Bipolar constant current control system and control method thereof

Abstract

The application discloses a bipolar constant current control system and a control method thereof, which comprises a main control module, an adjustable boost power supply module and a bipolar H-bridge driving module. The bipolar H-bridge driving module is used for collecting working parameters of a load. The main control module is used for generating a voltage regulation signal containing amplitude information according to the working parameters and target working parameters. The adjustable boost power supply module is used for converting a system battery power supply into a high-voltage power supply with a corresponding amplitude in response to the level state of the voltage regulation signal, so that the bipolar H-bridge driving module outputs a bipolar pulse with constant current based on the high-voltage power supply. Thus, the output voltage of the adjustable boost power supply module is adjusted in real time by the main control module instead of a dedicated chip according to the change of the working parameters of the load. No matter how greatly the skin resistance fluctuates, the bipolar H-bridge driving module can output the bipolar pulse with constant current in real time.

Description

Technical Field

[0001] This application relates to the technical field of physiotherapy devices, and more specifically, to a bipolar constant current control system and its control method. Background Technology

[0002] With the rapid growth of the portable physiotherapy device market, bipolar constant current control has become crucial for ensuring both therapeutic efficacy and safety. However, existing technologies face three major bottlenecks: First, redundant hardware architecture leads to high costs. Traditional solutions often rely on dedicated constant current chips or complex full-bridge circuits, which are expensive. Second, human skin resistance varies greatly dynamically, while existing boost power supplies are mostly fixed outputs. This means that once the load exceeds its tolerance range, the drive circuit easily exits the constant current region, failing to meet the needs of complex physiotherapy scenarios. Finally, the lack of coordination between the power supply and the drive results in poor transient stability. Summary of the Invention

[0003] In view of the above problems, this application proposes a bipolar constant current control system and its control method, which can overcome the technical bottleneck between the high-precision constant current holding capability and the output stability under transient changes in the existing circuit under strict control of hardware costs, and achieve a balance between low cost, high adaptability and high safety.

[0004] This application provides a bipolar constant current control system, including: a bipolar H-bridge drive module for acquiring the operating parameters of the load; a main control module for generating a voltage regulation signal containing amplitude information based on the operating parameters and target operating parameters; and an adjustable boost power supply module for converting the system battery power supply into a high-voltage power supply of corresponding amplitude in response to the level state of the voltage regulation signal, so that the bipolar H-bridge drive module outputs a constant bipolar pulse based on the high-voltage power supply; wherein the main control module includes a first main control output terminal, a second main control output terminal, and a third main control output terminal, the first main control output terminal being... The adjustable boost power supply module is connected to a first adjustment input terminal of the adjustable boost power supply module, a second main control output terminal is connected to a first drive input terminal of the bipolar H-bridge drive module, and a third main control output terminal is connected to a second drive input terminal of the bipolar H-bridge drive module. The adjustable boost power supply module also includes a first power input terminal and an adjustment output terminal. The first power input terminal is connected to the system battery power supply, and the adjustment output terminal is connected to the first drive input terminal of the bipolar H-bridge drive module. The bipolar H-bridge drive module also includes a first drive output terminal and a second drive output terminal, with a load connected between the first drive output terminal and the second drive output terminal.

[0005] Therefore, the main control module adjusts the output voltage of the adjustable boost power supply module in real time according to the changes in the load operating parameters, so that the bipolar H-bridge drive module outputs a constant bipolar pulse current. This not only reduces hardware costs by replacing dedicated chips with general-purpose main control, but also solves the problem of constant current output when human skin resistance fluctuates greatly, and eliminates the problem of lack of coordination between power supply and drive. Attached Figure Description

[0006] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments and drawings obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0007] Figure 1 A schematic diagram of a bipolar constant current control system according to an embodiment of this application is shown.

[0008] Figure 2 A schematic diagram of another bipolar constant current control system according to an embodiment of this application is shown.

[0009] Figure 3 A schematic diagram of the structure of a voltage regulator module according to an embodiment of this application is shown.

[0010] Figure 4 A schematic diagram of an adjustable boost power supply module provided in an embodiment of this application is shown.

[0011] Figure 5 A schematic diagram of another adjustable boost power supply module provided in an embodiment of this application is shown.

[0012] Figure 6 A schematic diagram of another adjustable boost power supply module provided in an embodiment of this application is shown.

[0013] Figure 7 A schematic diagram of a bipolar H-bridge drive module provided in an embodiment of this application is shown.

[0014] Figure 8 A schematic diagram of another bipolar H-bridge driver module provided in an embodiment of this application is shown.

[0015] Figure 9 A schematic diagram of another bipolar H-bridge driver module provided in an embodiment of this application is shown.

[0016] Figure 10 A flowchart illustrating a bipolar constant current control method provided in an embodiment of this application is shown.

[0017] Figure 11 A schematic diagram of the structure of a physiotherapy device provided in an embodiment of this application is shown. Detailed Implementation

[0018] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0019] Please see Figure 1 , Figure 1 A schematic diagram of a bipolar constant current control system according to an embodiment of this application is shown, as follows: Figure 1 As shown, the bipolar constant current control system 100 includes a main control module 110, an adjustable boost power supply module 120, and a bipolar H-bridge drive module 130. Specifically: The main control module 110 includes a first main control output terminal, a second main control output terminal and a third main control output terminal. The first main control output terminal is connected to the first adjustment input terminal of the adjustable boost power supply module 120, the second main control output terminal is connected to the first drive input terminal of the bipolar H-bridge drive module 130, and the third main control output terminal is connected to the second drive input terminal of the bipolar H-bridge drive module 130. The adjustable boost power supply module 120 also includes a first power supply input terminal and an adjustable output terminal. The first power supply input terminal is connected to the system battery power supply, and the adjustable output terminal is connected to the first drive input terminal of the bipolar H-bridge drive module 130. The bipolar H-bridge driver module 130 also includes a first drive output terminal and a second drive output terminal, with the first drive output terminal and the second drive output terminal used to connect a load. The bipolar H-bridge drive module 130 is used to collect the operating parameters of the load, and the main control module 110 is used to generate a voltage regulation signal containing amplitude information based on the operating parameters and the target operating parameters. The adjustable boost power supply module 120 is used to convert the system battery power supply into a high voltage power supply with a corresponding amplitude in response to the level state of the voltage regulation signal, so that the bipolar H-bridge drive module outputs a bipolar pulse with a constant current based on the high voltage power supply.

[0020] In some implementations, the main control module 110 can be a microcontroller unit (MCU), a digital signal processor (DSP), a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), or a control system composed of a general-purpose processor and peripheral logic circuits. The main control module 110 internally stores a computer program, which is executed to perform tasks such as parsing synchronous pulse width modulation instructions, acquiring and performing closed-loop calculations on current feedback signals, and real-time monitoring of fault conditions and emergency stop logic judgments.

[0021] In one specific implementation, the main control module 110 can be a microcontroller unit (MCU). Main control module 110 In some implementations, the adjustable boost power supply module 120 can be a power conversion unit with dynamic voltage amplitude adjustment function. Its core function is to establish a controlled energy transmission channel between the input and output terminals, and to be able to change the DC voltage amplitude at its output terminal in real time according to external control commands.

[0022] In one specific implementation, the adjustable boost power supply module 120 is configured to receive a voltage regulation signal from the main control module 110. The adjustable boost power supply module 120 integrates a voltage conversion and feedback control mechanism and is configured to parse the amplitude information (such as the signal duty cycle, level height, or digital code value) carried in the voltage regulation signal and dynamically adjust its energy conversion ratio based on the information.

[0023] When the voltage regulation signal indicates a need for higher drive capability, the adjustable boost power supply module 120 automatically increases the output voltage amplitude at its regulating output terminal relative to the first power supply input terminal; conversely, it decreases the output voltage amplitude. Through this mechanism, the adjustable boost power supply module 120 can provide the subsequent bipolar H-bridge drive module 130 with an adaptive bus voltage that changes in real time according to load demand, thereby optimizing the overall power efficiency of the system and reducing heat loss while meeting the load operating parameter requirements.

[0024] In some implementations, the bipolar H-bridge drive module 130 can be a power drive circuit capable of controlling the bidirectional flow of current, typically consisting of an H-bridge structure composed of four switching transistors (e.g., N-channel MOSFETs or IGBTs).

