CN110921334A - Concave spherical surface double-emitter ultrasonic array axial suspension moving device and method - Google Patents
Concave spherical surface double-emitter ultrasonic array axial suspension moving device and method Download PDFInfo
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Abstract
The invention provides a concave spherical surface double-emitter ultrasonic array axial suspension moving device which comprises a PC upper computer, a PWM control module and a control module, wherein the PC upper computer is in communication connection with the PWM control module and is used for sending an instruction and monitoring the execution condition of the PWM control module; the PWM control module is connected with the driving unit module and used for realizing the calculation and the transmission of frequency and duty ratio so as to control 2 pairs of logic input channels of the driving unit module; the adjustable voltage-stabilized power supply unit is connected with the PWM control module and is used for providing an amplification power supply for the driving unit module; the driving unit module is connected with a probe of the concave spherical surface double-emitter ultrasonic array and used for outputting a PWM wave with the same voltage amplitude as that of the adjustable voltage-stabilized source to the concave spherical surface double-emitter ultrasonic array; the concave spherical surface double-emitter ultrasonic array is used for generating a standing wave sound field by vibration to realize particle suspension; and the control button is connected with the driving unit module and is used for increasing or decreasing the duty ratio of the PWM wave to enable the waveform to move so as to realize the axial suspension movement of the ultrasonic standing wave.
Description
Technical Field
The invention belongs to the technical field of ultrasonic processing equipment, and relates to a concave spherical surface double-emitter ultrasonic array axial suspension moving device and method.
Background
The ultrasonic standing wave suspension technology utilizes radiation sound pressure generated by ultrasonic vibration to enable a suspension body to suspend or move in a sound field without any additional effect, and has the characteristics of non-contact and container-free suspension. Ultrasonic standing waves are used in the fields of micro-electro-mechanical systems, biomedical engineering, pharmacy, container-free material processing and preparation and the like. The ultrasonic control can realize the operations of constant-speed movement, stable turnover and the like of the parts of the micro-electro-mechanical system, and the precise assembly of the micro-electro-mechanical system is completed under the condition of non-contact operation without damaging micro-patterns on the surfaces of the parts of the micro-electro-mechanical system. The sample loss rate can be reduced to the maximum extent in the drug analysis. In biochemical analysis, the container-free state can improve the signal-to-noise ratio of the detection signal. Ultrasonic standing wave suspension in a liquid medium is widely applied to fluid dynamics, surface tension measurement, rheological property research of a solution surfactant, eutectic growth of molten metal, evaporation of binary liquid, rapid crystallization or ionization opening and other researches. In addition, ultrasonic standing wave suspension technology can provide accurate mass spectrum and Raman spectrum for microalgae, blood cells or droplet aggregation without a container. In the research in the fields of biology, materials, chemistry and the like, the ultrasonic standing wave suspension technology provides an effective and ideal experimental means and is widely applied.
In the prior art, ultrasonic standing wave suspension technology is utilized to suspend processing materials, and then particles are processed. With the improvement of the structure and the performance of the processed material, higher requirements are also placed on the material processing method and the material processing device. When the materials are processed, the processing equipment needs to be moved or rotated frequently by hand, the materials are easily polluted by manual operation, and the processing efficiency is influenced by moving or rotating the processing equipment. Therefore, the processing method and the processing equipment in the prior art are difficult to meet the processing requirements of materials.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the concave spherical surface double-emitter ultrasonic array axial suspension moving device and method with small design difficulty, low price, good suspension stability and accurate position control.
The technical scheme adopted by the invention is as follows:
the utility model provides a concave sphere double-emitter ultrasonic array axial suspension mobile device which characterized in that: comprises that
The PC upper computer is in communication connection with the PWM control module and is used for sending instructions and monitoring the execution condition of the PWM control module;
the PWM control module is connected with the driving unit module and used for realizing the calculation and the transmission of frequency and duty ratio so as to control 2 pairs of logic input channels of the driving unit module;
the adjustable voltage-stabilized power supply unit is connected with the PWM control module and is used for providing an amplification power supply for the driving unit module;
the driving unit module is connected with a probe of the concave spherical surface double-emitter ultrasonic array and used for outputting a PWM wave with the same voltage amplitude as that of the adjustable voltage-stabilized source to the concave spherical surface double-emitter ultrasonic array;
the concave spherical surface double-emitter ultrasonic array is used for generating a standing wave sound field by vibration to realize particle suspension;
and the control button is connected with the driving unit module and is used for increasing or decreasing the duty ratio of the PWM wave to enable the waveform to move so as to realize the axial suspension movement of the ultrasonic standing wave.
