CN116484155B - Full-state frequency tracking method and system for piezoelectric transducer - Google Patents
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Abstract
The invention discloses a method and a system for tracking the full-state frequency of a piezoelectric transducer, wherein the method comprises the following steps: constructing a relation between a voltage and current phase difference of the transducer and a frequency of the wave of the transducer based on a Meissen equivalent model; acquiring a wave frequency and a corresponding transducer voltage current phase difference value, and solving a relational expression to obtain a solution of the relational expression; judging whether the transducer has a resistive point according to the solution of the relation; judging that a resistive point exists, and calculating the resonant frequency and anti-resonant frequency of the transducer; judging that no resistive point exists, and calculating the minimum capacitive point of the transducer; the resonant frequency or antiresonance of the transducer is selected as the varying target value according to the user's needs. The system comprises: the device comprises a relational construction module, a solution module, a judgment module and an output module. The invention as a method and a system for tracking the full-state frequency of the piezoelectric transducer can be widely applied to the field of transducer tracking control.
Description
Technical Field
The invention relates to the field of transducer tracking control, in particular to a method and a system for tracking the full-state frequency of a piezoelectric transducer.
Background
At present, the ultrasonic wave can generate mechanical effect, cavitation effect, chemical effect and thermal effect, and is widely applied to the fields of cleaning, detection, processing, welding and the like. The ultrasonic power supply is a core component of an ultrasonic generating system, and aims to generate alternating current with specific frequency so as to enable the piezoelectric transducer to work in a resonance state. The resonant frequency of the piezoelectric transducer is affected by the load and the driving voltage, and tends to exhibit nonlinear changes over time during operation. Therefore, the frequency tracking technology is one of the key technologies of the ultrasonic power supply. In the case of a large load on the transducer, a non-resistive spot condition may occur. A method capable of simultaneously adapting frequency tracking of an unobstructed point and a resistive point of a piezoelectric transducer is called a full state frequency tracking method.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a full-state frequency tracking method and system for a piezoelectric transducer, which can be simultaneously adapted to resonant frequency and anti-resonant frequency and have the capability of error tracking, self-resetting and full-state frequency tracking.
The first technical scheme adopted by the invention is as follows: a method of full state frequency tracking of a piezoelectric transducer, comprising the steps of:
constructing a relation between a voltage and current phase difference of the transducer and a frequency of the wave of the transducer based on a Meissen equivalent model;
acquiring a wave frequency and a corresponding transducer voltage current phase difference value, and solving a relational expression to obtain a solution of the relational expression;
judging whether the transducer has a resistive point according to the solution of the relation;
judging that a resistive point exists, and calculating the resonant frequency and anti-resonant frequency of the transducer;
judging that no resistive point exists, and calculating the minimum capacitive point of the transducer;
the resonant frequency or antiresonance of the transducer is selected as the varying target value according to the user's needs.
Further, the method further comprises the following steps:
and carrying out post-processing on the change target value according to the set tracking speed and tracking precision.
Further, the relation formula of the transducer voltage-current phase difference and the transducer wave frequency is expressed as follows:
further, the judgment rule in the step of judging whether the transducer has a resistive point according to the solution of the relational expression is as follows:
when K is 2 2 -4K 1 K 3 Not less than 0, the transducer has a resistive point at present;
when K is 2 2 -4K 1 K 3 <0, the transducer currently has no resistive spot.
Further, the formulas of the resonant frequency and the antiresonant frequency of the transducer are as follows:
in the above, f r Representing the resonant frequency, f a Representing the antiresonant frequency.
Further, the calculation formula of the minimum capacitive point of the transducer is as follows:
in the above equation, f represents the minimum capacitive point of the transducer.
Further, the step of performing post-processing on the target value according to the set tracking speed and tracking accuracy specifically includes:
setting a maximum step value, a steady-state jitter value and a jitter phase difference value;
judging that the voltage and current phase difference value of the transducer is smaller than the jitter phase difference value, and adjusting the target value of the next step to be the sum of the steady-state oscillation frequency and the steady-state jitter value;
when the voltage and current phase difference value of the transducer is larger than the jitter phase difference value and the difference between the target value of the next step and the current wave frequency is smaller than the maximum step value, outputting a change target value;
and outputting a maximum step value when the voltage and current phase difference value of the transducer is larger than the jitter phase difference value and the difference between the target value of the next step and the current wave frequency is larger than the maximum step value.