[0025] The first and second drive input terminals of the bipolar H-bridge drive module 130 are used to receive two drive pulse signals with complementary phases or specific dead times. By controlling the combination of the on and off states of these four switching transistors, the bipolar H-bridge drive module 130 can convert the input DC high voltage into AC or bidirectional pulse current, and apply it to both ends of the load through the first and second drive output terminals to realize forward injection, reverse extraction, or rapid turn-off of the load current.

[0026] In addition, the bipolar H-bridge drive module 130 also integrates a current / voltage sampling unit (e.g., sampling resistor, Hall sensor or differential amplifier) ​​inside or outside the module to collect the load's operating parameters in real time and feed the sampling results back to the main control module 110.

[0027] In some implementations, the operating parameters can be a set of physical quantities characterizing the current real-time operating state of the load. The operating parameters reflect the actual response of the load under the current driving voltage and are the basis for the main control module 110 to perform closed-loop control.

[0028] In one specific implementation, the operating parameters include at least: the instantaneous value of the load current, the voltage across the load, and the load temperature or the junction temperature of the drive circuit. In the embodiments of this application, the operating parameters mainly refer to the real-time current feedback signal obtained through the sampling resistor in the bipolar H-bridge drive module 130.

[0029] In some implementations, the target operating parameters can be the ideal operating state values ​​that the system expects the load to reach. The target operating parameters can be derived from instructions issued by an external host computer (e.g., user-defined target current intensity, target brightness, or target torque), or they can be preset program curves within the main control module 110 (e.g., current waveform profiles that change over time).

[0030] During the control process, the main control module 110 compares the real-time collected operating parameters with the target operating parameters, calculates the error between the two, and then generates a corresponding control strategy to eliminate the error, so that the actual operating state of the load approaches the target state.

[0031] In some implementations, the voltage regulation signal can be a control command signal generated by the main control module 110 based on the deviation between the operating parameters and the target operating parameters. The voltage regulation signal carries the required amplitude information, and its physical form can be a pulse width modulation signal, an analog voltage signal after digital-to-analog conversion, or a digital communication signal.

[0032] For example, the required voltage amplitude can be characterized by changing the duty cycle of the signal; the larger the duty cycle, the higher the target output voltage. Another example is to directly output a DC level that is proportional to the target voltage. Yet another example is to directly write I2C and SPI bus data into the control register of the adjustable boost power supply module 120.

[0033] After the adjustable boost power supply module 120 analyzes the amplitude information in the signal, it converts it into the corresponding high-voltage power supply output. The bipolar H-bridge drive module 130 ensures that the bipolar H-bridge drive module 130 always operates in the optimal voltage range based on the constant bipolar pulse of the high-voltage power supply output current.

[0034] Furthermore, the main control module 110 also includes a first main control input terminal; the bipolar H-bridge drive module 130 also includes a second drive input terminal; please refer to... Figure 2 , Figure 2 A schematic diagram of another bipolar constant current control system according to an embodiment of this application is shown, as follows. Figure 2 As shown, the system also includes a voltage regulator module 140. Specifically: The voltage regulator module 140 includes a power input terminal, a first low-voltage output terminal, and a second low-voltage output terminal. The power input terminal is connected to the system battery power supply, the first low-voltage output terminal is connected to the first main control input terminal and the bipolar H-bridge drive module 130, and the second low-voltage output terminal is connected to the second drive input terminal.

[0035] The voltage regulator module 140 is used to provide a first operating voltage to the main control module 110 and a second operating voltage to the bipolar H-bridge drive module 130.

[0036] In some implementations, the system battery power source can be a DC energy storage unit or a DC power supply interface that provides initial electrical energy to the system. The system battery power source can be any form of rechargeable battery pack (e.g., lithium-ion batteries, nickel-metal hydride batteries, lead-acid batteries, etc.), a disposable battery pack, or an input terminal connected to an external DC power adapter.

[0037] The voltage amplitude output by the system battery power supply typically fluctuates dynamically within a certain range depending on changes in remaining charge, load current, and ambient temperature. Therefore, its direct output power is usually unsuitable for directly supplying logic control circuits or precision drive circuits that require high voltage stability. It must be converted and stabilized by the voltage regulator module 140 before it can be used as the operating voltage for the various modules within the system.

[0038] In some implementations, the first operating voltage may be a DC voltage signal output from the first low-voltage output terminal of the voltage regulator module 140, specifically used to drive the main control module 110 and the bipolar H-bridge drive module 130 to operate normally.

[0039] The amplitude of the first operating voltage is configured to meet the rated operating level requirements of the internal logic circuit of the main control module 110. The internal logic circuit can be a microprocessor core, memory, digital peripherals, etc. Since the main control module 110 is responsible for performing high-precision calculations, signal acquisition, and logical judgments, the first operating voltage has extremely high stability requirements and extremely low ripple noise tolerance.

[0040] The voltage regulator module 140 maintains the first operating voltage at a preset constant level through an internal feedback mechanism, regardless of the fluctuation of the input voltage of the system battery power supply. This ensures that the main control module 110 will not malfunction, reset, or make calculation errors, thus guaranteeing the reliability of the system control logic.

[0041] In some implementations, the second operating voltage may be output from the second low-voltage output terminal of the voltage regulator module 140, specifically used to drive the DC voltage signal of the gate or base of the power switch in the bipolar H-bridge driver module 130.

[0042] The amplitudes of the first and second operating voltages are configured to be above the threshold voltage required for the power semiconductor devices in the bipolar H-bridge drive module 130 to fully conduct, ensuring that the power transistors have the lowest on-resistance in the conducting state, thereby reducing drive losses. The power semiconductor devices can be MOSFETs, IGBTs, etc.

[0043] As the energy management center, the voltage regulator module 140 first converts the fluctuating electrical energy of the system battery power supply into two independent and stable DC power supplies: the first working voltage of one supply provides a clean logic operating environment for the main control module 110 and the bipolar H-bridge drive module 130, while the second working voltage of the other supply provides sufficient power device driving capability for the bipolar H-bridge drive module 130, thereby achieving noise isolation between the control domain and the power domain at the physical level.

[0044] Based on this, the bipolar H-bridge drive module 130 collects the load's operating parameters in real time and feeds them back to the main control module 110. The main control module 110 compares and calculates these real-time parameters with the preset target operating parameters, and synchronously generates two control commands: one is a voltage regulation signal carrying amplitude information, which is sent to the adjustable boost power supply module 120 to dynamically adjust the level of its output high-voltage bus, ensuring that the bus voltage always matches the current load requirements to improve efficiency; the other is a precise switching timing drive signal, which is sent to the bipolar H-bridge drive module 130 to control the on / off state of the power transistor.

[0045] Ultimately, the bipolar H-bridge drive module 130 utilizes the dynamic high-voltage bus provided by the adjustable boost power supply module 120 and the stable drive voltage provided by the voltage regulator module 140 to accurately output the target current or voltage to the load, thereby enabling the bipolar H-bridge drive module 130 to output a bipolar pulse with a constant current.

[0046] Specifically, please refer to Figure 3 , Figure 3 A schematic diagram of a voltage regulator module according to an embodiment of this application is shown, as follows: Figure 3 As shown, the voltage regulator module 140 includes a first voltage regulator circuit 141 and a second voltage regulator circuit 142. Specifically: The input terminal of the first voltage regulator circuit 141 is connected to the system battery power supply, and the output terminal of the first voltage regulator circuit 141 constitutes the first low voltage output terminal, which is used to output the first working voltage. The input terminal of the second voltage regulator circuit 142 is connected to the system battery power supply, and the output terminal of the second voltage regulator circuit 142 constitutes the second low voltage output terminal, which is used to output the second working voltage; the first working voltage is lower than the second working voltage. The first voltage regulator circuit 141 is used to convert the operating voltage provided by the system battery power supply into a first operating voltage; the second voltage regulator circuit 142 is used to convert the operating voltage provided by the system battery power supply into a second operating voltage.

