An automated cleaning device for tantalum materials and its cleaning control method

Abstract

This invention discloses an automated tantalum cleaning device and its cleaning control method, relating to the field of data analysis technology. It addresses the technical problem of dynamically adapting to load changes during the tantalum wire cleaning process to improve cleaning effectiveness and efficiency. The method includes: acquiring real-time parameters during the tantalum wire cleaning process; wherein the real-time parameters include the output current and amplitude values ​​of the ultrasonic generator, and the water resistivity value of the cleaning medium in the rinsing tank; determining the degree of detuning of the ultrasonic system based on the output current and amplitude values; determining the load level at the current cleaning position of the tantalum wire based on the degree of detuning, the output current and amplitude values; determining the ultrasonic power adjustment value and the wire speed adjustment value based on the load level and the water resistivity value; and controlling the cleaning device to clean the tantalum wire based on the ultrasonic power adjustment value and the wire speed adjustment value.

Description

Technical Field

[0001] This invention relates to the field of data analysis technology, specifically to an automated tantalum cleaning device and its cleaning control method. Background Technology

[0002] Tantalum is widely used in electronics, aerospace and medical equipment due to its excellent corrosion resistance and high temperature stability. Its surface cleanliness directly affects the performance and reliability of the products. Therefore, the automated cleaning process of tantalum has become a key link in industrial production.

[0003] Currently, automated tantalum cleaning equipment typically employs ultrasonic cleaning systems. The cleaning process is achieved by controlling the output parameters of the ultrasonic generator and the speed of the tantalum wire. However, existing technologies largely rely on fixed parameter settings or simple feedback-based adjustment mechanisms. Furthermore, due to the uneven thickness of oil stains at different locations on the tantalum wire and the dynamic changes in the cleaning medium, traditional methods struggle to adapt to load fluctuations in real time. This results in inconsistent cleaning effects, low efficiency, and a tendency to cause surface damage or incomplete cleaning due to mismatched cleaning intensity. Summary of the Invention

[0004] To address the technical problem of dynamically adapting to load changes during tantalum wire cleaning to improve cleaning effectiveness and efficiency, this invention aims to provide an automated tantalum cleaning device and its cleaning control method. The specific technical solution adopted is as follows:

[0005] In a first aspect, the present invention provides an automated cleaning control method for tantalum materials, applied to an automated tantalum cleaning equipment. The automated tantalum cleaning equipment includes an ultrasonic system and a rinsing tank. The ultrasonic system includes an ultrasonic generator and an ultrasonic transducer. The method includes: acquiring real-time parameters during the tantalum wire cleaning process; wherein the real-time parameters include the output current value and output amplitude value of the ultrasonic generator, and the water resistivity value of the cleaning medium in the rinsing tank; determining the degree of detuning of the ultrasonic system based on the output current value and output amplitude value; wherein the degree of detuning is used to characterize the frequency matching state between the ultrasonic generator and the ultrasonic transducer; determining the load level at the current cleaning position of the tantalum wire based on the degree of detuning, the output current value, and the output amplitude value; wherein the load level is used to characterize the thickness of oil stains at the cleaning position of the tantalum wire; determining the ultrasonic power adjustment value and the wire speed adjustment value based on the load level and the water resistivity value; and controlling the cleaning equipment to clean the tantalum wire based on the ultrasonic power adjustment value and the wire speed adjustment value.

[0006] In one possible implementation, the degree of detuning of the ultrasonic system is determined based on the output current value and the output amplitude value. Specifically, this includes: determining the degree of detuning compliance based on the variation pattern of the output current value and the output amplitude value within a preset time period; wherein the degree of detuning compliance includes the degree of current detuning compliance and the degree of amplitude detuning compliance; and determining the degree of detuning based on the degree of current detuning compliance and the degree of amplitude detuning compliance.

[0007] In one possible implementation, the degree of mistuning is determined based on the variation patterns of the output current value and the output amplitude value within a preset time period. Specifically, this includes: acquiring the current difference and amplitude difference for each group of adjacent moments within the preset time period; wherein the preset time period includes multiple consecutive moments prior to the current moment; determining the real-time current difference and real-time amplitude difference between the current moment and the previous adjacent moment; and determining the degree of mistuning based on the real-time current difference and the current difference for each group of adjacent moments within the preset time period, and based on the real-time amplitude difference and the amplitude difference for each group of adjacent moments within the preset time period.

[0008] In one possible implementation, the load level of the tantalum wire at the current cleaning position is determined based on the degree of detuning, the output current value, and the output amplitude value. Specifically, this includes: determining the average current change and the average amplitude change of the output current value within a preset time period; and determining the load level based on the difference between the degree of detuning and the historical minimum degree of detuning, the average current change, the average amplitude change, the current output current value, and the output amplitude value.

[0009] In one possible implementation, the ultrasonic power adjustment value and the routing speed adjustment value are determined based on the load level and the water resistivity value. Specifically, this includes: determining the degree of reduction in routing speed when the load level is greater than a first threshold or the water resistivity value is less than a second threshold; determining the routing speed adjustment value based on the degree of reduction in routing speed; and determining the ultrasonic power adjustment value based on the load level and the initial reference value of ultrasonic power.

[0010] In one possible implementation, the cleaning equipment is controlled to clean the tantalum wire based on the ultrasonic power adjustment value and the wire routing speed adjustment value. Specifically, this includes: smoothing the ultrasonic power adjustment value and the wire routing speed adjustment value using a preset control algorithm to generate control commands; converting the control commands into pulse width modulation signals; and driving the ultrasonic generator and the wire routing motor according to the pulse width modulation signals.

[0011] In one possible implementation, after controlling the cleaning equipment to perform the first cleaning of the tantalum wire based on the ultrasonic power adjustment value and the wire speed adjustment value, the method further includes: determining the degree of increase of the initial reference value of ultrasonic power based on the wire speed adjustment value and the ultrasonic power adjustment value recorded at each moment during the first cleaning process; and adjusting the initial reference value of ultrasonic power for the second cleaning based on the degree of increase of the initial reference value of ultrasonic power.

[0012] In one possible implementation, the initial reference value of ultrasonic power for secondary cleaning is adjusted according to the degree of increase of the initial reference value of ultrasonic power. Specifically, this includes: normalizing the degree of increase of the initial reference value of ultrasonic power, and adjusting the initial reference value of ultrasonic power for secondary cleaning according to the degree of increase of the normalized initial reference value of ultrasonic power.