Further, the concave spherical surface dual-emitter ultrasonic array comprises a fixing unit, a supporting unit and a vibrating unit, wherein the fixing unit comprises an upper concave spherical shell and a lower concave spherical shell, the upper concave spherical shell is connected with one side of the lower concave spherical shell through the supporting unit, the vibrating unit is an ultrasonic transducer, the inner surfaces of the upper concave spherical shell and the lower concave spherical shell are respectively provided with a plurality of vibrating units which are uniformly distributed, the vibrating units are connected in parallel to form the ultrasonic transducer array, the vibrating units on the upper concave spherical shell and the vibrating units on the lower concave spherical shell are symmetrically arranged to form a transmitter and a receiver, and the positive pole of the ultrasonic transducer is arranged towards the center of a sphere. The ultrasonic transducer array of the invention generates vibration under the action of the excitation signal, converts mechanical energy into sound energy and emits ultrasonic waves; the concave spherical surface structure can effectively improve the suspension capacity of the standing wave sound field; and the ultrasonic main lobes generated by each vibrator on the concave spherical shell can be mutually overlapped and gathered to form a region, so that a standing wave sound field is generated.
Further, the vibration units are fixed on the inner surface of the concave spherical shell in an annular arrangement.
Further, PWM control module's master control adopts Arduino MEGA2560 singlechip, with the PC host computer passes through USB serial ports communication connection.
Further, the driver of the driving unit module adopts an L298N signal driver.
Further, the manipulation buttons include a frequency down button for controlling the upward movement of the object and a frequency up button for controlling the downward movement of the object.
A concave spherical surface double-emitter ultrasonic array axial suspension moving method adopts the concave spherical surface double-emitter ultrasonic array axial suspension moving device and comprises the following steps:
and 3, outputting and outputting the PWM wave with the same voltage amplitude as the adjustable stabilized voltage supply to the concave spherical surface dual-emitter ultrasonic array by the driving unit module under the action of the adjustable stabilized voltage supply unit, vibrating the concave spherical surface dual-emitter ultrasonic array, generating a standing wave sound field to realize particle suspension, and realizing axial suspension movement of the ultrasonic standing wave according to the moved PWM waveform.
Further, the timer of the PWM control module is completed by two timer interruptions: realizing high level timing Th at one time; one timing realizes the low level timing T1.
Further, the time values of Th and T1 change with the change of the pulse width, and Th + T1 is 25 ms. The frequency applied to the ultrasound array is typically 40kHz, whereby one period is 25 ms.
Further, when a key of the operating button is pressed in the step 2, the overflow interruption changes the period and the duty ratio according to the flag bit, and the moving direction flag bit is set; when no key is pressed, the zone bit is reset.
The invention has the beneficial effects that: the suspension control device has the advantages that the precise PWM wave generated by the timer in the program control PWM control module MCU is used for controlling the suspension target by moving the standing wave node, the suspension can be moved and suspended at any sound wave node in the axial position, the suspension processing efficiency and safety can be improved, and the suspension control device has strong environment adaptability.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of a concave dual-emitter ultrasonic array structure according to the present invention;
FIG. 3 is a schematic diagram of the concave spherical dual emitter PWM square wave movement of the present invention;
FIG. 4 is a schematic diagram of the concave spherical dual emitter software process of the present invention;
FIG. 5 is a schematic diagram of the waveforms of the concave spherical dual emitters A0, A1, A2 and A3 of the present invention;
FIG. 6 is a schematic diagram of a concave spherical dual emitter differential waveform according to the present invention.
Detailed Description
The present invention is further illustrated by the following examples, which are not intended to limit the invention to these embodiments. It will be appreciated by those skilled in the art that the present invention encompasses all alternatives, modifications and equivalents as may be included within the scope of the claims.