[0047] In one specific implementation, please refer to... Figure 3 The first voltage regulator circuit 141 includes a first voltage regulator chip U8, a first voltage regulator capacitor C32, a second voltage regulator capacitor C30, a third voltage regulator capacitor C31, and a fourth voltage regulator capacitor C33. Specifically: The first terminal (pin VSS) of the first voltage regulator chip U8 is connected to one end of the first voltage regulator capacitor C32, one end of the second voltage regulator capacitor C30, one end of the third voltage regulator capacitor C31, one end of the fourth voltage regulator capacitor C33, and the ground terminal, respectively. The second terminal (pin VIN) of the first voltage regulator chip U8 is connected to the other end of the first voltage regulator capacitor C32, the other end of the second voltage regulator capacitor C30, and the system battery power supply, respectively. The third terminal (pin VOUT) of the first voltage regulator chip U8 is connected to the other end of the third voltage regulator capacitor C31, the other end of the fourth voltage regulator capacitor C33, and the first low-voltage output terminal, respectively.

[0048] In some implementations, the first voltage regulator chip U8 may be a chip of model ME6209A33PG. It is understood that this application is not limited thereto.

[0049] In one specific implementation, please refer to... Figure 3 The second voltage regulator circuit 142 includes a second voltage regulator chip LDO1, a fifth voltage regulator capacitor C25, a sixth voltage regulator capacitor C23, a seventh voltage regulator capacitor C24, and an eighth voltage regulator capacitor C26. Specifically: The first terminal (pin VSS) of the second voltage regulator chip LDO1 is connected to one end of the fifth voltage regulator capacitor C25, one end of the sixth voltage regulator capacitor C23, one end of the seventh voltage regulator capacitor C24, one end of the eighth voltage regulator capacitor C26, and the ground terminal, respectively. The second terminal (pin VIN) of the second voltage regulator chip LDO1 is connected to the other end of the fifth voltage regulator capacitor C25, the other end of the sixth voltage regulator capacitor C23, and the system battery power supply, respectively. The third terminal (pin VOUT) of the second voltage regulator chip LDO1 is connected to the other end of the seventh voltage regulator capacitor C24, the other end of the eighth voltage regulator capacitor C26, and the second low-voltage output terminal, respectively.

[0050] In some implementation methods, please continue to refer to Figure 3The second voltage regulator circuit 142 also includes a power input interface CN1. The first end of the power input interface CN1 is connected to the positive terminal of the first Zener diode D2, and the second end is connected to the ground terminal. The negative terminal of the first Zener diode D2 is connected to the system battery power supply.

[0051] Therefore, the voltage regulator module 140 converts the system battery power into a first operating voltage and a second operating voltage to provide the required operating voltage for the main control module 110 and the bipolar H-bridge drive module 130.

[0052] Furthermore, please refer to Figure 4 , Figure 4 This application provides a schematic diagram of the structure of an adjustable boost power supply module according to an embodiment of the present application. Figure 4 As shown, the adjustable boost power supply module includes a filter unit 121, a boost control unit 122, a boost inductor unit 123, and a feedback unit 124. Specifically: The filter unit 121 has a first terminal connected to the system battery power supply, a second terminal connected to the ground terminal, a third terminal connected to the first and second terminals of the boost control unit 122, and a fourth terminal connected to the third terminal of the boost control unit 122.

[0053] The boost inductor unit 123 is connected at one end to the third end of the filter unit 121 and at the other end to the first end of the boost execution unit.

[0054] The boost execution unit has its second terminal connected to the fourth terminal of the boost control unit 122, its third terminal connected to the ground terminal, and its fourth terminal connected to the first drive input terminal.

[0055] The feedback unit 124 has a first terminal connected to the ground terminal, a second terminal connected to the fifth terminal of the boost control unit 122, and a third terminal connected to the first drive input terminal.

[0056] The filtering unit 121 is used to filter the voltage provided by the system battery power supply and provide a third operating voltage to the boost control unit 122; the boost control unit 122 is used to generate a switch control signal when it receives a voltage regulation signal; the boost execution unit is used to perform timing control on the energy storage and release process of the boost inductor unit 123 according to the switch control signal, so as to convert the third operating voltage into a fourth operating voltage; the feedback unit 124 is used to perform voltage division sampling processing on the fourth operating voltage to generate a high voltage power supply.

[0057] In some implementations, the boost control unit 122 is powered by a third operating voltage to maintain its stable operation. On the one hand, the boost control unit 122 analyzes the voltage regulation signal from the external main control module 110 in real time to establish the target output reference. On the other hand, the boost control unit 122 continuously receives the real-time monitoring value after the feedback unit 124 performs voltage division sampling on the fourth operating voltage, performs high-precision comparison calculation between the two, dynamically adjusts and outputs a switching control signal with a specific frequency and variable duty cycle to the boost execution unit, ensuring that the final output high-voltage power supply can not only quickly respond to the load change requirements, but also effectively suppress voltage ripple and overshoot.

[0058] In some implementations, the third operating voltage can be a DC voltage signal output by the filter unit 121 after noise filtering and ripple smoothing of the raw electrical energy from the system battery power supply. The third operating voltage ensures the stable operation of the boost control unit 122; it also serves as the initial input voltage source for the boost inductor unit 123 to store energy.

[0059] It should be noted that the amplitude of the third operating voltage typically fluctuates within a certain range following the real-time state of the system battery power supply, and its level is lower than that of the subsequently generated fourth operating voltage. The presence of the filter unit 121 ensures that even if there is high-frequency interference or instantaneous drop in the system battery power supply, the third operating voltage supplied to the boost control unit 122 and the inductor unit still has good purity, providing a stable energy base for subsequent precise boost conversion.

[0060] In some implementations, the switching control signal can be a pulse drive signal generated by the boost control unit 122 based on the received external voltage adjustment signal and the sampling results of the internal feedback unit 124, and processed by an internal algorithm. The switching control signal is typically a square wave sequence (e.g., a PWM signal) with a specific frequency and variable duty cycle, and its output is connected to the control terminal of the boost execution unit (e.g., the gate of a MOSFET or the base of an IGBT).

[0061] The boost control unit 122 precisely controls the ratio of the on-time to the off-time of the power switching devices in the boost execution unit by adjusting the duty cycle of the switching control signal in real time. When the voltage regulation signal requires an increase in the output voltage, the control unit increases the duty cycle to prolong the inductor energy storage time; conversely, it decreases the duty cycle.

[0062] In some implementations, the amplitude of the fourth operating voltage is higher than that of the third operating voltage, and its specific value is not fixed but dynamically responds to changes in the voltage regulation signal.

[0063] The fourth operating voltage is directly output to the first drive input terminal, serving as the direct energy source for driving the load. The fourth operating voltage is the target to be regulated, and its stability directly determines the output performance of the subsequent bipolar H-bridge drive module 130.

[0064] In some implementations, the high-voltage power supply may be the electrical energy output that the adjustable boost power supply module 120 ultimately provides to the external load, meeting the preset high-level requirements.

[0065] Feedback unit 124 monitors the actual amplitude of the fourth operating voltage in real time and converts it into a low-voltage sampling signal through voltage division sampling, which is then fed back to boost control unit 122. Boost control unit 122 compares the sampling signal with the target threshold and dynamically corrects the switching control signal, thereby maintaining the fourth operating voltage in the desired high-level range.

[0066] Therefore, the amplitude range of the high-voltage power supply can be configured to any suitable level, much higher than the system battery power supply voltage, to meet the driving requirements of high-power loads, depending on the application scenario.

[0067] Specifically, please refer to Figure 5 , Figure 5 This application provides a schematic diagram of another adjustable boost power supply module, as shown in the embodiment of the present application. Figure 5 As shown, in one specific embodiment, the filtering unit 121 includes a first filtering capacitor C11 and a second filtering capacitor C12. One end of the first filtering capacitor C11 is connected to the system battery power supply, and the other end is connected to the ground terminal. One end of the second filtering capacitor C12 is connected to one end of the first filtering capacitor C11, the first terminal and the second terminal of the boost control unit 122, respectively, and the other end of the second filtering capacitor C12 is connected to the other end of the first filtering capacitor C11 and the third terminal of the boost control unit 122, respectively.

