, and is applied to the technical field of ultrasonic cleaners, and the method comprises the steps: collecting the working state parameters of a transducer in real time, achieving the precise calculation of the output power and the phase angle based on the working state parameters, and achieving the precise monitoring of the output response of the transducer, meanwhile, the output power and the phase angle are compared with preset conditions, so that whether the current working frequency is the optimal resonant frequency in the current environment or not is determined, if not, the current working frequency is updated until the system operates according to the optimal resonant frequency in the current environment, and the system operates according to the optimal resonant frequency in the current environment. Therefore, it is ensured that the ultrasonic cleaning equipment always operates at the optimal frequency, and the cleaning efficiency and effect are remarkably improved. And meanwhile, dynamic adjustment of the duty ratio is realized by dynamically adjusting the dead zone time, so that time-sharing staggered output of two paths of signals is realized, the working time of the power supply system is shortened, and the pressure of the power supply system is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic cleaners, and in particular to an ultrasonic cleaner control method, device and storage medium. Background Art

[0002] Currently, the driving signals of most ultrasonic cleaning equipment on the market operate at a fixed frequency and duty cycle, lacking an automatic frequency tracking mechanism and a dynamic duty cycle adjustment strategy. The two driving signals of the equipment operate in an alternating output mode, causing the power supply system to be in a high-load state for a long time. To maintain stable operation of the equipment, it is necessary to rely on a high-power power supply system. However, this type of power supply system has many limitations. First, its energy loss is serious, and a large amount of electricity is wasted in the form of heat dissipation, resulting in low energy utilization and limiting the improvement of cleaning energy efficiency. Second, there are constraints in the appearance design of the equipment. In order to adapt to large-capacity power supply components, the equipment is difficult to achieve miniaturization and lightweight, and cannot meet the needs of specific application scenarios such as portable cleaners and small precision instrument cleaning equipment. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide an ultrasonic cleaner control method, device and storage medium to solve the problem in the prior art that the driving signal of the ultrasonic cleaning equipment adopts a fixed frequency and duty cycle mode, lacks an automatic frequency tracking mechanism and a duty cycle dynamic adjustment strategy, and the two driving signals of the equipment operate in an alternating output mode, causing the power supply system to be in a high-load state for a long time. In order to maintain stable operation of the equipment, it is necessary to rely on a high-power power supply system, the energy utilization rate is low, and the equipment is difficult to achieve miniaturization and lightweight.

[0004] According to a first aspect of an embodiment of the present invention, a method for controlling an ultrasonic cleaner is provided, the method comprising:

[0005] Collecting the ultrasonic transducer operating parameters at the initial frequency, and obtaining the output power and phase angle at the current frequency according to the ultrasonic transducer operating parameters;

[0006] Comparing the output power and phase angle at the current frequency with a preset power peak and a preset phase angle threshold; if the output power reaches the preset power peak and the phase angle satisfies the preset phase angle threshold, the current frequency is the optimal resonant frequency; if the output power does not reach the preset power peak, or the phase angle does not satisfy the preset phase angle threshold, increasing or decreasing the current frequency by a certain step size according to a change trend of the output power to obtain an updated frequency;

[0007] Collecting the ultrasonic transducer operating parameters at the updated frequency, and obtaining the updated output power and phase angle based on the current ultrasonic transducer operating parameters, comparing the updated output power and phase angle with a preset power peak value and a preset phase angle threshold, and determining whether the updated frequency is the optimal resonant frequency. If not, repeating the iteration until the updated frequency is the optimal resonant frequency;

[0008] At the optimal resonant frequency, the same dead time is set at the switching moment of the two high and low level signals, so that the high and low level output signals are output in a time-sharing interleaved manner.

[0009] Preferably,

[0010] The ultrasonic transducer operating parameters under the acquisition initial frequency include:

[0011] Sampling the ultrasonic transducer operating parameters at a preset sampling interval until a preset number of sampling times is met, and storing the ultrasonic transducer operating parameters in a circular buffer with a first-in-first-out data structure;

[0012] The operating parameters of the ultrasonic transducer include a voltage signal at both ends of the transducer and a current signal flowing through the transducer.