[0013] In one possible implementation, real-time parameters are obtained during the tantalum wire cleaning process, specifically including: reading the output current and output amplitude values ​​of the ultrasonic generator through an industrial bus interface; and obtaining the water resistivity value of the cleaning medium in the rinsing tank through a resistivity sensor.

[0014] Secondly, the present invention provides an automated tantalum cleaning device, comprising: an acquisition unit and a processing unit; the acquisition unit is used to acquire real-time parameters during the tantalum wire cleaning process; wherein the real-time parameters include the output current value and output amplitude value of the ultrasonic generator, and the water resistivity value of the cleaning medium in the rinsing tank; the processing unit is used to determine the degree of detuning of the ultrasonic system based on the output current value and output amplitude value; wherein the degree of detuning is used to characterize the frequency matching state between the ultrasonic generator and the ultrasonic transducer; the processing unit is also used to determine the load level of the current cleaning position of the tantalum wire based on the degree of detuning, the output current value, and the output amplitude value; wherein the load level is used to characterize the thickness of oil stains at the cleaning position of the tantalum wire; the processing unit is also used to determine the ultrasonic power adjustment value and the wire speed adjustment value based on the load level and the water resistivity value; the processing unit is also used to control the cleaning device to clean the tantalum wire based on the ultrasonic power adjustment value and the wire speed adjustment value.

[0015] Thirdly, the present invention provides an electronic device, comprising: a processor and a memory; wherein the memory is used to store one or more programs, the one or more programs including computer-executable instructions, and when the electronic device is running, the processor executes the computer-executable instructions stored in the memory to cause the electronic device to perform the tantalum material automated cleaning control method as described in the first aspect and any possible implementation thereof.

[0016] Fourthly, the present invention provides a computer-readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by an electronic device of the present invention, cause the electronic device to perform the automated cleaning control method for tantalum materials as described in the first aspect and any possible implementation thereof.

[0017] Fifthly, the present invention provides a computer program product containing instructions that, when executed on a computer, cause the electronic device of the present invention to perform the automated cleaning control method for tantalum materials as described in the first aspect and any possible implementation thereof.

[0018] In a sixth aspect, the present invention provides a chip system applied to an automated tantalum cleaning device; the chip system includes one or more interface circuits and one or more processors. The interface circuits and the processors are interconnected via lines; the interface circuits are used to receive signals from the memory of the automated tantalum cleaning device and send the signals to the processors, the signals including computer instructions stored in the memory. When the processor executes the computer instructions, the automated tantalum cleaning device performs the automated tantalum cleaning control method as described in the first aspect and any possible design of the present invention.

[0019] This invention offers the following advantages: It establishes a complete adaptive cleaning control mechanism that diagnoses the detuning state of the ultrasonic system in real time, accurately quantifies the actual load on the tantalum wire, and coordinates the adjustment of ultrasonic power and wire speed. Ultimately, it achieves precise execution through a smooth control algorithm. This system effectively overcomes the limitations of traditional methods under complex conditions such as load fluctuations, water quality changes, and system detuning, significantly improving the consistency and efficiency of cleaning results, as well as the safety and stability of equipment operation. Attached Figure Description

[0020] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic flowchart of an automated cleaning control method for tantalum materials according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic flowchart of another automated cleaning control method for tantalum materials provided in an embodiment of the present invention;

[0023] Figure 3 This is a schematic flowchart of another automated cleaning control method for tantalum materials provided in an embodiment of the present invention;

[0024] Figure 4 This is a schematic flowchart of another automated cleaning control method for tantalum materials provided in an embodiment of the present invention;

[0025] Figure 5 This is a schematic flowchart of another automated cleaning control method for tantalum materials provided in an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the structure of an automated tantalum cleaning device according to an embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of an automated tantalum cleaning device provided in one embodiment of the present invention. Detailed Implementation

[0028] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the specific implementation methods, structures, features, and effects of the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0030] The following description, in conjunction with the accompanying drawings, details the specific scheme of an automated tantalum cleaning device and its cleaning control method provided by the present invention.

[0031] For example, such as Figure 1 The diagram shown is a flowchart illustrating an automated cleaning control method for tantalum materials according to an embodiment of the present invention, comprising the following steps:

[0032] S101. Obtain real-time parameters during the tantalum wire cleaning process. These real-time parameters include the output current and amplitude of the ultrasonic generator, as well as the water resistivity of the cleaning medium in the rinsing tank.

[0033] In this embodiment of the invention, tantalum wire is cleaned using an automated tantalum cleaning equipment (hereinafter referred to as the cleaning equipment). The cleaning equipment includes a continuous-flow ultrasonic wire washing machine, a rinsing tank, and a wire-flowing motor. When acquiring real-time parameters during the tantalum wire cleaning process, the cleaning equipment first cleans the tantalum wire using the ultrasonic wire washing machine. This equipment can achieve full automation of the entire process of wire feeding, cleaning, drying, and wire take-up, with seamless integration of each stage, making it suitable for large-scale industrial production.

[0034] For example, the cleaning equipment directly reads key parameters such as output current and output amplitude stored in the internal registers of the ultrasonic generator via an industrial bus interface, including RS-485, Ethernet Modbus TCP / IP, Profibus, or DeviceNet, thereby comprehensively monitoring the operating status of the ultrasonic system. Furthermore, in constant amplitude control mode, the ultrasonic generator monitors the output current and voltage and calculates and outputs a signal representing the amplitude internally based on the oscillator characteristics; this signal is also directly read via the industrial bus. Simultaneously, a resistivity sensor installed at the outlet of the rinsing tank acquires the water resistivity value of the cleaning medium in real time to comprehensively assess the dynamic changes in the cleaning environment.

[0035] S102. Determine the degree of detuning of the ultrasonic system based on the output current value and the output amplitude value. The degree of detuning is used to characterize the frequency matching state between the ultrasonic generator and the ultrasonic transducer.

[0036] For example, when a cleaning device determines the degree of detuning of an ultrasonic system based on its output current and output amplitude values, it specifically includes the following steps:

[0037] (1) Determine the degree of mistuning compliance based on the variation patterns of the output current value and the output amplitude value within a preset time period. The degree of mistuning compliance includes the degree of current mistuning compliance and the degree of amplitude mistuning compliance.