Example one
As shown in fig. 1 and 2, the present embodiment provides a concave spherical surface dual-emitter ultrasonic array axial suspension moving device, which includes
The PC upper computer 1 is in communication connection with the PWM control module 2 and is used for sending instructions and monitoring the execution condition of the PWM control module 2;
the PWM control module 2 is connected with the driving unit module 3 and used for realizing the calculation and the transmission of frequency and duty ratio so as to control 2 pairs of logic input channels of the driving unit module 3;
the adjustable voltage-stabilized power supply unit 4 is connected with the PWM control module 2 and is used for providing an amplification power supply for the driving unit module 3;
the driving unit module 3 is connected with a probe of the concave spherical surface double-emitter ultrasonic array 6 and used for outputting a PWM wave with the same voltage amplitude as that of the adjustable voltage-stabilized source to the concave spherical surface double-emitter ultrasonic array 6;
the concave spherical surface double-emitter ultrasonic array 6 is used for generating a standing wave sound field by vibration to realize particle suspension;
and the control button 5 is connected with the driving unit module 3 and is used for increasing or decreasing the duty ratio of the PWM wave to enable the waveform to move so as to realize the axial suspension movement of the ultrasonic standing wave.
Specifically, this embodiment PWM control module 2's master control adopts Arduino MEGA2560 singlechip, with PC host computer 1 passes through USB serial ports communication connection. The PC upper computer 1 adopts a two-way communication mode and is connected with an Arduino MEGA2560 single chip microcomputer in the PWM control module 2 through a USB serial port. The driving unit module 3 is connected with the PWM control module 2 through a DuPont wire. The L298N signal drivers in the driving unit module 3 are respectively connected with the probe of the concave spherical surface dual-emitter ultrasonic array 6 through corresponding signal ports by leads. The PC upper computer 1 is used for sending instructions and monitoring the execution condition of the controller, the USB serial port carries out data transmission on the PC upper computer 1 and the PWM control module 2, the PWM control module 2 is used for realizing the calculation and sending of frequency and duty ratio to control 2 pairs of logic input channels of the driving unit module 3, and the enable end of the driving module is required to be kept at a high level in the using process. The adjustable stabilized voltage supply unit 4 provides an amplifying power supply for the driving unit module 3, so that two output ports generate PWM waves with the same voltage amplitude as the adjustable stabilized voltage supply, and people can input the ultrasonic arrays with the concave spherical surfaces up and down, so that the ultrasonic arrays vibrate to generate a standing wave sound field, and particle suspension is realized. The operating button 5 is used for increasing or decreasing the duty ratio of the PWM wave, so that the waveform moves, and the axial suspension movement of the ultrasonic standing wave is further realized.
The concave spherical double-emitter ultrasonic array 6 of the present embodiment includes a fixing unit 61, a supporting unit 62, and a vibrating unit 63, where the fixing unit 61 includes an upper concave spherical shell 611 and a lower concave spherical shell 612, the upper concave spherical shell 611 is connected with one side of the lower concave spherical shell 612 through the supporting unit 62, the vibrating unit 63 is an ultrasonic transducer, the inner surfaces of the upper concave spherical shell 611 and the lower concave spherical shell 612 are both provided with an ultrasonic transducer array formed by connecting a plurality of uniformly distributed vibrating units 63 in parallel, 36 ultrasonic transducers are arranged in the concave spherical surface, and the ultrasonic transducer array vibrates under the action of an excitation signal to convert mechanical energy into acoustic energy and emit ultrasonic waves; the vibration unit 63 on the upper concave spherical shell 611 and the vibration unit 63 on the lower concave spherical shell 612 are symmetrically arranged as a transmitter and a receiver, and the anodes of the ultrasonic transducers are arranged in a direction of the center of a sphere. The ultrasonic transducer array of the invention generates vibration under the action of an excitation signal, converts mechanical energy into sound energy and emits ultrasonic waves; the concave spherical surface structure can effectively improve the suspension capacity of the standing wave sound field; and the ultrasonic main lobes generated by each vibrator on the concave spherical shell can be mutually overlapped and gathered to form a region, so that a standing wave sound field is generated. The vibration units 63 are fixed on the inner surface of the concave spherical shell in an annular arrangement.