[0013] Preferably,

[0014] The obtaining of the output power and phase angle at the current frequency according to the ultrasonic transducer operating parameters includes:

[0015] Performing fast Fourier transform on multiple voltage signals at both ends of the transducer and multiple current signals flowing through the transducer at the current frequency to obtain voltage spectrum and current spectrum;

[0016] Obtaining the impedance at the current frequency according to the voltage spectrum and the current spectrum;

[0017] Obtain the phase angle at the current frequency according to the impedance at the current frequency;

[0018] Acquire phase information of the voltage and current respectively according to the voltage spectrum and the current spectrum, and acquire a phase difference according to the phase information of the voltage and the current;

[0019] Obtaining a voltage effective value based on a plurality of voltage signals at both ends of the transducer at the current frequency; obtaining a current effective value based on a plurality of current signals flowing through the transducer at the current frequency;

[0020] The output power is obtained according to the voltage effective value, the current effective value and the phase difference.

[0021] Preferably,

[0022] The step of increasing or decreasing the current frequency by a certain step length according to the change trend of the output power to obtain the updated frequency includes:

[0023] If the output power increases with increasing frequency, continue to increase the frequency with the current frequency step to obtain the updated frequency; if the output power begins to decrease with increasing frequency, reduce the current frequency step and subtract the adjusted frequency step from the current frequency to obtain the updated frequency.

[0024] Preferably,

[0025] The step of setting the same dead time at the switching moment of the two high and low level signals at the optimal resonant frequency includes:

[0026] Outputting a high-level signal and a low-level signal once is regarded as a signal cycle. In each signal cycle, two dead time periods are set. The two dead time periods are respectively located before and after the high-level signal.

[0027] Preferably, it also includes:

[0028] Obtaining a power error according to the output power at the optimal resonant frequency and a preset target power;

[0029] If the power error is greater than 0, the dead time is reduced by a certain amount; if the power error is less than 0, the dead time is increased by a certain amount.

[0030] Preferably,

[0031] If the power error is greater than 0, reducing the dead time by a certain amount; if the power error is less than 0, increasing the dead time by a certain amount includes:

[0032] Obtaining a target duty cycle according to the preset target power;

[0033] Obtaining a signal period according to the high-level signal output duration, the low-level signal output duration, and the durations of the current two dead-zone signals;

[0034] The current actual duty cycle is obtained by dividing the high-level signal output duration by the signal period;

[0035] Obtaining a duty cycle error according to the target duty cycle and the current actual duty cycle;

[0036] Performing proportional operation, integral operation and differential operation on the duty cycle error to obtain proportional output, integral output and differential output;

[0037] Adding the proportional output, the integral output, and the differential output to obtain a total output;

[0038] Obtaining a dead time adjustment amount according to the total output and a preset conversion coefficient;

[0039] The current dead time is reduced or increased by the dead time adjustment amount.

[0040] According to a second aspect of an embodiment of the present invention, there is provided an ultrasonic cleaner control device, the device comprising:

[0041] Parameter acquisition module: used to collect the ultrasonic transducer operating parameters at the initial frequency, and obtain the output power and phase angle at the current frequency according to the ultrasonic transducer operating parameters;

[0042] Frequency update module: used to compare the output power and phase angle at the current frequency with the preset power peak and the preset phase angle threshold. If the output power reaches the preset power peak and the phase angle meets the preset phase angle threshold, the current frequency is the optimal resonant frequency. If the output power does not reach the preset power peak, or the phase angle does not meet the preset phase angle threshold, the current frequency is increased or decreased by a certain step size according to the change trend of the output power to obtain an updated frequency;

[0043] Optimal frequency acquisition module: used to collect the ultrasonic transducer operating parameters at the updated frequency, and obtain the updated output power and phase angle based on the current ultrasonic transducer operating parameters, compare the updated output power and phase angle with the preset power peak and preset phase angle threshold, and determine whether the updated frequency is the optimal resonant frequency. If not, repeat the iteration until the updated frequency is the optimal resonant frequency;

[0044] Duty cycle adjustment module: used to set the same dead time at the switching moment of the two high and low level signals at the optimal resonant frequency, so that the high and low level output signals are output in a time-sharing interleaved manner.