[0068] In one specific implementation, please refer to... Figure 5 The filter unit 121 further includes a third filter capacitor C46 and a fourth filter capacitor C20. One end of the third filter capacitor C46 is connected to one end of the second filter capacitor C12, and the other end of the third filter capacitor C46 is connected to the other end of the second filter capacitor C12; one end of the fourth filter capacitor C20 is connected to one end of the third filter capacitor C46, ​​and the other end of the fourth filter capacitor C20 is connected to the other end of the third filter capacitor C46.

[0069] In one specific implementation, please refer to... Figure 5 The boost inductor unit 123 includes a boost inductor L2. One end of the boost inductor L2 is connected to the first and second ends of the boost control unit 122, and the other end of the boost inductor L2 is connected to the first end of the boost execution unit.

[0070] In one specific implementation, please refer to... Figure 5 The boost execution unit includes a switching transistor Q1, a first boost resistor R11, and a boost diode resistor D1. The first terminal of the switching transistor Q1 is connected to the other terminal of the boost inductor unit 123 and the positive terminal of the boost diode resistor D1. The second terminal of the switching transistor Q1 is connected to the fourth terminal of the boost control unit 122. The third terminal of the switching transistor Q1 is connected to one end of the first boost resistor R11. The other end of the first boost resistor R11 is connected to ground. The other end of the boost diode resistor D1 is connected to the second terminal of the feedback unit 124.

[0071] In one specific implementation, please refer to... Figure 5 The boost execution unit also includes a fourth boost resistor R13 and a fifth boost resistor R14. One end of the fourth boost resistor R13 is connected to the fourth terminal of the boost control unit 122, and the other end of the fourth boost resistor R13 is connected to the second terminal of the switching transistor Q1. One end of the fifth boost resistor R14 is connected to the third terminal of the switching transistor Q1, and the other end of the fifth boost resistor R14 is connected to the ground terminal.

[0072] In one specific implementation, please refer to... Figure 5 The feedback unit 124 includes a second boost resistor R1 and a third boost resistor R15. One end of the second boost resistor R1 is connected to the fifth terminal of the boost control unit 122, and the other end of the second boost resistor R1 is connected to the ground terminal. One end of the third boost resistor R15 is connected to one end of the second boost resistor R1, and the other end of the third boost resistor R15 is connected to the first drive input terminal.

[0073] In one specific implementation, please refer to... Figure 5 The feedback unit 124 also includes a sixth boost resistor R17, a fifth filter capacitor C22, a seventh boost resistor R16, and a sixth filter capacitor C16. One end of the sixth boost resistor R17 is connected to the ground terminal, and the other end of the sixth boost resistor R17 is connected to one end of the second boost resistor R1. One end of the fifth filter capacitor C22 is connected to one end of the seventh boost resistor R16, and the other end of the fifth filter capacitor C22 is connected to one end of the second boost resistor R1. The other end of the seventh boost resistor R16 is connected to the fifth terminal of the boost control unit 122. One end of the sixth filter capacitor C16 is connected to one end of the seventh boost resistor R16, and the other end of the sixth filter capacitor C16 is connected to the other end of the fifth filter capacitor C22.

[0074] Please refer to Figure 6 , Figure 6This paper illustrates a structural schematic diagram of another adjustable boost power supply module provided in an embodiment of this application, as shown below. Figure 6 As shown, in some embodiments, the adjustable boost power supply module 120 further includes a switching frequency setting unit 125, a soft-start unit 126, and an adjustable control terminal unit 127. The first terminal of the switching frequency setting unit 125 is connected to the first terminal of the boost control unit 122, the second terminal of the switching frequency setting unit 125 is connected to the second terminal of the boost control unit 122, and the third terminal of the switching frequency setting unit 125 is connected to the sixth terminal of the boost control unit 122.

[0075] One end of the soft start unit 126 is connected to the sixth end of the boost control unit 122, and the other end of the soft start unit 126 is connected to the third end of the switching frequency setting unit 125; the first end of the adjustable control unit 127 is connected to the third end of the feedback unit 124, the second end of the adjustable control unit 127 is connected to the ground terminal, and the third end of the adjustable control unit 127 is connected to the first drive input terminal.

[0076] In one specific implementation, please refer to... Figure 5 The switching frequency setting unit 125 includes an eighth boost resistor R12 and a seventh filter capacitor C14. One end of the eighth boost resistor R12 is connected to the first end of the boost control unit 122, and the other end of the eighth boost resistor R12 is connected to one end of the seventh filter capacitor C14 and the second end of the boost control unit 122. The other end of the seventh filter capacitor C14 is connected to the sixth end of the boost control unit 122.

[0077] In one specific implementation, please refer to... Figure 5 The soft-start unit 126 includes an eighth filter capacitor C15. One end of the eighth filter capacitor C15 is connected to the sixth terminal of the boost control unit 122, and the other end of the eighth filter capacitor C15 is connected to the third terminal of the switching frequency setting unit 125.

[0078] In one specific implementation, please refer to... Figure 5The adjustable control unit 127 includes a ninth boost resistor R77, a ninth filter capacitor C5, a tenth boost resistor R20, an eleventh boost resistor R21, and a twelfth boost resistor R19. One end of the ninth boost resistor R77 is connected to the third terminal of the feedback unit 124; the other end of the ninth boost resistor R77 is connected to one end of the ninth filter capacitor C5 and one end of the tenth boost resistor R20; the other end of the ninth filter capacitor C5 is connected to one end of the eleventh boost resistor R21; the other end of the tenth boost resistor R20 is connected to the other end of the eleventh boost resistor R21; the other end of the eleventh boost resistor R21 is also connected to one end of the twelfth boost resistor R19; and the other end of the twelfth boost resistor R19 is connected to the first drive input terminal.

[0079] In summary, by using the boost control unit 122 as the central controller, the voltage regulation signal from the autonomous control module 110 is converted into an internal reference, and the actual output voltage value sampled by the feedback resistor network (i.e., R16 / R17) is integrated in real time to dynamically generate a switching control signal to drive the boost execution unit. Combined with the energy throughput of the boost inductor L2 and the unidirectional conduction characteristic of the freewheeling diode D1, energy conversion from the system battery power supply VDD7V4 to the high-voltage power supply VCCHIGH is achieved.

[0080] Furthermore, the filter capacitor bank (C11 / C12 / C46 / C20 / C19, etc.) effectively suppresses power supply noise, and multiple parallel output capacitors (C40 to C45, etc.) ensure voltage stability under load transient response. The entire module not only supports wide-range output voltage regulation, but also has built-in overcurrent protection, soft start, frequency compensation and other functions.

[0081] Furthermore, based on the dynamic high-voltage bus VCCHIGH constructed by the aforementioned adjustable boost power supply module 120, this application further proposes a bipolar H-bridge drive module 130 tightly coupled to it. Please refer to... Figure 7 , Figure 7 This illustration shows a structural schematic diagram of a bipolar H-bridge driver module provided in an embodiment of this application, as shown below. Figure 7 As shown, the bipolar H-bridge drive module 130 includes a first high-voltage side switch drive unit 131, a first low-side current regulation unit 132, a second high-voltage side switch drive unit 133, a second low-side current regulation unit 134, and a parameter sampling module 135. Specifically: The first end of the first high-voltage side switch drive unit 131 is used to connect to the regulation output terminal, the second end of the first high-voltage side switch drive unit 131 is connected to the first drive output terminal, and the third end of the first high-voltage side switch drive unit 131 is connected to the main control module 110.

[0082] One end of the first low-side current adjustment unit 132 is connected to the second drive output terminal, and the other end of the first low-side current adjustment unit 132 is used to connect to the reference ground.

[0083] The first end of the second high-voltage side switch drive unit 133 is used to connect to the regulation output terminal, the second end of the second high-voltage side switch drive unit 133 is connected to the second drive output terminal, and the third end of the second high-voltage side switch drive unit 133 is connected to the main control module 110.

[0084] One end of the second low-side current adjustment unit 134 is connected to one end of the first drive output terminal, and the other end of the second low-side current adjustment unit 134 is used to connect to the reference ground.

[0085] The signal input terminal of the parameter sampling module 135 is connected to the current path of the first low-side current adjustment unit 132, and the signal output terminal of the parameter sampling module 135 is connected to the main control module 110.