The manipulation button 5 of the present embodiment includes a frequency down button for controlling the upward movement of the object and a frequency up button for controlling the downward movement of the object. When the frequency down button is pressed, the object will move upwards. When the frequency up button is pressed, the object moves downward. And further, the suspension of the sound wave node at any axial point can be realized. The control of the ultrasonic standing wave suspended particles is feasible by using control signals generated by two timers in the PWM control module 2. The two operation buttons are respectively connected to D2 and D3 of the MEGA2560 single chip microcomputer, and the ground wire is connected to a GND port.
The PWM control module 2 of the embodiment adopts an Arduino MEGA2560 development board, is a core circuit board adopting a USB interface, has 54 paths of digital input and output, and is suitable for the design needing a large number of IO interfaces. The processor core is ATmega2560 and has 54 digital input/output ports (15 of which can be PWM outputs) and 15 analog inputs.
The specific connection mode is as follows:
A0—IN0,A1—IN1,A2—IN2,A3—IN3
OUT 1-bottom array (positive), OUT 2-bottom array (negative)
OUT 3-Top array (Positive), OUT 4-Top array (Positive)
The output waveforms of A0, A1, A2 and A3 are shown in FIG. 5, the frequency of four output signals is 40kHz, A0 and A2 are in phase, and A1 and A3 are in opposite phase. The waveform will have an overshoot at the transition edge, with the maximum and minimum values indicating the extent of the overshoot. In fig. 6, a square wave after the difference is shown. The generated square wave controls 2 pairs of logic input channels of the driving unit module 3(L298N), and the enable terminal of the driving motor module must be kept at a high level during the experiment. The ultrasound transmitting array requires a large current, L298N is a driving module capable of providing a driving current of up to 2A for the array, and when 12V power is used, the current is about 0.5A. The adjustable stabilized voltage supply unit 4 provides an amplifying power supply for the driving unit module 3, so that two output ports generate PWM waves with the same voltage amplitude as the adjustable stabilized voltage supply, and people can input the ultrasonic arrays with the concave spherical surfaces up and down, so that the ultrasonic arrays vibrate to generate a standing wave sound field, and particle suspension is realized.
Example two
The embodiment provides a concave spherical double-emitter ultrasonic array axial suspension moving method, which adopts the concave spherical double-emitter ultrasonic array axial suspension moving device described in the first embodiment and comprises the following steps:
and 3, outputting and outputting a PWM (pulse-width modulation) wave with the same voltage amplitude as the adjustable stabilized voltage supply to the concave spherical double-emitter ultrasonic array 6 by the driving unit module 3 under the action of the adjustable stabilized voltage supply unit 4, vibrating the concave spherical double-emitter ultrasonic array 6 to generate a standing wave sound field to realize particle suspension, and realizing axial suspension movement of the ultrasonic standing wave according to the moved PWM wave.
The PC upper computer 1 can communicate with a single chip microcomputer system in the PWM control module 2 through an arduino IDE compiling environment, the PWM control module 2 comprises a MEGA2560 single chip microcomputer, a program of the single chip microcomputer is designed by C, C language has various data types and strong operational characters, and the program compiling by the C language is efficient, rapid and easy to understand. The serial port communication between the PC and the single chip microcomputer is realized through the USB serial port communication module, and then the controller is controlled on the concave spherical surface double-emitter ultrasonic array. The PC upper computer 1 monitors and controls the whole system, and is responsible for sending out corresponding commands according to the technical requirements provided by people, controlling the PWM control unit to carry out corresponding operations, and further controlling the work of the ultrasonic array. The main task of the single chip microcomputer is to receive data sent by the PC and make corresponding response. Once the single chip microcomputer receives one piece of data, the single chip microcomputer judges according to the obtained data to determine what operation needs to be carried out. When the operation is completed, some data is returned to the PC to report the current operation state of the operated device, and then the operation is returned to the data detection cycle. The single chip microcomputer receives and sends data in an interrupt mode, and a software flow chart is shown in fig. 4.