[0045] According to a third aspect of an embodiment of the present invention, a storage medium is provided, which stores a computer program. When the computer program is executed by a main controller, it implements each step of the logistics equipment redesign method based on digital twins.

[0046] The technical solutions provided by the embodiments of the present invention may have the following beneficial effects:

[0047] This application collects the working status parameters of the transducer in real time, and accurately calculates the output power and phase angle based on the working status parameters, thereby achieving the goal of accurately monitoring the output response of the transducer. At the same time, the output power and phase angle are compared with the preset conditions to confirm whether the current working frequency is the optimal resonant frequency in the current environment. If not, the current working frequency is updated until the system operates at the optimal resonant frequency in the current environment, thereby ensuring that the ultrasonic cleaning equipment always operates at the optimal frequency, significantly improving the cleaning efficiency and effect; at the same time, this application dynamically adjusts the dead time to achieve dynamic adjustment of the duty cycle, thereby achieving time-sharing interleaved output of the two signals, shortening the working time of the power supply system, providing it with necessary buffering, and reducing the working energy consumption of the equipment, which means that a lower power power supply system can be used, thereby making the equipment design more portable.

[0048] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0050] Figure 1 is a flow chart showing a method for controlling an ultrasonic cleaner according to an exemplary embodiment;

[0051] Figure 2 is a system schematic diagram of a control device for an ultrasonic cleaner according to another exemplary embodiment;

[0052] In the attached figure: 1- parameter acquisition module, 2- frequency update module, 3- optimal frequency acquisition module, 4- duty cycle adjustment module. DETAILED DESCRIPTION

[0053] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0054] Example 1

[0055] Figure 1 FIG. 1 is a flow chart showing a method for controlling an ultrasonic cleaner according to an exemplary embodiment. Figure 1 As shown, the method includes:

[0056] S1, collecting the ultrasonic transducer operating parameters at the initial frequency, and obtaining the output power and phase angle at the current frequency according to the ultrasonic transducer operating parameters;

[0057] S2, comparing the output power and phase angle at the current frequency with a preset power peak and a preset phase angle threshold; if the output power reaches the preset power peak and the phase angle satisfies the preset phase angle threshold, the current frequency is the optimal resonant frequency; if the output power does not reach the preset power peak, or the phase angle does not satisfy the preset phase angle threshold, the current frequency is increased or decreased by a certain step size according to the change trend of the output power to obtain an updated frequency;

[0058] S3, collecting the ultrasonic transducer operating parameters at the updated frequency, and obtaining the updated output power and phase angle based on the current ultrasonic transducer operating parameters, comparing the updated output power and phase angle with a preset power peak value and a preset phase angle threshold, and determining whether the updated frequency is the optimal resonant frequency. If not, repeating the iteration until the updated frequency is the optimal resonant frequency;

[0059] S4, at the optimal resonant frequency, set the same dead time at the switching moment of the two high and low level signals, so that the high and low level output signals are output in a time-sharing interleaved manner;

[0060] It is understandable that most of the ultrasonic cleaning equipment currently available on the market adopts a fixed frequency design. In actual cleaning scenarios, the materials, shapes and stain characteristics of the items to be cleaned are significantly different, and their responses to ultrasonic frequencies are also different. Taking the cleaning of jewelry and electronic components as an example, there may be a large deviation in the optimal cleaning frequencies required for the two. However, existing equipment is difficult to perform real-time and accurate frequency adjustment for such complex and diverse situations, resulting in the cleaning effect not being able to achieve the best state; the duty cycle of the two drive signals of commercially available ultrasonic cleaning equipment is fixed at 50%, and an alternating output mode is used. This fixed duty cycle setting cannot flexibly adjust the energy output of the ultrasonic blade according to actual cleaning needs. In addition, the two drive signals with a duty cycle of 50% each mean that the power supply system needs to be continuously in full-load operation. This not only requires a high-power power supply system to maintain the operation of the equipment, but also causes the equipment to generate a lot of heat, which in turn causes serious energy loss and low energy conversion efficiency. In this case, the cleaning effect is difficult to improve, and the production cost of the equipment is also increased. Due to the above-mentioned frequency and duty cycle issues, the overall cleaning efficiency is difficult to improve, and the cleaning effect on stubborn stains is poor, which cannot meet the current social demand for high-quality and high-efficiency cleaning. In industries such as medical care and precision electronics that have extremely high requirements for cleaning accuracy and efficiency, the limitations of traditional technologies are particularly prominent. In order to solve the above problems, this embodiment discloses the following technical solutions:

[0061] Initial frequency output and sampling: During the startup phase of the ultrasonic transducer, the system first outputs a preset initial frequency signal. This initial frequency is usually set at the middle value or lower frequency of the theoretical operating frequency range of the transducer as a preliminary driving signal. The system samples the working state of the transducer at a fixed time interval Δt through a timer. This time interval is determined according to the Shannon sampling theorem and must meet where f max This is the highest possible operating frequency of the transducer. In practical applications, considering the anti-aliasing requirements and system computing and processing capabilities, Δt is generally set within the range of 1 to 100 μs.

[0062] During each sampling, the system uses a high-speed data acquisition module (ADC) to synchronously collect multiple signals, including the voltage signal V(t) at both ends of the transducer and the current signal I(t) flowing through the transducer. To ensure the accuracy of the collected data, the sampling accuracy of the ADC is usually not less than 12 bits. The collected data will first be low-pass filtered to effectively remove high-frequency noise interference. After that, it is stored in a circular buffer with a first-in-first-out (FIFO) data structure indexed by the timestamp. The capacity of the circular buffer is set according to the sampling frequency and the data length required for the calculation. It can generally store data from 1024 to 4092 sampling points.

[0063] Eigenvalue calculation and preliminary judgment: When the sampling data in the circular buffer reaches the preset sample number N, the output power and phase angle calculation are started immediately. First, the voltage signal V(t) and current signal I(t) in the buffer are subjected to discrete Fourier transform (DFT). In the actual calculation process, in order to improve the calculation efficiency, the fast Fourier transform (FFT) algorithm is usually used. Its calculation complexity is O(NlogN). Through FFT transformation, the time domain signal is converted into a frequency domain signal, thereby obtaining the voltage spectrum V(f) and the current spectrum I(f), where the value range of f is 0 to Calculate the impedance of the transducer at the current frequency based on the frequency domain signal In complex form, the impedance Z(f) can be expressed as Z(f) = R e (Z(f))+jI m (Z(f)), where R e (Z(f)) is the real part of the impedance, I m (Z(f)) is the imaginary part of the impedance, j is the imaginary unit (j 2 =-1), assuming V(f) = V r (f)+jV i (f), I(f)=I r (f)+jI i (f), where V r (f), V i (f) are the real and imaginary parts of the voltage spectrum, I r (f) I i (f) are the real and imaginary parts of the current spectrum respectively; according to the complex number division operation rule: the real part of the impedance can be obtained Imaginary part After obtaining the real and imaginary parts of the impedance, the phase angle is obtained

[0064] The N voltage signals V(t) and current signals I(t) are squared, summed, averaged, and then squared to obtain the effective value of the voltage. and the effective value of current From the voltage spectrum V(f) and current spectrum I(f) obtained by Fourier transform, the phase information θ of the voltage and current at the fundamental frequency is extracted. V and θ I , then the phase difference Real-time monitoring of the transducer output power P out , output power P out It is obtained by calculating the effective value product of voltage and current, that is,

[0065] The output power P out and phase angle Compare with the preset power peak and phase angle threshold respectively. If the output power P out Reach the preset power peak and the phase angle If the current frequency is within the preset threshold range, it is considered to be the optimal resonant frequency. If any of the conditions are not met, the frequency sweep and frequency tracking phase will be entered, including:

[0066] From the preset starting frequency f min At the beginning, the frequency is gradually increased according to the fixed frequency step Δf, which is generally between 10 and 100 Hz. At each frequency point f i , sending a duration of T to the transducer send The excitation signal, and T send Need to meet In order to ensure that the transducer reaches a stable working state; during the period of sending the excitation signal, the output power P of the transducer is monitored in real time. out and phase angle, and judge whether the output power and phase angle corresponding to the updated frequency meet the preset conditions. If so, the updated frequency is the optimal resonant frequency. If not, continue to update the frequency until it is satisfied.