[0038] Optionally, the cleaning equipment determines the degree of detuning compliance based on the variation patterns of the output current and output amplitude values ​​within a preset time period. Specifically, this includes: First, analyzing the parameter variation patterns within the preset time period, which is a time interval consisting of multiple consecutive moments counting backward from the current moment. By acquiring the output current and output amplitude values ​​of the ultrasonic generator within this time period, the current difference and amplitude difference between each group of adjacent moments are extracted. Simultaneously, the real-time current difference and real-time amplitude difference between the current moment and the previous moment are locked to construct the basic data system for detuning judgment. Finally, based on the characteristic of "sudden increase in current and sudden decrease in amplitude during detuning" in the disclosure document, the distribution characteristics and trends of the aforementioned current and amplitude differences are analyzed to determine whether the current parameter changes conform to the characteristics of the detuning condition, thereby determining the degree of detuning compliance.

[0039] It should be noted that the specific process for determining the degree of misalignment in the cleaning equipment according to the aforementioned sub-steps can be found in S201-S203 below, and will not be repeated here.

[0040] (2) Determine the degree of detuning based on the degree of current detuning and the degree of amplitude detuning.

[0041] In this step, to ensure the quantitative accuracy and applicability of the degree of detuning, a normalization process is adopted to convert the degree of detuning into a detuning value in the range of [0,1]. This value directly represents the frequency matching state between the ultrasonic generator and the ultrasonic transducer. The closer the value is to 1, the greater the frequency matching deviation between the two and the higher the risk of detuning.

[0042] Alternatively, the cleaning equipment calculates the degree of detuning according to the following formula:

[0043] =

[0044] In the above formula, This indicates the degree of current detuning at the current time m. , This indicates the degree of amplitude mistuning at the current time m. , This represents the maximum value of the current detuning degree at different times within a preset time period. This represents the maximum value of the amplitude detuning degree at different times within a preset time period.

[0045] Furthermore, the max-min normalization method is used to... Normalization is performed to obtain the normalized degree of detuning. Its range is [0,1]. It should be noted that when... When the detuning threshold is exceeded, a detuning occurs at time m, triggering an alarm and notifying staff to adjust the detuning state so that the cleaning process can continue normally. For example, the detuning threshold can be set to an empirical value of 0.8, or determined based on historical cleaning performance data of the cleaning equipment.

[0046] In another possible implementation, when determining the degree of detuning compliance, the cleaning equipment can also collect the real-time change slope of the output current value and output amplitude value within a preset time period, compare it with the threshold range of "sudden increase in current slope and sudden decrease in amplitude slope" under detuning conditions, first determine the degree of detuning compliance at the slope level, and then obtain the degree of detuning through normalization processing. This method can further improve the sensitivity of detuning judgment through the continuity characteristics of the slope.

[0047] Alternatively, the cleaning equipment can also statistically analyze the fluctuation frequency of the output current value and output amplitude value within a preset time period. Based on the characteristic that "the parameter fluctuation frequency is significantly higher than that of normal cleaning conditions when detuned", the matching degree between the fluctuation frequency and the detuning characteristics is first quantified to obtain the degree of detuning conformity. Then, the degree of detuning is obtained after normalization. This method is suitable for detuning scenarios that are not sensitive to parameter mutations but fluctuate frequently.

[0048] Therefore, by analyzing the variation patterns of current and amplitude over a period of time, the cleaning equipment can accurately identify the detuning state of the ultrasonic system, effectively distinguish between actual load changes and detuning interference, avoid control errors caused by misjudgment of detuning, and thus improve the accuracy and reliability of cleaning control.

[0049] S103. Determine the load level at the current cleaning location of the tantalum wire based on the degree of detuning, output current value, and output amplitude value. The load level characterizes the thickness of the oil contaminant at the cleaning location of the tantalum wire.

[0050] For example, the cleaning equipment determines the load level at the current cleaning position of the tantalum wire based on the degree of detuning, output current value, and output amplitude value. Specifically, this includes: First, preprocessing the basic parameters by extracting the average current change and average amplitude change of the output current value within a preset time period. This preset time period consists of multiple consecutive moments calculated backward from the current moment. These changes reflect the continuous trend of current and amplitude changes. Second, a historical reference benchmark for the degree of detuning is introduced, i.e., the minimum value of the degree of detuning obtained in historical moments. By calculating the difference between the current degree of detuning and this minimum value, the influence of detuning interference on load judgment is eliminated. Finally, combining the current output current value and output amplitude value, a load level is constructed that comprehensively reflects the parameter change trend, the result of detuning interference elimination, and the real-time parameter magnitude. This load level directly characterizes the oil thickness at the current cleaning position of the tantalum wire; the closer the value is to 1, the greater the oil thickness and the heavier the load. It should be noted that the specific process for the cleaning equipment to determine the load level according to the aforementioned sub-steps can be found in S301-S303 below, and will not be repeated here.

[0051] In another possible implementation, when determining the load level, the cleaning equipment can also calculate based on the slope of the parameter change trend: calculate the rising slope of the output current value and the falling slope of the output amplitude value within a preset time period, compare the slope threshold range under historical load conditions, combine the difference between the current detuning degree and the historical minimum detuning degree, construct a load assessment factor with the slope as the core, and then normalize to obtain the load level. This method can quickly identify load change situations by the steepness of the slope.

[0052] Alternatively, the cleaning equipment can first make a preliminary judgment on the cleaning ability of the cleaning medium based on the water resistivity value of the rinsing tank, and then combine the average current change, average amplitude change and detuning degree difference within a preset time period to construct a load assessment factor that incorporates the influence of water quality. The load level is obtained through normalization. This method can avoid the indirect interference of water quality deterioration on load judgment in advance and is suitable for long-term continuous cleaning scenarios.

[0053] Therefore, by comprehensively evaluating the changing trends and detuning states of current and amplitude, the cleaning equipment can accurately distinguish between actual oil contamination load and system detuning interference. This method achieves precise quantification of oil contamination thickness in different sections of the tantalum wire, providing a reliable basis for the accurate adjustment of subsequent cleaning parameters.

[0054] S104. Determine the ultrasonic power adjustment value and the routing speed adjustment value based on the load level and water resistivity value.