The embodiment adopts the PWM waveform implementation method based on external interrupt counting, and the method has the advantages of simplicity, convenience, low cost and capability of realizing multi-path independent PWM output. As can be seen from the above method for controlling the axial levitation movement of the ultrasonic standing wave, the control signal of the ultrasonic standing wave is substantially a square wave signal (PWM) with a variable width. The square wave signal can be generated by an FPGA, an analog circuit or a singlechip. The invention adopts a single chip microcomputer as a controller of the ultrasonic standing wave axial suspension moving device. The PWM can be realized by utilizing the timer interruption of the singlechip. A frequency (typically 40kHz) is applied to the ultrasound array, and the attenuation of ultrasound waves in air is particularly sensitive to frequency, with the higher the frequency, the faster the attenuation. Therefore, the ultrasonic frequency is reasonably selected, and finally 40kHz is selected. The scheme divides a25 ms periodic signal into two timing interrupts to complete: realizing high level timing Th at one time; one timing realizes the low level timing T1. The time values of Th and T1 change with the change of the pulse width, but Th + T1 is 25 ms. The operating button 4 is used to increase or decrease the PWM wave duty cycle to move the waveform, as shown in fig. 3, to achieve axial levitation movement of the ultrasonic standing wave.
Specifically, a MEGA2560 singlechip timer is used for generating a PWM wave with adjustable frequency, and the output of the timer is used for comparing and overturning the mode TIM _ OCMode _ Toggle. In the process of program operation, the current count value of the counter is always compared with the value in the comparison register, if the current count value is equal to the value in the comparison register, input/capture interruption is generated, then the timer can automatically turn over the current level output state, and then the value in the current counter is added into the comparison register, so that the timer still generates next input capture interruption at the same time interval, and thus two paths of PWM waves with adjustable frequency are generated. The work done by editing the configuration program is to configure the timer to obtain basic parameters, including the counting period, the counting frequency, and the PWM operation mode. The value of the auto reload register period is set to generate an update or interrupt after accumulating a predetermined number of frequencies. The comparison value (jump value) of channel 1, that is, the initial value of the comparison register is set, and the comparison value (jump value) of channel 2 is set similarly.
The interrupt service function is represented by the capture/compare interrupt if (TIM _ GetITStatus (TIM3, TIM _ IT _ CC1) | RESET), which means that such a capture/compare interrupt is generated when the value in the counter is equal to the value in the current compare register. After the interrupt is generated, the interrupt flag TIM _ CLEARITPendingBit (TIM3, TIM _ IT _ CC1) is cleared.
Then, a global variable capture is used for obtaining the value in the current counter, the next step is to update the value in the comparison register, in order to enable the capture/comparison interrupt to be generated at the same time interval each time, the value in the current counter is added with CCR1_ Val to be assigned to the comparison register again, namely, the updated value in the comparison register is enabled to be larger than the value in the current counter by the value of a variable CCR1_ Val each time, so that the timer can automatically overturn the level state of the corresponding PWM output pin, a Duty1 function and a Duty2 function are added in the interrupt service function, the Duty1 divides the CCR1_ Val into two parts in a PWM period, and the two parts respectively control the duration time of high and low levels. Similarly, Duty2 divides CCR1_ Val2 into two parts in a PWM cycle, where the two parts control the duration of the high and low levels respectively. This is followed by changing the values of CCR1_ Val, CCR2_ Val, Duty1, Duty2 by pressing a key, which changes the frequency and Duty cycle of the PWM wave. The state of the key is detected by an external interrupt, so that the movement of the waveform can be realized. The invention has the advantages that the innovation supports the reduction of frequency modification and the number of times of rewriting the singlechip, the duty ratio of the output PWM is dynamically modified by adding the function of a key, and the operation flexibility is improved.
The invention can realize the movement of the waveform on the time axis by changing the period and the duty ratio of the PWM control signal. In software design, the period and the duty ratio are set in overflow interruption, and the floating target can be guaranteed to move stably. The PWM control module can realize independent modulation of frequency and duty ratio, namely, the duty ratio is not changed while the frequency is changed, and the frequency is not changed while the duty ratio is changed; when the operating button is pressed, the overflow interruption changes the period and duty ratio according to the flag bit, and sets the moving direction flag bit. When no key is pressed, the zone bit is reset.