[0086] The main control module 110 is used to generate a first control signal when the current direction of the target operating parameter is detected to be the first direction; the first high-voltage side switch drive unit 131 is used to conduct the path between the adjustment output terminal and the first drive output terminal according to the first control signal, so as to adjust the first direction current amplitude of the load to be stable at the target operating parameter through the first low-side current adjustment unit 132.

[0087] The main control module 110 is used to generate a second control signal when the current direction of the target operating parameter is detected to be the second direction; the second high-voltage side switch drive unit 133 is used to conduct the path between the adjustment output terminal and the second drive output terminal according to the second control signal, so that the second direction current amplitude of the load is stabilized at the target operating parameter through the second low-side current adjustment unit 134.

[0088] The parameter sampling module 135 is used to collect the operating parameters of the load and send the operating parameters to the main control module 110.

[0089] In embodiments of this application, the first direction and the second direction can be two opposite physical directions of current flowing through the load. For example, the first direction can be defined as the path in which current flows into the load from the first drive output terminal, flows out through the second drive output terminal, and finally flows back to the reference ground through the first low-side current regulation unit 132. As another example, the second direction can be defined as the path in which current flows into the load from the second drive output terminal, flows out through the first drive output terminal, and finally flows back to the reference ground through the second low-side current regulation unit 134.

[0090] This is generated when the main control module 110 determines that the load needs to operate in the first direction. The first control signal is configured to activate the first high-voltage side switch drive unit 131 (even if it is turned on, applying the high-voltage bus voltage to the first drive output terminal), and at the same time control the first low-side current regulation unit 132 (even if it is in an adjustable on state to form a loop and limit the current), while ensuring that the second high-voltage side switch drive unit 133 and the second low-side current regulation unit 134 are in the off state.

[0091] This is generated when the main control module 110 determines that the load needs to operate in the second direction. The second control signal is configured to activate the second high-voltage side switch drive unit 133 (even if it is turned on, applying the high-voltage bus voltage to the second drive output terminal), and at the same time control the second low-side current regulation unit 134 (even if it is in the adjustable on state), thereby ensuring that the first high-voltage side switch drive unit 131 and the first low-side current regulation unit 132 are in the off state.

[0092] The main control module 110 receives the actual load current value fed back by the parameter sampling module 135 in real time and compares it with the target operating parameters. If the actual current direction is not consistent with the target direction, or the current amplitude is not stable at the target value, the main control module 110 will dynamically adjust the duty cycle or enable state of the first control signal or the second control signal, thereby precisely adjusting the equivalent impedance of the corresponding low-side current regulation unit.

[0093] Specifically, in some implementation methods, please refer to Figure 8 , Figure 8 This paper illustrates a schematic diagram of another bipolar H-bridge driver module provided in an embodiment of this application, as shown below. Figure 8 As shown, the first high-voltage side switch driving unit 131 includes a first high-voltage side switch subunit 131a and a first base driving subunit 131b. Specifically: The first high-voltage side switch subunit 131a has a first control terminal, a first switch terminal and a second switch terminal; the first switch terminal constitutes a first drive input terminal and the second switch terminal is connected to the first drive output terminal.

[0094] The first base drive subunit 131b has a second control terminal, a first drive terminal, and a second drive terminal; the second control terminal is used to receive a first control signal, the first drive terminal is connected to the first control terminal, and the second drive terminal is connected to the ground terminal.

[0095] The first base drive subunit 131b is used to pull down the potential of the first control terminal when it receives the first control signal, so that the circuit where the first switch terminal and the second switch terminal are located is connected.

[0096] In one specific implementation, please refer to Figure 9 , Figure 9This illustration shows a schematic diagram of another bipolar H-bridge driver module provided in an embodiment of this application, as shown below. Figure 8 and 9 As shown, the first high-voltage side switching subunit 131a includes a first driving transistor Q5 and a first diode D7. The first terminal of the first driving transistor Q5 is connected to the regulating output terminal, the second terminal of the first driving transistor Q5 is connected to the anode of the first diode D7, the third terminal of the first driving transistor Q5 is connected to the first driving terminal, and the cathode of the first diode D7 is connected to the first driving output terminal. In one specific implementation, please refer to... Figure 8 and 9 The first base drive subunit 131b includes a second drive transistor Q6, a first resistor R26, and a second resistor R25. The first end of the second drive transistor Q6 is connected to a reference ground, the second end of the second drive transistor Q6 is connected to one end of the first resistor R26, and the third end of the second drive transistor Q6 is connected to the main control module 110. The other end of the first resistor R26 is connected to the first control terminal and one end of the second resistor R25, respectively, and the other end of the second resistor R25 is connected to the first drive input terminal.

[0097] In one specific implementation, please refer to... Figure 8 and 9 The first base drive subunit 131b also includes a first base resistor R27 and a second base resistor R28. One end of the first base resistor R27 is connected to the main control module 110, and the other end of the first base resistor R27 is connected to one end of the second base resistor R28. One end of the second base resistor R28 is also connected to one end of the first resistor R26, and the other end of the second base resistor R28 is connected to the ground terminal.

[0098] In summary, the first high-voltage side switch driving unit 131 uses the first base driving subunit 131b as a logic interface and driving amplifier to accurately convert the first control signal issued by the main control module 110 into a bias voltage that can drive the high-voltage side power device. Once a valid command is received, the driving subunit immediately forces the control terminal potential of the first high-voltage side switch subunit 131a to be lower than the conduction threshold. It uses the potential difference between the high-voltage bus connected to the adjustment output terminal and the control terminal to establish a positive bias or negative gate voltage, thereby quickly eliminating the cut-off state of the switching device and opening a low-impedance energy path from the first switch terminal to the second switch terminal.

[0099] In some implementation methods, please continue to refer to Figure 8 The first low-side current regulation unit 132 includes a first constant current execution subunit 132a and a first fast turn-off subunit 132b. Specifically: The first constant current execution subunit 132a has a first constant current terminal, a second constant current terminal, a third constant current terminal and a fourth constant current terminal. The first constant current terminal is connected to the second drive output terminal, the second constant current terminal is connected to the signal input terminal, the third constant current terminal is connected to the first turn-off terminal of the first fast turn-off subunit 132b, and the fourth constant current terminal is connected to the main control module 110. The first fast turn-off subunit 132b has a second turn-off terminal and a third turn-off terminal. The second turn-off terminal is used to receive the second working voltage, and the third turn-off terminal is connected to the main control module 110.

[0100] The first fast shutdown subunit 132b is used to generate a forced shutdown level signal when an external emergency stop signal is received; the first constant current execution subunit 132a is used to cut off the load current according to the forced shutdown level signal, and to adjust the load current amplitude when a closed-loop control signal is received.

[0101] In one specific implementation, please refer to... Figure 8 and 9 The first constant current execution subunit 132a includes a first constant current drive transistor Q21. Its first terminal is connected to the second drive output terminal, its second terminal is connected to the signal input terminal, one end of the first constant current resistor R36, and one end of the second constant current resistor R34, respectively. Its third terminal is connected to one end of the third constant current resistor R35 and one end of the fourth constant current resistor R42, respectively. The other ends of the first constant current resistor R36 and the fourth constant current resistor R42 are respectively connected to the ground terminal. The other end of the third constant current resistor R35 is connected to the first terminal of the first operational amplifier U1.2 and the first constant current transistor R34. One end of capacitor C28 is connected; the other end of the second constant current resistor R34 is connected to the other end of the first constant current capacitor C28 and one end of the fifth constant current resistor R46 respectively; the second end of the first operational amplifier U1.2 is connected to one end of the second constant current capacitor C27 and one end of the sixth constant current resistor R33 respectively; the other end of the second constant current capacitor C27 is connected to the ground terminal; the other end of the sixth constant current resistor R33 is connected to the main control module 110; the third end of the first operational amplifier U1.2 is connected to the other end of the fifth constant current resistor R46 and the first fast shutdown subunit respectively.

[0102] In one specific implementation, please refer to... Figure 8 and 9 The first fast shutdown subunit 132b includes: a first constant current drive transistor Q11, a first constant current resistor R43, a second constant current resistor R44, and a third constant current resistor R45. Specifically: The second constant current driving transistor Q11 has its first terminal connected to the anode of the first constant current diode D4 and one end of the seventh constant current resistor R45, respectively. The cathode of the first constant current diode D4 is connected to the first constant current execution subunit. One end of the seventh constant current resistor R45 is used to receive the second operating voltage. Its second terminal is connected to one end of the eighth constant current resistor R43 and one end of the ninth constant current resistor R44, respectively. Its third terminal and the other end of the eighth constant current resistor R43 are connected to the ground terminal, and the other end of the ninth constant current resistor R44 is connected to the main control module 110.