[0055] For example, the cleaning equipment determines the ultrasonic power adjustment value and the wire speed adjustment value based on the load level and water resistivity value. Specifically, this includes: First, pre-setting judgment criteria adapted to the cleaning process, namely a first threshold and a second threshold. The first threshold is a critical value for the load level, used to determine whether the oil thickness at the current cleaning location of the tantalum wire exceeds the conventional cleaning capacity; the second threshold is a critical value for the water resistivity value, used to determine whether the cleaning capacity of the cleaning medium in the rinsing tank meets the current cleaning requirements. Then, when the current load level is greater than the first threshold, or the current water resistivity value is less than the second threshold, the parameter adjustment mechanism is triggered. Finally, for the triggered adjustment requirements, the degree of decrease in wire speed and the degree of increase in ultrasonic power are quantified, and then converted into wire speed adjustment values ​​and ultrasonic power adjustment values ​​that can be directly used for equipment control, ensuring that the impact of excessive load or water quality deterioration on the cleaning effect is compensated by extending the cleaning action time and increasing the cleaning energy. It should be noted that the specific process of the cleaning equipment determining the ultrasonic power adjustment value and the wire speed adjustment value according to the aforementioned sub-steps can be found in S401-S404 below, and will not be repeated here.

[0056] In another possible implementation, when determining the ultrasonic power adjustment value and the line speed adjustment value, the cleaning equipment can also add a third threshold (lower limit of load level) and a fourth threshold (upper limit of water resistivity value) on the basis of the first threshold and the second threshold. When the load level is less than the third threshold and the water resistivity value is greater than the fourth threshold, the degree of increase in line speed and the degree of decrease in ultrasonic power are determined, and corresponding adjustment values ​​are generated to achieve dynamic adaptation of strong adjustment under high load and good energy efficiency under low load.

[0057] Therefore, the cleaning equipment achieves coordinated optimization of the cable routing speed and ultrasonic power by comprehensively judging the load level and water quality cleaning ability. When the load is too high or the water quality deteriorates, the system automatically reduces the cable routing speed and increases the ultrasonic power to ensure the cleaning effect of heavily soiled areas.

[0058] S105. Control the cleaning equipment to clean the tantalum wire according to the ultrasonic power adjustment value and the wire speed adjustment value.

[0059] For example, the cleaning equipment controls the cleaning of tantalum wires according to the ultrasonic power adjustment value and the wire speed adjustment value, specifically including the following steps:

[0060] (1) The ultrasonic power adjustment value and the routing speed adjustment value are smoothed using a preset control algorithm to generate control commands. Among them, the preset control algorithm includes the proportional-integral-derivative (PID) algorithm.

[0061] Specifically, the PID algorithm is used to track and smooth the acquired ultrasonic power adjustment values ​​and wiring speed adjustment values ​​in real time. The PID controller calculates the error between the setpoint and the sensor feedback value, and combines its proportional, integral, and derivative terms to generate continuous and smooth control commands, effectively eliminating abrupt changes and oscillations.

[0062] (2) Convert the control command into a pulse width modulation signal.

[0063] Furthermore, the aforementioned control commands are converted into Pulse Width Modulation (PWM) signals. The duty cycle of the PWM wave is proportional to the PID output command, encoding the continuous control quantity into a high-frequency switching signal that can be recognized by the motor and ESC.

[0064] (3) Drive the ultrasonic generator and the wiring motor according to the pulse width modulation signal.

[0065] Finally, the cleaning equipment uses an electronic speed controller as the actuator to interpret PWM signals. The electronic speed controller drives the ultrasonic generator and the wire-mounted motor, ensuring that its output strictly follows the PWM commands, ultimately converting the digital signals into precise physical actions. This allows the cleaning capacity to be flexibly and dynamically adjusted according to the load size, ensuring both cleaning effectiveness and the stability and safety of the tantalum wire transmission, achieving a high degree of automation and intelligence in the cleaning process.

[0066] Based on the above technical solutions, this invention constructs a complete adaptive cleaning control mechanism. By real-time diagnosis of the ultrasonic system's detuning state, precise quantification of the actual load on the tantalum wire, and coordinated adjustment of ultrasonic power and wire speed, precise execution is achieved through a smooth control algorithm. This system effectively overcomes the limitations of traditional methods under complex conditions such as load fluctuations, water quality changes, and system detuning, significantly improving the consistency and efficiency of cleaning results, as well as the safety and stability of equipment operation.

[0067] For example, in combination Figure 1 ,like Figure 2 The diagram shown is a flowchart illustrating another automated cleaning control method for tantalum materials according to an embodiment of the present invention. In this method, the degree of detuning is determined based on the variation patterns of the output current value and output amplitude value within a preset time period, specifically including the following steps:

[0068] S201. Obtain the current difference and amplitude difference for each group of adjacent moments within a preset time period. The preset time period includes multiple consecutive moments preceding the current moment.

[0069] For example, N time points are selected backward from the current time m to obtain a preset time period p. The current difference and amplitude difference of each group of adjacent time points within the time period are obtained. For example, the current difference corresponding to adjacent time points t and t-1 is denoted as... The amplitude difference is denoted as .

[0070] S202. Determine the real-time current difference and real-time amplitude difference between the current time and the previous adjacent time.

[0071] For example, calculate the real-time current difference between the current time m and the previous adjacent time m-1. and real-time amplitude difference .

[0072] S203. Determine the degree of detuning based on the real-time current difference and the current difference of each group of adjacent moments within the preset time period, and based on the real-time amplitude difference and the amplitude difference of each group of adjacent moments within the preset time period.

[0073] Optionally, the degree of mistuning includes the degree of current mistuning. and the degree of amplitude mistuning .

[0074] In this step, the current difference between adjacent time periods within the preset time period p is first calculated. Number of And the amplitude difference between adjacent times within the preset time period p. Number of .

[0075] After that, calculate the real-time current difference corresponding to the current time m. The current difference between each group of adjacent time points The sum of the current differences, denoted as . Similarly, calculate the real-time amplitude difference corresponding to the current time m. The amplitude difference between each group of adjacent time points The sum of the amplitude differences, denoted as . .

[0076] Furthermore, the degree of current detuning is calculated using the following formula:

[0077]

[0078] In the above formula, This indicates the degree of current detuning at the current time m. N represents the total number of moments in the preset time period p.

[0079] Furthermore, the degree of amplitude mistuning is calculated using the following formula. :

[0080]

[0081] In the above formula, This indicates the degree of amplitude mistuning at the current time m. . Indicates the parameter tuning factor, if If it is 0, then set it to 0.01. If the denominator is not zero, it is set to 0, thus avoiding the calculation being meaningless due to a zero denominator.

[0082] Based on the above technical solution, the embodiments of the present invention can dynamically identify the frequency mismatch state of the ultrasonic system by analyzing the change law of the difference between current and amplitude within a preset time period, effectively distinguish between real load changes and detuning interference, avoid misjudgment and misadjustment caused by detuning, and thus significantly improve the accuracy of cleaning control and system stability.