[0067] It should be emphasized that this embodiment uses an optimization algorithm based on gradient descent to dynamically adjust the frequency sweep direction and step size according to the changing trend of the output power. When the output power does not reach the preset peak condition or phase condition, if the power increases with the frequency, the frequency continues to increase with the current step size; if the power starts to decrease, the frequency step size is reduced and a reverse search is performed. This embodiment monitors the working status of the transducer in real time through closed-loop feedback control. Once it detects that the environmental parameters have changed and caused the frequency offset, it automatically restarts the frequency tracking process to ensure that the transducer is always in the best working condition.

[0068] Duty cycle dynamic adjustment method: After determining the optimal resonant frequency f opt After that, the dead time t dead To achieve precise control of the duty cycle D, this embodiment adopts digital pulse width modulation (PWM) technology, and uses a microcontroller or a dedicated PWM control chip to complete the signal generation and adjustment operation. Set two dead time t dead , respectively located at the switching moment of the two drive signals, the high level output duration t high , low level output duration t low and dead time t dead Satisfaction relationship t cycle =t high +t low +2t dead , the calculation formula of duty cycle D is By changing the dead time t dead , can indirectly adjust the high level output duration t high , thereby achieving continuous adjustment of the duty cycle between 0 and 0.5; when determining the optimal resonant frequency in the automatic frequency tracking technology, the maximum power P output by the transducer has been obtained max , which is used as the current power P actual At the same time, the target power P is set in advance according to the working task and working condition requirements of the transducer. target , calculate the power error e p =P target -P actual ;

[0069] Using PID control algorithm, the power error e p and its rate of change As input, when e p >0, that is, when the target power is greater than the current power, the dead time is reduced, the proportional link quickly increases the duty cycle, and the driving energy of the transducer is increased; the integral link accumulates historical errors and continuously increases the duty cycle to ensure that the output power gradually increases; the differential link predicts in advance according to the error change trend and further increases the duty cycle adjustment range to speed up the power increase speed. p <0, that is, when the target power is less than the current power, the dead time is increased, and the three links work together to reduce the duty cycle and reduce the transducer driving energy;

[0070] After calculation by PID controller, the target power P target Get the target duty cycle D target , and then set the target duty cycle D targey and the actual duty cycle D actual Subtract and get the duty cycle error e=D target -D actual PID controller has three steps in operation. The duty cycle error e is subjected to proportional operation, integral operation and differential operation respectively to obtain the proportional step output u. p , integral link output u i And the differential link output u d , then add up the outputs of these three links to get a total output u=u p +u i +u d , this total output u is used to calculate the dead time adjustment Δt dead , usually according to the actual system conditions, through a conversion coefficient K t , convert the total output u into the dead time adjustment, that is, Δt dead =K t u, K tThe value of is determined by the usual debugging results; the dead time is updated in real time by the timer, and the high level output duration t is indirectly adjusted. high , to achieve dynamic optimization of the actual duty cycle to the target duty cycle until the current power reaches the target power;

[0071] In this embodiment, due to the existence of dead time, the two drive signals can be output in a time-sharing staggered manner. By controlling the timing of the two drive signals S1 and S2, when S1 outputs a high level, S2 outputs a low level, and after S1 switches from a high level to a low level, the dead time t dead , S2 starts to output a high level, and vice versa. This output method staggers the two signals in time, significantly shortens the power supply time, and reserves sufficient buffer space for the power supply system during signal intervals;

[0072] The automatic frequency tracking and flexible duty cycle adjustment software system described above in this embodiment can fill market gaps and has broad prospects. It can reduce costs, enhance brand image, help expand product lines, and realize multiple commercial values. Its control method can be conveniently integrated into various ultrasonic cleaning boxes. By adjusting the circuit design and optimizing the software interface, it can be quickly commercialized to meet the market demand for high-quality equipment.