[0103] Therefore, it can be seen that one end of the first low-side current regulation unit 132 is connected to the reference ground to establish the current return reference, and the other end is connected to the second drive output terminal to receive the current flowing out of the load in the reverse direction or flowing in in the forward direction. Internally, it dynamically changes its equivalent conduction impedance or switching duty cycle in the current path by responding in real time to the adjustment command of the main control module 110 or the feedback signal of the parameter sampling module 135. When the first high-voltage side switch drive unit 131 turns on the high-voltage bus, the unit immediately intervenes to strictly limit and stabilize the current flowing through the load within the amplitude range set by the target operating parameters. Thus, while realizing the complete circuit conduction of power from the high-voltage side through the load to the ground, it effectively suppresses the current overshoot caused by the load inductive characteristics or power supply fluctuations, ensuring that the load can obtain a smooth, constant and controlled drive current when working in the first or second direction.

[0104] In some implementation methods, please continue to refer to Figure 8 The second high-voltage side switch driving unit 133 includes a second high-voltage side switch subunit 133a and a second base driving subunit 133b. Specifically: The second high-voltage side switch subunit 133a has a third control terminal, a third switch terminal and a fourth switch terminal. The third switch terminal constitutes the first drive input terminal and the fourth switch terminal is connected to the second drive output terminal.

[0105] The second base drive subunit 133b has a fourth control terminal, a third drive terminal, and a fourth drive terminal; the fourth control terminal is used to receive a second control signal, the third drive terminal is connected to the third control terminal, and the fourth drive terminal is connected to the ground terminal.

[0106] The second base drive subunit 133b is used to pull down the potential of the third control terminal when it receives the second control signal, so that the circuit where the third switch terminal and the fourth switch terminal are located is connected.

[0107] In one specific implementation, please refer to... Figure 8 and Figure 9The second high-voltage side switch subunit 133a includes a third driving transistor Q7 and a second diode D8. The first end of the third driving transistor Q7 is connected to the regulating output terminal, the second end of the third driving transistor Q7 is connected to the positive terminal of the second diode D8, the third end of the third driving transistor Q7 is connected to the third driving terminal, and the negative terminal of the second diode D8 is connected to the second driving output terminal.

[0108] In one specific implementation, please refer to... Figure 8 and Figure 9 The second base drive subunit 133b includes a fourth drive transistor Q8, a third resistor R30, and a fourth resistor R29. The first end of the fourth drive transistor Q8 is connected to the reference ground, the second end of the fourth drive transistor Q8 is connected to one end of the third resistor R30, and the third end of the fourth drive transistor Q8 is connected to the main control module 110. The other end of the third resistor R30 is connected to the second control terminal and one end of the fourth resistor R29, and the other end of the fourth resistor R29 is connected to the first drive input terminal.

[0109] In one specific implementation, please refer to... Figure 8 and Figure 9 The second base drive subunit 133b also includes a third base resistor R31 and a fourth base resistor R32. One end of the third base resistor R31 is connected to the main control module 110, the other end of the third base resistor R31 is connected to one end of the fourth base resistor R32, one end of the fourth base resistor R32 is also connected to one end of the third base resistor R31, and the other end of the fourth base resistor R32 is connected to the ground terminal.

[0110] The above design enables precise switching of the high-voltage power supply in the reverse drive mode of the load, ensuring that it forms a complete reverse current loop in conjunction with the first low-side current regulation unit 132, effectively isolating the control domain from the power domain, and providing the load with a stable, responsive and polarity-correct reverse drive current.

[0111] In some implementation methods, please continue to refer to Figure 8 The second low-side current regulation unit 134 includes a second constant current execution subunit 134a and a second fast turn-off subunit 134b. Specifically: The second constant current execution subunit 134a has a fifth constant current terminal, a sixth constant current terminal and a seventh constant current terminal. The fifth constant current terminal is connected to the first drive output terminal, the sixth constant current terminal is connected to the fourth turn-off terminal of the second fast turn-off subunit 134b, and the seventh constant current terminal is connected to the main control module 110. The second fast turn-off subunit 134b also has a fifth turn-off terminal and a sixth turn-off terminal. The fifth turn-off terminal is used to receive the second working voltage, and the sixth turn-off terminal is connected to the main control module 110.

[0112] The second fast shutdown subunit 134b is used to generate a forced shutdown level signal when an external emergency stop signal is received; the second constant current execution subunit 134a is used to cut off the load current according to the forced shutdown level signal, and to adjust the load current amplitude when a closed-loop control signal is received.

[0113] In one specific implementation, please refer to... Figure 8 and Figure 9 The second fast shutdown subunit 134a includes: a first execution drive transistor Q20, with its first end connected to the first drive output terminal, its second end connected to one end of the first execution resistor R10 and one end of the second execution resistor R3, and its third end connected to one end of the third execution resistor R4 and one end of the fourth execution resistor R41; the other ends of the first execution resistor R10 and the fourth execution resistor R41 are respectively connected to the ground terminal, the other end of the third execution resistor R4 is respectively connected to the first terminal of the second operational amplifier U1.1 and one end of the first execution capacitor C6, and the other end of the second execution resistor R3 is respectively connected to the other end of the first execution capacitor C6 and one end of the fifth execution resistor R40; the first execution drive transistor Q20, with its second end connected to one end of the second execution capacitor C4 and one end of the sixth execution resistor R2, the other end of the second execution capacitor C4 connected to the ground terminal, and the other end of the sixth execution resistor R2 connected to the main control module 110; the third end of the first execution drive transistor Q20 is respectively connected to the other end of the fifth execution resistor R40 and the second fast shutdown subunit.

[0114] In one specific implementation, please refer to... Figure 8 and Figure 9 The second fast shutdown subunit 134b includes: a second execution drive transistor Q10, the first end of which is connected to one end of the seventh execution resistor R39 and the positive terminal of the first execution diode D3, the other end of the seventh execution resistor R39 is used to receive the second operating voltage, and the negative terminal of the first execution diode D3 is connected to the second constant current execution subunit; the second end of the second execution drive transistor Q10 is connected to one end of the eighth execution resistor R37 and one end of the ninth execution resistor R38, the other end of the ninth execution resistor R38 is connected to the ground terminal; the third end of the second execution drive transistor Q10 and the other end of the eighth execution resistor R37 are respectively connected to the ground terminal.

[0115] At this point, one end of the second low-side current regulation unit 134 is firmly connected to the reference ground to establish the current return reference, and the other end is coupled to the first drive output terminal to receive the current flowing out of the load in the reverse drive state. Its internal circuit dynamically adjusts its equivalent on-resistance or switching duty cycle in the current path by responding to the instructions or sampling feedback signals of the main control module 110 in real time. When the second high-voltage side switch drive unit 133 conducts the high-voltage bus to form a reverse voltage, this unit immediately intervenes to strictly limit and stabilize the reverse current flowing through the load within the preset target amplitude range. This ensures that the power energy forms a complete reverse loop from the high-voltage side through the load to the ground, while effectively suppressing the current overshoot and oscillation caused by the release of inductor energy stored in the load or power fluctuations. This ensures that the load can obtain a smooth, constant and highly controlled drive current when working in the second direction, achieving symmetrical complementarity with the first low-side current regulation unit 132 in function.

[0116] In some implementation methods, please continue to refer to Figure 8 and Figure 9 The parameter sampling module 135 includes: a sampling chip U4, the first end of which is connected to one end of the first sampling resistor R6, and the other end of the first sampling resistor R6 is connected to the first low-side current adjustment unit; a sampling chip U4, the second end of which is connected to one end of the second sampling resistor R7 and one end of the third sampling resistor R8, and the other end of the second sampling resistor R7 is connected to the ground terminal; a sampling chip U4, the third end of which is connected to the other end of the third sampling resistor R8 and one end of the fourth sampling resistor R9, and the other end of the fourth sampling resistor R9 is connected to the main control module; a sampling chip U4, the fourth end of which is used to receive the first working voltage and is connected to one end of the sampling capacitor C7, and the other end of the sampling capacitor C7 is connected to the ground terminal.