[0083] For example, such as Figure 3 As shown, combined with Figure 1 This is a flowchart illustrating another automated cleaning control method for tantalum materials according to an embodiment of the present invention. In this method, the load level of the current cleaning position of the tantalum wire is determined based on the degree of detuning, the output current value, and the output amplitude value. Specifically, the method includes the following steps:

[0084] S301. Determine the average current change of the output current value and the average amplitude change of the output amplitude value within a preset time period.

[0085] For example, referring to the examples in S201-S203 above, this step calculates the current difference between each group of adjacent times corresponding to the current time m in the preset time period p. absolute value of median mean , as the average current change; and, calculate the amplitude difference between adjacent time points in each group. absolute value of median mean , as the change in average amplitude.

[0086] Understandable is that absolute value , and The larger the value, and the more the output current value gradually increases and the more the output amplitude value gradually decreases within the preset time period p, the thicker the oil stains on the tantalum wire segment being cleaned, which in turn indicates that the load on the cleaning equipment is greater, and the power of the ultrasonic system should be increased.

[0087] S302. Determine the load level based on the difference between the detuning level and the historical minimum detuning level, the average current change, the average amplitude change, the current output current value, and the current output amplitude value.

[0088] The historical minimum detuning degree is the minimum detuning degree among all detuning degrees at each moment within the preset time period p. Since the preset time period p is obtained by selecting N moments before the current moment m, the moment corresponding to the historical minimum detuning degree can only be before the current moment m, or the current moment m itself.

[0089] For example, the cleaning equipment determines the load level according to the following formula:

[0090]

[0091] In the above formula, This indicates the load level corresponding to the current time m. This represents the normalized degree of detuning at the current time m. This represents the historical minimum degree of detuning in normalization. This represents the output current value corresponding to time m. This represents the output amplitude value corresponding to the current time m. Indicates the parameter tuning factor, if If it is 0, then set it to 0.01. If the denominator is not zero, it is set to 0, thus avoiding the calculation being meaningless due to a zero denominator.

[0092] It should be noted that in the calculation In this context, the current and amplitude values ​​involved can be considered dimensionless before being used in the formula calculation. The average current change, average amplitude change, previous current value, and current amplitude value represent their relative magnitudes and trends of change in the formula, rather than their absolute physical quantities. The purpose of the formula is to comprehensively reflect the coordinated trend of increasing current and decreasing amplitude, and to eliminate detuning interference, thereby generating a dimensionless value for laterally comparing load levels. . After subsequent normalization, it is finally transformed into a standardized load level value, the validity of which is guaranteed by logical relationships rather than the specific dimensions of the parameters.

[0093] Furthermore, the max-min normalization method is used to... Normalization is performed to obtain the normalized load level. Its range is [0,1].

[0094] Understandable The larger the value, the greater the load the cleaning equipment is cleaning on the current tantalum wire segment, requiring stronger cleaning capabilities, and therefore the corresponding increase in ultrasonic power should also be higher.

[0095] Based on the above technical solution, the embodiments of the present invention can accurately quantify the actual load level during the tantalum wire cleaning process and effectively eliminate the interference of system detuning on load judgment. By dynamically evaluating the change in oil thickness, a reliable basis is provided for the precise adjustment of ultrasonic power, thereby ensuring the cleaning effect while avoiding damage to the surface of the tantalum wire.

[0096] For example, in combination Figure 1 ,like Figure 4 The diagram shown is a flowchart illustrating another automated cleaning control method for tantalum materials according to an embodiment of the present invention. In this method, the ultrasonic power adjustment value and the wire speed adjustment value are determined based on the load level and water resistivity value, specifically including the following steps:

[0097] S401. When the load level is greater than the first threshold or the water resistivity value is less than the second threshold, determine the degree of reduction in the wiring speed.

[0098] For example, the first threshold can be set to an empirical value of 0.8, or determined based on historical cleaning performance experimental data of the cleaning equipment. The second threshold can be set to... ×0.7, This indicates the maximum water resistivity value within the preset time period p corresponding to the current time m. It can also be determined based on the historical cleaning effect experimental data of the cleaning equipment.

[0099] Optionally, the cleaning equipment calculates the reduction in wiring speed according to the following formula:

[0100]

[0101] In the above formula, This indicates the degree of decrease in the routing speed at the current time m. This represents the maximum load level within a preset time period p. This indicates the normalized load level corresponding to the current time m. This represents the water resistivity value corresponding to the current time m. This indicates the maximum water resistivity value within the preset time period p. Indicates the parameter tuning factor, if If it is 0, then set it to 0.01. If the denominator is not zero, it is set to 0 to avoid meaningless calculations due to a zero denominator. This is understandable when... The smaller the value, and The larger the value, the thicker the oil stains on the tantalum wire segment being cleaned, and the worse the cleaning ability of the water in the rinsing tank. To ensure the cleaning effect, the reduction in the tantalum wire running speed is necessary. The larger.

[0102] It should be noted that in the above formula, Used to quantify the urgency of speed adjustments due to load. At the current load level. Approaching historical maximum When this happens, this value will increase sharply, significantly increasing the degree of reduction. This indicates that an immediate and significant speed reduction is needed to cope with the extremely high load.

[0103] as well as, Used to quantify the rate adjustment required due to water quality deterioration. Resistivity The lower the value (i.e., the worse the water quality and the weaker the cleaning ability), the larger its reciprocal, and the larger this value becomes, thus requiring a greater degree of reduction. This extends the cleaning time to compensate for the impact of declining water quality. In summary, the formula, by multiplying the two factors mentioned above, considers both load and water quality factors synergistically. Only when both load and water quality deteriorate simultaneously, or one of them deteriorates significantly, will a larger result be achieved. This value drives a significant reduction in routing speed. This calculation method ensures that the adjustment strategy can respond to drastic changes in a single factor, as well as adapt to simultaneous degradation from multiple factors.

[0104] S402. Determine the routing speed adjustment value based on the degree of reduction in routing speed.

[0105] Optionally, before determining the routing speed adjustment value based on the degree of reduction in routing speed, the maximum-minimum normalization method can be used to... After normalization, we get Its range is [0,1].

[0106] After this, the tantalum wire speed corresponding to the current time m is adjusted to... V is the initial reference value for the tantalum wire routing speed.