[0073] This embodiment also discloses that when the ultrasonic cleaner is in a standby state, a switch mark query is performed. If the switch mark can be queried, the PWM output sampling mark is set to 1, and the ultrasonic transducer working parameters are started to be collected, and the automatic shutdown countdown starts at the same time; if the switch mark cannot be queried, the countdown is stopped, the PWM signal is turned off, and the standby state is returned to; when the automatic shutdown countdown reaches 0, the PWM signal is turned off and the standby state is returned to; before collecting the ultrasonic transducer working parameters, a sampling mark query is performed. If the sampling mark is 1, the ultrasonic transducer working parameters are collected. After one collection is completed, the sampling mark is set to 0, and subsequent ultrasonic transducer working parameter collection is performed until the preset number of sampling times is met.

[0074] Example 2

[0075] Figure 2 1 is a system schematic diagram of an ultrasonic cleaner control device according to another exemplary embodiment, the device comprising:

[0076] Parameter acquisition module 1: used to collect the ultrasonic transducer operating parameters at the initial frequency, and obtain the output power and phase angle at the current frequency according to the ultrasonic transducer operating parameters;

[0077] Frequency update module 2: used to compare the output power and phase angle at the current frequency with the preset power peak and the preset phase angle threshold. If the output power reaches the preset power peak and the phase angle meets the preset phase angle threshold, the current frequency is the optimal resonant frequency. If the output power does not reach the preset power peak, or the phase angle does not meet the preset phase angle threshold, the current frequency is increased or decreased by a certain step size according to the change trend of the output power to obtain an updated frequency;

[0078] Optimal frequency acquisition module 3: used to collect the ultrasonic transducer operating parameters at the updated frequency, and obtain the updated output power and phase angle based on the current ultrasonic transducer operating parameters, compare the updated output power and phase angle with the preset power peak value and the preset phase angle threshold, and determine whether the updated frequency is the optimal resonant frequency. If not, repeat the iteration until the updated frequency is the optimal resonant frequency;

[0079] Duty cycle adjustment module 4: used to set the same dead time at the switching moment of the two high and low level signals at the optimal resonant frequency, so that the high and low level output signals are output in a time-sharing staggered manner.

[0080] Example 3:

[0081] This embodiment provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a host controller, each step in the above method is implemented;

[0082] It is understandable that the storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0083] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0084] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" is at least two.

[0085] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0086] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0087] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0088] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing module, or each unit may exist physically separately, or two or more units may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or in the form of software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

[0089] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0090] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0091] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A method for controlling an ultrasonic cleaner, characterized in that: The method comprises: Collecting the ultrasonic transducer operating parameters at the initial frequency, and obtaining the output power and phase angle at the current frequency according to the ultrasonic transducer operating parameters; Comparing the output power and phase angle at the current frequency with a preset power peak and a preset phase angle threshold; if the output power reaches the preset power peak and the phase angle satisfies the preset phase angle threshold, the current frequency is the optimal resonant frequency; if the output power does not reach the preset power peak, or the phase angle does not satisfy the preset phase angle threshold, increasing or decreasing the current frequency by a certain step size according to a change trend of the output power to obtain an updated frequency; Collecting the ultrasonic transducer operating parameters at the updated frequency, and obtaining the updated output power and phase angle based on the current ultrasonic transducer operating parameters, comparing the updated output power and phase angle with a preset power peak value and a preset phase angle threshold, and determining whether the updated frequency is the optimal resonant frequency. If not, repeating the iteration until the updated frequency is the optimal resonant frequency; At the optimal resonant frequency, the same dead time is set at the switching moment of the two high and low level signals, so that the high and low level output signals are output in a time-sharing interleaved manner.

2. The method according to claim 1, characterized in that The ultrasonic transducer operating parameters under the acquisition initial frequency include: Sampling the ultrasonic transducer operating parameters at a preset sampling interval until a preset number of sampling times is met, and storing the ultrasonic transducer operating parameters in a circular buffer with a first-in-first-out data structure; The operating parameters of the ultrasonic transducer include a voltage signal at both ends of the transducer and a current signal flowing through the transducer.