[0117] Thus, in terms of actual performance, the bipolar constant current control system 100 has achieved a significant improvement in the accuracy of physiotherapy dosage: even under the harsh conditions of drastic fluctuations in human skin load resistance from 50Ω to 3kΩ and continuous operation for 8 hours, the output current error is still strictly controlled within ±3%, which is more than 5 times more accurate than the traditional constant voltage solution. This ensures the absolute consistency of the physiotherapy current and time dosage for each treatment, avoiding the risk of insufficient dosage or excessive dosage causing harm.

[0118] Meanwhile, the bipolar constant current control system 100 has excellent load adaptability and ease of operation. Relying on a wide-range power drive unit (combination of MOSFET and PNP transistor) and adaptive algorithm, it can achieve stepless and precise constant current output of 10μA to 30mA within a wide load range of 0 to 3kΩ. Whether it is microampere-level fine acupuncture or milliampere-level muscle rehabilitation, it can respond stably within 50ms without transient impact when the load changes suddenly. It can eliminate the stinging sensation caused by local current concentration without manual intervention from the user, significantly improving comfort.

[0119] In addition, the bipolar constant current control system 100 can not only achieve derating soft protection of ≤20ms and cut-off hard protection of ≤10ms during overcurrent, reducing the false trigger rate by 80%, but also has human contact detection and fault self-diagnosis functions. When there is no effective contact, it automatically limits the current to below the 0.1mA safety threshold and immediately locks the output when a fault occurs, ensuring the safety of patients in all aspects.

[0120] Please see Figure 10 , Figure 10 A schematic flowchart of a bipolar constant current control method provided in an embodiment of this application is shown. Figure 10 As shown, the method may include steps 210 to 230.

[0121] In step 210, the operating parameters of the load are collected.

[0122] In some implementations, operating parameters can be a set of physical quantities characterizing the current real-time operating state of the load. Operating parameters reflect the actual response of the load under the current drive voltage and serve as the basis for the main control module to perform closed-loop control.

[0123] In one specific implementation, the operating parameters include at least: the instantaneous value of the load current, the voltage across the load, and the load temperature or the junction temperature of the drive circuit. In the embodiments of this application, the operating parameters mainly refer to the real-time current feedback signal obtained through the sampling resistor in the bipolar H-bridge drive module.

[0124] In step 220, a voltage regulation signal containing amplitude information is generated based on the operating parameters and the target operating parameters.

[0125] In some implementations, the target operating parameters can be the ideal operating state values ​​that the system expects the load to reach. The target operating parameters can be derived from instructions issued by an external host computer (e.g., user-defined target current intensity, target brightness, or target torque), or they can be preset program curves within the main control module (e.g., current waveform profiles that change over time).

[0126] During the control process, the main control module compares the real-time collected operating parameters with the target operating parameters, calculates the error (i.e., the difference) between the two, and then generates a corresponding control strategy to eliminate the error, so that the actual operating state of the load approaches the target state.

[0127] In step 230, the system battery power supply is converted into a high voltage power supply of corresponding amplitude according to the level state of the voltage regulation signal, so that the bipolar H-bridge drive module outputs a bipolar pulse with a constant current based on the high voltage power supply.

[0128] In some implementations, the voltage regulation signal can be a control command signal generated by the main control module based on the deviation between the operating parameters and the target operating parameters. The voltage regulation signal carries the required amplitude information, and its physical form can be a pulse width modulation signal, an analog voltage signal after digital-to-analog conversion, or a digital communication signal.

[0129] In some implementations, the high-voltage power supply may be the electrical energy output that the adjustable boost power supply module ultimately provides to the external load, meeting the preset high-level requirements.

[0130] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the above description method can be referred to the corresponding process in the aforementioned bipolar constant current control system embodiment, and will not be repeated here.

[0131] Please see Figure 11 , Figure 11 The diagram shows a structural schematic of a physiotherapy device provided in an embodiment of this application. The physiotherapy device 300 in this application may include one or more of the following components: a processor 310, a memory 320, and one or more application programs. The one or more application programs may be stored in the memory 320 and configured to be executed by one or more processors 310. The one or more programs are configured to execute the bipolar constant current control method as described in the foregoing method embodiments.

[0132] The processor 310 may include one or more processing cores. The processor 310 connects to various parts within the physiotherapy device 300 using various interfaces and lines, and performs various functions and processes data of the physiotherapy device 300 by running or executing instructions, programs, code sets, or instruction sets stored in the memory 320, and by calling data stored in the memory 320. Optionally, the processor 310 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 310 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 310 and may be implemented separately through a communication chip.

[0133] The memory 320 may include random access memory (RAM) or read-only memory (ROM). The memory 320 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 320 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the various method embodiments described below, etc. The data storage area may also store data created during the use of the physiotherapy device 300.

[0134] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A bipolar constant current control system, characterized in that, include: A bipolar H-bridge driver module is used to acquire the operating parameters of the load. The main control module is used to generate a voltage regulation signal containing amplitude information based on the operating parameters and the target operating parameters; An adjustable boost power supply module is used to convert the system battery power supply into a high voltage power supply of corresponding amplitude in response to the level state of the voltage regulation signal, so that the bipolar H-bridge drive module outputs a constant bipolar pulse based on the high voltage power supply. The main control module includes a first main control output terminal, a second main control output terminal, and a third main control output terminal. The first main control output terminal is connected to the first adjustment input terminal of the adjustable boost power supply module, the second main control output terminal is connected to the first drive input terminal of the bipolar H-bridge drive module, and the third main control output terminal is connected to the second drive input terminal of the bipolar H-bridge drive module. The adjustable boost power supply module further includes a first power supply input terminal and an adjustable output terminal. The first power supply input terminal is connected to the system battery power supply, and the adjustable output terminal is connected to the first drive input terminal of the bipolar H-bridge drive module. The bipolar H-bridge driver module further includes a first driver output terminal and a second driver output terminal, wherein the first driver output terminal and the second driver output terminal are used to connect the load.

2. The bipolar constant current control system according to claim 1, characterized in that, The main control module further includes a first main control input terminal; the bipolar H-bridge drive module further includes a second drive input terminal; the system further includes: The voltage regulator module includes a power input terminal, a first low-voltage output terminal, and a second low-voltage output terminal. The power input terminal is connected to the system battery power supply, the first low-voltage output terminal is connected to the first main control input terminal and the bipolar H-bridge drive module, and the second low-voltage output terminal is connected to the second drive input terminal. The voltage regulator module is used to provide a first operating voltage to the main control module and a second operating voltage to the bipolar H-bridge drive module.

3. The bipolar constant current control system according to claim 1, characterized in that, The bipolar H-bridge drive module includes: The first high-voltage side switch drive unit has a first end for connecting to the regulating output terminal, a second end for connecting to the first drive output terminal, and a third end for connecting to the main control module. The first low-side current regulation unit has one end connected to the second drive output terminal and the other end connected to the reference ground. The second high-voltage side switch drive unit has a first end for connecting to the regulating output terminal, a second end for connecting to the second drive output terminal, and a third end for connecting to the main control module. The second low-side current regulation unit has one end connected to one end of the first drive output terminal and the other end connected to the reference ground. The parameter sampling module has its signal input terminal connected to the current path of the first low-side current adjustment unit, and its signal output terminal connected to the main control module. The main control module is used to generate a first control signal when the current direction of the target operating parameter is detected to be in the first direction; the first high-voltage side switch drive unit is used to open the path between the adjustment output terminal and the first drive output terminal according to the first control signal, so as to adjust the first direction current amplitude of the load to be stable at the target operating parameter through the first low-side current adjustment unit. The main control module is used to generate a second control signal when the current direction of the target operating parameter is detected to be the second direction; the second high-voltage side switch drive unit is used to conduct the path between the regulation output terminal and the second drive output terminal according to the second control signal, so that the second direction current amplitude of the load is stabilized at the target operating parameter by the second low-side current regulation unit. The parameter sampling module is used to collect the operating parameters of the load and send the operating parameters to the main control module.