[0107] It should be noted that the degree of reduction after normalization... The value range is [0, 1], which directly represents the percentage reduction in speed required to ensure cleaning effectiveness. Formula This proportional relationship is applied to the initial reference velocity V. When When the value is 0, it means no deceleration is needed, and the speed will remain at the initial value V after adjustment; when... When the speed increases, the adjusted speed decreases linearly proportionally; when As the value approaches 1, the speed approaches 0, ensuring cleaning effectiveness by maximizing the cleaning time under the worst operating conditions (extremely high load and extremely poor water quality). This calculation method achieves inverse linkage and smooth adjustment between the routing speed and the degree of deterioration in operating conditions.

[0108] S403. Determine the ultrasonic power adjustment value based on the load level and the initial reference value of ultrasonic power.

[0109] For example, the ultrasonic power adjustment value corresponding to the current time m. G represents the initial reference value of ultrasonic power.

[0110] It should be noted that the normalized load level is... The value range is [0, 1], which directly represents the proportion of power increase required to address the current oil contamination thickness. Formula This proportional relationship is applied to the initial reference power G. When When the value is 0, it indicates that the load is extremely light and the power remains at the initial value G; when When the power increases, the power increases linearly from the initial value; when As the value approaches 1, the power increases to nearly double the initial value to provide the strongest cleaning capability for heavy oil stains. This calculation method achieves positive linkage and linear matching between ultrasonic power and real-time load size.

[0111] Based on the above technical solution, this invention achieves dynamic matching of cleaning parameters with load conditions and water quality. By coordinating the adjustment of wire speed and ultrasonic power, it effectively overcomes the cleaning challenges in heavily polluted areas. This system significantly improves the cleaning consistency of tantalum wires with different levels of contamination, while enhancing the equipment's adaptability to water quality deterioration, ensuring stable cleaning results even under complex operating conditions.

[0112] For example, in combination Figure 1 ,like Figure 5 The diagram shown is a flowchart illustrating another automated cleaning control method for tantalum materials according to an embodiment of the present invention. After controlling the cleaning equipment to perform the initial cleaning of the tantalum wire based on the ultrasonic power adjustment value and the wire speed adjustment value, this method specifically includes the following steps:

[0113] S501. Based on the adjustment values ​​of the routing speed and the ultrasonic power at each moment recorded during the first cleaning process, determine the degree of increase in the initial reference value of the ultrasonic power.

[0114] In this step, the cleaning equipment first calculates the average value based on the adjustment values ​​of the wiring speed recorded at various moments during the initial cleaning process. Then, by comparison, the minimum value of the average wire speed adjustment during cleaning was obtained from other tantalum wires of the same composition, thickness, and length. .

[0115] Secondly, the cleaning equipment obtains the maximum value of the ultrasonic power adjustment value at each moment during the first cleaning of the tantalum wire by comparing the ultrasonic power adjustment values ​​recorded at each moment during the first cleaning process. .

[0116] Optionally, the cleaning equipment is for After normalization, the increase in the initial reference value of ultrasonic power is calculated to avoid inconsistencies in dimensions during the calculation process. For example, the increase in the initial reference value of ultrasonic power is calculated using the following formula:

[0117]

[0118] In the above formula, This indicates the degree of increase in the initial reference value of the ultrasonic power for tantalum wire b at the start of the second cleaning process. This represents the average value of the wire speed adjustment for tantalum wire b at various moments during the first cleaning. This represents the minimum value among the average wire speed adjustment values ​​for other tantalum wires of the same composition, thickness, and length as tantalum wire b during the first cleaning. This indicates the total number of moments during the initial cleaning process for tantalum wire b. This represents the maximum value of the ultrasonic power adjustment at each moment during the initial cleaning process for tantalum wire b. This represents the ultrasonic power adjustment value of tantalum wire b at time m. Indicates the parameter tuning factor, if If it is 0, then set it to 0.01. If the denominator is not zero, it is set to 0, thus avoiding the calculation being meaningless due to a zero denominator.

[0119] It should be noted that the degree of increase in the initial reference value for calculating ultrasonic power... In this formula, all parameters are considered dimensionless characteristic values. The maximum ultrasonic power adjustment value, average wire speed, historical minimum average wire speed, and the sum of the ultrasonic power adjustment values ​​are used in the formula to characterize the overall degree of contamination and cleaning intensity required for the tantalum wire during the first cleaning process. This formula, by comprehensively considering the peak cleaning power, the degree of reduction in wire speed, and total energy consumption, constructs a dimensionless value for comparing the secondary cleaning intensity required for different tantalum wires. . After subsequent normalization, the final power reference value is used to adjust the initial power for the secondary cleaning.

[0120] Understandable The larger the value, the greater the overall degree of dirtiness of the tantalum wire b. In order to achieve a better secondary cleaning effect, the ultrasonic power during the secondary cleaning should be increased further.

[0121] S502. Adjust the initial reference value of ultrasonic power for secondary cleaning according to the degree of increase of the initial reference value of ultrasonic power.

[0122] Optionally, calculation yields Then, the max-min normalization method was used to... Normalization is performed to obtain the increase in the initial reference value of the normalized ultrasonic power. Its range is [0,1].

[0123] For example, the initial reference value of the ultrasonic power for the secondary cleaning is adjusted to... , These are the original reference values ​​obtained based on the composition and thickness of tantalum wire b.

[0124] Therefore, the cleaning equipment can obtain the initial reference value of the ultrasonic power during the secondary cleaning, so that the change in cleaning capacity during the secondary cleaning is more in line with the actual load of the tantalum wire, thus achieving a better cleaning effect.

[0125] In this embodiment of the invention, the automated tantalum cleaning equipment can be divided into functional modules or functional units according to the above method examples. For example, each function can be divided into its own functional modules or functional units, or two or more functions can be integrated into one processing module. The integrated modules can be implemented in hardware or as software functional modules or functional units. The module or unit divisions in this embodiment are illustrative and represent only one logical functional division; in actual implementation, other division methods may be used.

[0126] For example, such as Figure 6The diagram shown is a possible structural schematic of an automated tantalum cleaning device according to an embodiment of the present invention. The automated tantalum cleaning device 600 includes an acquisition unit 601 and a processing unit 602.

[0127] The acquisition unit 601 is used to acquire real-time parameters during the tantalum wire cleaning process. These real-time parameters include the output current and amplitude values ​​of the ultrasonic generator, as well as the water resistivity value of the cleaning medium in the rinsing tank.