3. The method according to claim 2, characterized in that The obtaining of the output power and phase angle at the current frequency according to the ultrasonic transducer operating parameters includes: Performing fast Fourier transform on multiple voltage signals at both ends of the transducer and multiple current signals flowing through the transducer at the current frequency to obtain voltage spectrum and current spectrum; Obtaining the impedance at the current frequency according to the voltage spectrum and the current spectrum; Obtain the phase angle at the current frequency according to the impedance at the current frequency; Acquire phase information of the voltage and current respectively according to the voltage spectrum and the current spectrum, and acquire a phase difference according to the phase information of the voltage and the current; Obtaining a voltage effective value based on a plurality of voltage signals at both ends of the transducer at the current frequency; obtaining a current effective value based on a plurality of current signals flowing through the transducer at the current frequency; The output power is obtained according to the voltage effective value, the current effective value and the phase difference.

4. The method according to claim 3, characterized in that The step of increasing or decreasing the current frequency by a certain step length according to the change trend of the output power to obtain the updated frequency includes: If the output power increases with increasing frequency, continue to increase the frequency with the current frequency step to obtain the updated frequency; if the output power begins to decrease with increasing frequency, reduce the current frequency step and subtract the adjusted frequency step from the current frequency to obtain the updated frequency.

5. The method according to claim 4, characterized in that The step of setting the same dead time at the switching moment of the two high and low level signals at the optimal resonant frequency includes: Outputting a high-level signal and a low-level signal once is regarded as a signal cycle. In each signal cycle, two dead time periods are set. The two dead time periods are respectively located before and after the high-level signal.

6. The method according to claim 5, characterized in that Also includes: Obtaining a power error according to the output power at the optimal resonant frequency and a preset target power; If the power error is greater than 0, the dead time is reduced by a certain amount; if the power error is less than 0, the dead time is increased by a certain amount.

7. The method according to claim 6, characterized in that If the power error is greater than 0, reducing the dead time by a certain amount; if the power error is less than 0, increasing the dead time by a certain amount includes: Obtaining a target duty cycle according to the preset target power; Obtaining a signal period according to the high-level signal output duration, the low-level signal output duration, and the durations of the current two dead-zone signals; The current actual duty cycle is obtained by dividing the high-level signal output duration by the signal period; Obtaining a duty cycle error according to the target duty cycle and the current actual duty cycle; Performing proportional operation, integral operation and differential operation on the duty cycle error to obtain proportional output, integral output and differential output; Adding the proportional output, the integral output, and the differential output to obtain a total output; Obtaining a dead time adjustment amount according to the total output and a preset conversion coefficient; The current dead time is reduced or increased by the dead time adjustment amount.

8. An ultrasonic cleaner control device, characterized in that: The device comprises: Parameter acquisition module: used to collect the ultrasonic transducer operating parameters at the initial frequency, and obtain the output power and phase angle at the current frequency according to the ultrasonic transducer operating parameters; Frequency update module: used to compare the output power and phase angle at the current frequency with the preset power peak and the preset phase angle threshold. If the output power reaches the preset power peak and the phase angle meets the preset phase angle threshold, the current frequency is the optimal resonant frequency. If the output power does not reach the preset power peak, or the phase angle does not meet the preset phase angle threshold, the current frequency is increased or decreased by a certain step size according to the change trend of the output power to obtain an updated frequency; Optimal frequency acquisition module: used to collect the ultrasonic transducer operating parameters at the updated frequency, and obtain the updated output power and phase angle based on the current ultrasonic transducer operating parameters, compare the updated output power and phase angle with the preset power peak and preset phase angle threshold, and determine whether the updated frequency is the optimal resonant frequency. If not, repeat the iteration until the updated frequency is the optimal resonant frequency; Duty cycle adjustment module: used to set the same dead time at the switching moment of the two high and low level signals at the optimal resonant frequency, so that the high and low level output signals are output in a time-sharing interleaved manner.

9. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the main controller, each step of the ultrasonic cleaner control method according to any one of claims 1 to 7 is implemented.

Images