4. The bipolar constant current control system according to claim 3, characterized in that, The first high-voltage side switch drive unit includes: The first high-voltage side switch subunit has a first control terminal, a first switch terminal, and a second switch terminal; the first switch terminal constitutes the first drive input terminal, and the second switch terminal is connected to the first drive output terminal. The first base drive subunit has a second control terminal, a first drive terminal, and a second drive terminal; the second control terminal is used to receive the first control signal, the first drive terminal is connected to the first control terminal, and the second drive terminal is connected to the ground terminal. The first base drive subunit is used to pull the potential of the first control terminal low when it receives the first control signal, so that the circuit where the first switch terminal and the second switch terminal are located is connected. And / or, the first low-side current regulation unit includes: The first constant current execution subunit has a first constant current terminal, a second constant current terminal, a third constant current terminal and a fourth constant current terminal. The first constant current terminal is connected to the second drive output terminal, the second constant current terminal is connected to the signal input terminal, the third constant current terminal is connected to the first turn-off terminal of the first fast turn-off subunit, and the fourth constant current terminal is connected to the main control module. The first fast shutdown subunit has a second shutdown terminal and a third shutdown terminal. The second shutdown terminal is used to receive a second operating voltage, and the third shutdown terminal is connected to the main control module. The first fast shutdown subunit is used to generate a forced shutdown level signal when an external emergency stop signal is received; the first constant current execution subunit is used to cut off the load current according to the forced shutdown level signal, and to adjust the current amplitude of the load when a closed-loop control signal is received.

5. The bipolar constant current control system according to claim 4, characterized in that, The second high-voltage side switch drive unit includes: The second high-voltage side switch subunit has a third control terminal, a third switch terminal and a fourth switch terminal. The third switch terminal constitutes the first drive input terminal and the fourth switch terminal is connected to the second drive output terminal. The second base drive subunit has a fourth control terminal, a third drive terminal, and a fourth drive terminal; the fourth control terminal is used to receive the second control signal, the third drive terminal is connected to the third control terminal, and the fourth drive terminal is connected to the ground terminal. The second base drive subunit is used to pull the potential of the third control terminal low when it receives the second control signal, so that the circuit where the third switch terminal and the fourth switch terminal are located is connected. And / or, the second low-side current regulation unit includes: The second constant current execution subunit has a fifth constant current terminal, a sixth constant current terminal and a seventh constant current terminal. The fifth constant current terminal is connected to the first drive output terminal, the sixth constant current terminal is connected to the fourth shutdown terminal of the second fast shutdown subunit, and the seventh constant current terminal is connected to the main control module. The second fast shutdown subunit also has a fifth shutdown terminal and a sixth shutdown terminal. The fifth shutdown terminal is used to receive the second operating voltage, and the sixth shutdown terminal is connected to the main control module. The second fast shutdown subunit is used to generate a forced shutdown level signal when an external emergency stop signal is received; the second constant current execution subunit is used to cut off the load current according to the forced shutdown level signal, and to adjust the current amplitude of the load when a closed-loop control signal is received.

6. The bipolar constant current control system according to claim 4, characterized in that, The first high-voltage side switchgear subunit includes: The first driving transistor Q5 has its first end connected to the adjustment output terminal, its second end connected to the positive terminal of the first diode D7, its third end connected to the first driving terminal, and the negative terminal of the first diode D7 connected to the first driving output terminal. And / or, the first base drive subunit includes: The second driving transistor Q6 has its first end connected to the reference ground, its second end connected to one end of the first resistor R26, and its third end connected to the main control module. The other end of the first resistor R26 is connected to the first control terminal and one end of the second resistor R25, and the other end of the second resistor R25 is connected to the first drive input terminal.

7. The bipolar constant current control system according to claim 4, characterized in that, The first constant current execution subunit includes: The first constant current driving transistor Q21 has a first end connected to the second driving output terminal, a second end connected to the signal input terminal, one end of the first constant current resistor R36 and one end of the second constant current resistor R34, and a third end connected to one end of the third constant current resistor R35 and one end of the fourth constant current resistor R42. The other ends of the first constant current resistor R36 and the fourth constant current resistor R42 are respectively connected to the ground terminal; the other end of the third constant current resistor R35 is respectively connected to the first terminal of the first operational amplifier U1.2 and one end of the first constant current capacitor C28; the other end of the second constant current resistor R34 is respectively connected to the other end of the first constant current capacitor C28 and one end of the fifth constant current resistor R46. The second terminal of the first operational amplifier U1.2 is connected to one end of the second constant current capacitor C27 and one end of the sixth constant current resistor R33; the other end of the second constant current capacitor C27 is connected to the ground terminal; the other end of the sixth constant current resistor R33 is connected to the main control module. The third terminal of the first operational amplifier U1.2 is connected to the other terminal of the fifth constant current resistor R46 and the first fast turn-off subunit, respectively. And / or, the first fast shutdown subunit includes: The second constant current drive transistor Q11 has its first terminal connected to the anode of the first constant current diode D4 and one end of the seventh constant current resistor R45, respectively. The cathode of the first constant current diode D4 is connected to the first constant current execution subunit. One end of the seventh constant current resistor R45 is used to receive the second operating voltage. Its second terminal is connected to one end of the eighth constant current resistor R43 and one end of the ninth constant current resistor R44, respectively. Its third terminal and the other end of the eighth constant current resistor R43 are connected to the ground terminal, and the other end of the ninth constant current resistor R44 is connected to the main control module.

8. The bipolar constant current control system according to claim 5, characterized in that, The second high-voltage side switchgear subunit includes: The third driving transistor Q7 has its first end connected to the adjustment output terminal, its second end connected to the positive terminal of the second diode D8, its third end connected to the third driving terminal, and the negative terminal of the second diode D8 connected to the second driving output terminal. And / or, the second base drive subunit includes: The fourth driving transistor Q8 has its first terminal connected to reference ground, its second terminal connected to one end of the third resistor R30, and its third terminal connected to the main control module. The other end of the third resistor R30 is connected to the second control terminal and one end of the fourth resistor R29, respectively, and the other end of the fourth resistor R29 is connected to the first drive input terminal.

9. The bipolar constant current control system according to claim 5, characterized in that, The second constant current execution subunit includes: The first actuator Q20 has its first end connected to the first actuator output terminal, its second end connected to one end of the first actuator resistor R10 and one end of the second actuator resistor R3, and its third end connected to one end of the third actuator resistor R4 and one end of the fourth actuator resistor R41. The other ends of the first actuator resistor R10 and the fourth actuator resistor R41 are connected to the ground terminal. The other end of the third actuator resistor R4 is connected to the first end of the second operational amplifier U1.1 and one end of the first actuator capacitor C6. The other end of the second actuator resistor R3 is connected to the other end of the first actuator capacitor C6 and one end of the fifth actuator resistor R40. The first actuator Q20 has its second end connected to one end of the second actuator capacitor C4 and one end of the sixth actuator resistor R2, respectively. The other end of the second actuator capacitor C4 is connected to the ground terminal, and the other end of the sixth actuator resistor R2 is connected to the main control module. The third terminal of the first execution drive transistor Q20 is connected to the other end of the fifth execution resistor R40 and the second fast turn-off subunit, respectively. And / or, the second fast shutdown subunit includes: The second execution drive transistor Q10 has its first end connected to one end of the seventh execution resistor R39 and the positive terminal of the first execution diode D3, respectively. The other end of the seventh execution resistor R39 is used to receive the second working voltage, and the negative terminal of the first execution diode D3 is connected to the second constant current execution subunit. The second actuator Q10 has its second end connected to one end of the eighth actuator resistor R37 and one end of the ninth actuator resistor R38, and the other end of the ninth actuator resistor R38 is connected to the ground terminal. The third terminal of the second actuator Q10 and the other terminal of the eighth actuator R37 are respectively connected to the ground terminal.

10. A bipolar constant current control method, characterized in that, The method includes: Collect the operating parameters of the load; Based on the operating parameters and the target operating parameters, a voltage regulation signal containing amplitude information is generated; Based on the level of the voltage regulation signal, the system battery power is converted into a high-voltage power supply of corresponding amplitude, so that the bipolar H-bridge drive module outputs a constant bipolar pulse based on the high-voltage power supply.

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