[0128] The processing unit 602 is used to determine the degree of detuning of the ultrasonic system based on the output current value and the output amplitude value. The degree of detuning is used to characterize the frequency matching state between the ultrasonic generator and the ultrasonic transducer.

[0129] The processing unit 602 is also used to determine the load level of the current cleaning position of the tantalum wire based on the degree of detuning, the output current value, and the output amplitude value. The load level is used to characterize the thickness of the oil contaminant at the cleaning position of the tantalum wire.

[0130] The processing unit 602 is also used to determine the ultrasonic power adjustment value and the routing speed adjustment value based on the load level and the water resistivity value.

[0131] The processing unit 602 is also used to control the cleaning equipment to clean the tantalum wire according to the ultrasonic power adjustment value and the wire speed adjustment value.

[0132] Optionally, the processing unit 602 is further configured to determine the degree of mistuning compliance based on the variation patterns of the output current value and the output amplitude value within a preset time period. The degree of mistuning compliance includes the degree of current mistuning compliance and the degree of amplitude mistuning compliance.

[0133] Optionally, the processing unit 602 is also configured to determine the degree of detuning based on the degree of current detuning and the degree of amplitude detuning.

[0134] Optionally, the acquisition unit 601 is further configured to acquire the current difference and amplitude difference of each group of adjacent moments within a preset time period. The preset time period includes multiple consecutive moments preceding the current moment.

[0135] Optionally, the processing unit 602 is also used to determine the real-time current difference and the real-time amplitude difference between the current time and the previous adjacent time.

[0136] Optionally, the processing unit 602 is further configured to determine the degree of detuning based on the real-time current difference and the current difference of each group of adjacent moments within a preset time period, and based on the real-time amplitude difference and the amplitude difference of each group of adjacent moments within a preset time period.

[0137] Optionally, the processing unit 602 is further configured to determine the average current change of the output current value and the average amplitude change of the output amplitude value within a preset time period.

[0138] Optionally, the processing unit 602 is also used to determine the load level based on the difference between the detuning level and the historical minimum detuning level, the average current change, the average amplitude change, the current output current value, and the current output amplitude value.

[0139] Optionally, the processing unit 602 is also used to determine the degree of reduction in the wiring speed when the load level is greater than a first threshold or the water resistivity value is less than a second threshold.

[0140] Optionally, the processing unit 602 is also configured to determine a routing speed adjustment value based on the degree of reduction in routing speed.

[0141] Optionally, the processing unit 602 is also configured to determine an ultrasonic power adjustment value based on the load level and the initial reference value of the ultrasonic power.

[0142] Optionally, the processing unit 602 is also used to smooth the ultrasonic power adjustment value and the wire speed adjustment value using a preset control algorithm, and generate control commands.

[0143] Optionally, the processing unit 602 is also configured to convert control commands into pulse width modulation signals.

[0144] Optionally, the processing unit 602 is also used to drive the ultrasonic generator and the wiring motor according to the pulse width modulation signal.

[0145] Optionally, the processing unit 602 is also used to determine the degree of increase in the initial reference value of ultrasonic power based on the line speed adjustment value and ultrasonic power adjustment value recorded at each moment during the first cleaning process.

[0146] Optionally, the processing unit 602 is also configured to adjust the initial reference value of the ultrasonic power for the secondary cleaning based on the degree of increase of the initial reference value of the ultrasonic power.

[0147] Optionally, the processing unit 602 is further configured to normalize the increase in the initial reference value of ultrasonic power, and adjust the initial reference value of ultrasonic power for secondary cleaning according to the increase in the normalized initial reference value of ultrasonic power.

[0148] Optionally, the processing unit 602 is also used to read the output current value and output amplitude value of the ultrasonic generator through an industrial bus interface.

[0149] Optionally, the processing unit 602 is also used to obtain the water resistivity value of the cleaning medium in the rinsing tank through a resistivity sensor.

[0150] Optionally, the tantalum automated cleaning equipment 600 may also include a storage unit ( Figure 6 (shown in dashed box) The storage unit stores a program or instruction. When the acquisition unit 601 and the processing unit 602 execute the program or instruction, the tantalum material automated cleaning equipment can perform the tantalum material automated cleaning control method described in the above method embodiment.

[0151] also, Figure 6 The technical effects of the automated tantalum cleaning equipment can be referred to the technical effects of the automated tantalum cleaning control method described in the above embodiments, and will not be repeated here.

[0152] For example, Figure 7 This is a possible structural schematic diagram of the automated tantalum cleaning device involved in the above embodiments. For example... Figure 7 As shown, the tantalum material automated cleaning device 700 includes: processor 702.

[0153] The processor 702 is used to control and manage the operation of the tantalum material automated cleaning equipment 600, for example, to execute the steps performed by the acquisition unit 601 and the processing unit 602 in the tantalum material automated cleaning equipment 600, and / or to execute other processes of the technical solution described herein.

[0154] The processor 702 described above can implement or execute various exemplary logic blocks, modules, and circuits described in connection with the present invention. The processor can be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, modules, and circuits described in connection with the present invention. The processor can also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0155] Optionally, the tantalum automated cleaning device 700 may further include a communication interface 703, a memory 701, and a bus 704. The communication interface 703 supports communication between the tantalum automated cleaning device 700 and other network entities. The memory 701 stores the program code and data of the tantalum automated cleaning device.

[0156] The memory 701 may be a memory in an automated tantalum cleaning device. The memory may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, hard disk or solid-state drive; the memory may also include a combination of the above types of memory.

[0157] The 704 bus can be an Extended Industry Standard Architecture (EISA) bus, etc. The 704 bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0158] Through the above description of the embodiments, those skilled in the art will clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and module described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0159] This invention provides a computer program product containing instructions. When the computer program product is run on the electronic device of this invention, it causes the computer to execute the tantalum material automated cleaning control method described in the above method embodiments.

[0160] This invention also provides a computer-readable storage medium storing instructions. When a computer executes these instructions, the electronic device of this invention performs each step of the automated tantalum cleaning device in the method flow shown in the above-described method embodiments.