Claims (10)
1. The utility model provides a concave sphere double-emitter ultrasonic array axial suspension mobile device which characterized in that: comprises that
The PC upper computer is in communication connection with the PWM control module and is used for sending instructions and monitoring the execution condition of the PWM control module;
the PWM control module is connected with the driving unit module and used for realizing the calculation and the transmission of frequency and duty ratio so as to control 2 pairs of logic input channels of the driving unit module;
the adjustable voltage-stabilized power supply unit is connected with the PWM control module and is used for providing an amplification power supply for the driving unit module;
the driving unit module is connected with a probe of the concave spherical surface double-emitter ultrasonic array and used for outputting a PWM wave with the same voltage amplitude as that of the adjustable voltage-stabilized source to the concave spherical surface double-emitter ultrasonic array;
the concave spherical surface double-emitter ultrasonic array is used for generating a standing wave sound field by vibration to realize particle suspension;
and the control button is connected with the driving unit module and is used for increasing or decreasing the duty ratio of the PWM wave to enable the waveform to move so as to realize the axial suspension movement of the ultrasonic standing wave.
2. The concave spherical dual-emitter ultrasonic array axial levitation moving device as recited in claim 1, wherein: the concave spherical surface double-emitter ultrasonic array comprises a fixing unit, a supporting unit and a vibrating unit, wherein the fixing unit comprises an upper concave spherical surface shell and a lower concave spherical surface shell, the upper concave spherical surface shell is connected with one side of the lower concave spherical surface shell through the supporting unit, the vibrating unit is an ultrasonic transducer, the inner surfaces of the upper concave spherical surface shell and the lower concave spherical surface shell are respectively provided with a plurality of vibrating units which are uniformly distributed, the vibrating units are connected in parallel to form the ultrasonic transducer array, the vibrating units on the upper concave spherical surface shell and the vibrating units on the lower concave spherical surface shell are symmetrically arranged to form a transmitter and a receiver, and the positive pole of the ultrasonic transducer is arranged towards the center of a sphere.
3. The concave spherical dual-emitter ultrasonic array axial levitation moving device as recited in claim 2, wherein: the vibration units are fixed on the inner surface of the concave spherical shell in an annular arrangement.
4. The concave spherical dual-emitter ultrasonic array axial levitation moving device as recited in claim 1, wherein: PWM control module's master control adopts Arduino MEGA2560 singlechip, with the PC host computer passes through USB serial ports communication connection.
5. The concave spherical dual-emitter ultrasonic array axial levitation moving device as recited in claim 1, wherein: the driver of the driving unit module adopts an L298N signal driver.
6. The concave spherical dual-emitter ultrasonic array axial levitation moving device as recited in claim 1, wherein: the manipulation buttons include a frequency down button for controlling the upward movement of the object and a frequency up button for controlling the downward movement of the object.
7. A concave spherical double-emitter ultrasonic array axial suspension moving method adopts the concave spherical double-emitter ultrasonic array axial suspension moving device as claimed in any one of claims 1 to 6, and comprises the following steps:
step 1, a PC upper computer outputs an instruction to a PWM control module;
step 2, the PWM control module outputs corresponding PWM waves to the driving unit module in a timer interruption mode according to the instruction and the state of the operating button; if the key is pressed, PWM waveform movement is carried out, and then corresponding PWM waves are output to the driving unit module;
and 3, outputting and outputting the PWM wave with the same voltage amplitude as the adjustable stabilized voltage supply to the concave spherical surface dual-emitter ultrasonic array by the driving unit module under the action of the adjustable stabilized voltage supply unit, vibrating the concave spherical surface dual-emitter ultrasonic array, generating a standing wave sound field to realize particle suspension, and realizing axial suspension movement of the ultrasonic standing wave according to the moved PWM waveform.
8. The concave spherical dual-emitter ultrasonic array axial levitation moving method as claimed in claim 1, wherein: the timer of the PWM control module is completed by two times of timed interruption: realizing high level timing Th at one time; one timing realizes the low level timing T1.
9. The concave spherical dual-emitter ultrasonic array axial levitation moving method as claimed in claim 8, wherein: the time values of Th and T1 change with the change of pulse width, and Th + T1 is 25 ms.
10. The concave spherical dual-emitter ultrasonic array axial levitation moving method as claimed in claim 1, wherein: in step 2, when a key of the operating button is pressed, the overflow interruption changes the period and the duty ratio according to the flag bit, and the moving direction flag bit is set; when no key is pressed, the zone bit is reset.
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Application publication date: 20200327 |