[0161] The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), registers, hard disks, optical fibers, compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof, or any other form of computer-readable storage medium in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium may also be a component of the processor. The processor and the storage medium may reside in an application-specific integrated circuit (ASIC). In embodiments of the present invention, a computer-readable storage medium may be any tangible medium that contains or stores a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0162] It should be noted that the order of the above embodiments of the present invention is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0163] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

Claims

1. A tantalum material automatic cleaning control method applied to a tantalum material automatic cleaning device, the tantalum material automatic cleaning device comprising an ultrasonic system and a rinsing tank, the ultrasonic system comprising an ultrasonic generator and an ultrasonic vibrator, characterized in that, The method comprises: acquiring real-time parameters in the tantalum wire cleaning process; wherein the real-time parameters include output current value and output amplitude value of the ultrasonic generator, and water quality resistivity value of the cleaning medium in the rinsing tank; determining the degree of mistuning of the ultrasonic system according to the output current value and the output amplitude value; wherein the degree of mistuning is used to represent the frequency matching state between the ultrasonic generator and the ultrasonic transducer; determining the load degree of the current cleaning position of the tantalum wire according to the degree of mistuning, the output current value and the output amplitude value; wherein the load degree is used to represent the thickness of the oil stain at the cleaning position of the tantalum wire; determining the ultrasonic power adjustment value and the wiring speed adjustment value according to the load degree and the water quality resistivity value; controlling the cleaning equipment to clean the tantalum wire according to the ultrasonic power adjustment value and the wiring speed adjustment value.

2. The automatic cleaning control method of tantalum material according to claim 1, characterized in that, According to the output current value and the output amplitude value, the degree of mistuning of the ultrasonic system is determined, specifically comprising: determining the degree of mistuning according to the change rule of the output current value and the output amplitude value within a preset period; wherein the degree of mistuning includes current mistuning compliance degree and amplitude mistuning compliance degree; determining the degree of mistuning according to the current mistuning compliance degree and the amplitude mistuning compliance degree.

3. The automatic cleaning control method of tantalum material according to claim 2, characterized in that, According to the change rule of the output current value and the output amplitude value within a preset period, the degree of mistuning is determined, specifically comprising: acquiring the current difference value and the amplitude difference value of each group of adjacent time within the preset period; wherein the preset period includes a plurality of continuous time before the current time; determining the real-time current difference value and the real-time amplitude difference value between the current time and the previous adjacent time; determining the degree of mistuning according to the real-time current difference value and the current difference value of each group of adjacent time within the preset period, and according to the real-time amplitude difference value and the amplitude difference value of each group of adjacent time within the preset period.

4. The method of claim 1, wherein the method further comprises: According to the degree of mistuning, the output current value and the output amplitude value, the load degree of the current cleaning position of the tantalum wire is determined, specifically comprising: determining the average current change amount of the output current value within a preset period and the average amplitude change amount of the output amplitude value within a preset period; determining the load degree according to the difference between the degree of mistuning and the historical minimum degree of mistuning, the average current change amount, the average amplitude change amount, the output current value and the output amplitude value of the current time.

5. The method of claim 1, wherein the method further comprises: According to the load degree and the water quality resistivity value, the ultrasonic power adjustment value and the wiring speed adjustment value are determined, specifically comprising: when the load degree is greater than a first threshold or the water quality resistivity value is less than a second threshold, the wiring speed reduction degree is determined; determining the wiring speed adjustment value according to the wiring speed reduction degree; determining the ultrasonic power adjustment value according to the load degree and the initial reference value of the ultrasonic power.

6. The method of claim 1, wherein the method further comprises: According to the ultrasonic power adjustment value and the wiring speed adjustment value, the cleaning equipment is controlled to clean the tantalum wire, specifically comprising: Smooth the ultrasonic power adjustment value and the wire drawing speed adjustment value using a preset control algorithm to generate a control instruction; Convert the control instruction into a pulse width modulation signal; Drive the ultrasonic generator and wire drawing motor according to the pulse width modulation signal.

7. The method of claim 1, wherein the method further comprises: After controlling the cleaning equipment to perform the first cleaning on the tantalum wire according to the ultrasonic power adjustment value and the wire drawing speed adjustment value, the method further comprises: Determine the increase degree of the ultrasonic power initial reference value according to the wire drawing speed adjustment value and the ultrasonic power adjustment value recorded at each time during the first cleaning process; Adjust the ultrasonic power initial reference value for the second cleaning according to the increase degree of the ultrasonic power initial reference value.

8. The method of claim 1, wherein the method further comprises: Adjust the ultrasonic power initial reference value for the second cleaning according to the increase degree of the ultrasonic power initial reference value, specifically comprising: Normalize the increase degree of the ultrasonic power initial reference value, and adjust the ultrasonic power initial reference value for the second cleaning according to the increase degree of the ultrasonic power initial reference value after the normalization.

9. The automatic cleaning control method of tantalum material according to any one of claims 1 to 8, characterized by, Obtain real-time parameters during the tantalum wire cleaning process, specifically comprising: Read the output current value and the output amplitude value of the ultrasonic generator through an industrial bus interface; Obtain the water quality resistivity value of the cleaning medium in the rinsing tank through a resistivity sensor.

10. An apparatus for automatically cleaning tantalum material, characterized by comprising: The tantalum material automatic cleaning control method comprises the following steps: obtaining real-time parameters during the tantalum wire cleaning process; determining the detuning degree of the ultrasonic system according to the output current value and the output amplitude value; determining the load degree of the current cleaning position of the tantalum wire according to the detuning degree, the output current value and the output amplitude value; determining the ultrasonic power adjustment value and the wire drawing speed adjustment value according to the load degree and the water quality resistivity value; and controlling the cleaning equipment to clean the tantalum wire according to the ultrasonic power adjustment value and the wire drawing speed adjustment value. The tantalum material automatic cleaning control method comprises the following steps: obtaining real-time parameters during the tantalum wire cleaning process; determining the detuning degree of the ultrasonic system according to the output current value and the output amplitude value; determining the load degree of the current cleaning position of the tantalum wire according to the detuning degree, the output current value and the output amplitude value; determining the ultrasonic power adjustment value and the wire drawing speed adjustment value according to the load degree and the water quality resistivity value; and controlling the cleaning equipment to clean the tantalum wire according to the ultrasonic power adjustment value and the wire drawing speed adjustment value. The tantalum material automatic cleaning control method comprises the following steps: obtaining real-time parameters during the tantalum wire cleaning process; determining the detuning degree of the ultrasonic system according to the output current value and the output amplitude value; determining the load degree of the current cleaning position of the tantalum wire according to the detuning degree, the output current value and the output amplitude value; determining the ultrasonic power adjustment value and the wire drawing speed adjustment value according to the load degree and the water quality resistivity value; and controlling the cleaning equipment to clean the tantalum wire according to the ultrasonic power adjustment value and the wire drawing speed adjustment value. ​ ​ ​

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