The second technical scheme adopted by the invention is as follows: a full state frequency tracking system for a piezoelectric transducer, comprising:
the relational construction module is used for constructing a relational expression of the voltage-current phase difference of the transducer and the frequency of the wave of the transducer based on the Meisen equivalent model;
the solution module is used for obtaining the frequency of the wave and the corresponding voltage-current phase difference value of the transducer and solving the relational expression to obtain a solution of the relational expression;
the judging module is used for judging whether the transducer has a resistive point or not according to the solution of the relational expression; judging that a resistive point exists, and calculating the resonant frequency and anti-resonant frequency of the transducer; judging that no resistive point exists, and calculating the minimum capacitive point of the transducer;
and the output module is used for selecting the resonant frequency or antiresonance of the transducer as a change target value according to the requirement of a user.
The method and the system have the beneficial effects that: the invention has the self-resetting capability of error tracking and can well solve the problem of error tracking of frequency; meanwhile, the tracking target can be selected simply by self-adapting to various oscillators and application scenes, a complicated parameter debugging process such as PID is not needed, the tracking speed is high, and the precision is high; the control of the transducer under the non-resistance point state can be adapted, and the full-state control of the transducer is realized.
Drawings
FIG. 1 is a flow chart of the steps of a method for full state frequency tracking of a piezoelectric transducer of the present invention;
FIG. 2 is a schematic diagram of a Meissen equivalent circuit of a method for full state frequency tracking of a piezoelectric transducer of the present invention;
FIG. 3 is a characteristic frequency plot of a piezoelectric transducer of the present invention;
FIG. 4 is a program flow diagram of a method for full state frequency tracking of a piezoelectric transducer according to the present invention;
fig. 5 is a block diagram of a system for tracking the frequency of a piezoelectric transducer in its full state according to the present invention.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific examples. The step numbers in the following embodiments are set for convenience of illustration only, and the order between the steps is not limited in any way, and the execution order of the steps in the embodiments may be adaptively adjusted according to the understanding of those skilled in the art.
As shown in fig. 1, the present invention provides a method for tracking the frequency of a piezoelectric transducer in a full state, which includes the following steps:
s1, constructing a relation between a voltage and current phase difference of a transducer and a frequency of wave of the transducer based on a Meissen equivalent model;
s2, acquiring a wave frequency and a corresponding transducer voltage and current phase difference value, and solving a relational expression to obtain a solution of the relational expression;
specifically, three unknowns of a phase difference-frequency relation are solved according to three different wave frequencies and corresponding transducer voltage-current phase difference values, wherein the relation is specifically:
referring to FIG. 2, in the formula, L 1 R is the dynamic inductance of the transducer 1 For dynamic resistance of transducer, C 1 Is the dynamic capacitance of the transducer, C 0 The static capacitance of the transducer, tan theta is the tangent value of the phase angle of the voltage and current of the transducer, and omega is the current working frequency of the transducer.
The equation set to be solved is specifically:
wherein omega 1 、ω 2 、ω 3 、tanθ 1 、tanθ 2 、tanθ 3 For the last three wave frequencies and corresponding transducer voltage-current phase differences, the known values in the equation set,for the convenience of description, the three unknowns to be solved are represented by K 1 、K 2 、K 3 Instead of the three unknowns.
S3, judging whether the transducer has a resistive point according to the solution of the relational expression, judging that the resistive point exists, calculating the resonant frequency and the anti-resonant frequency of the transducer, judging that the resistive point does not exist, and calculating the minimum capacitive point of the transducer;
the specific criteria for whether the transducer has a resistive spot at this time are:
K 2 2 -4K 1 K 3 if the result of (2) is greater than 0, then it indicates that the transducer is now resistive, otherwise it indicates that the transducer is not now resistive.
The specific calculation formula of the resonant frequency of the transducer is as follows:
the specific calculation formula of the anti-resonance frequency of the transducer is as follows:
the specific calculation formula of the minimum capacitive point of the transducer is as follows:
s4, when a resistive point exists, selecting the resonant frequency or anti-resonance of the transducer as a change target value according to the user requirement, and when the resistive point does not exist, using a minimum capacitive point as the change target value;
specifically, the resonant frequency or the antiresonant frequency of the transducer is selected as a tracking target according to the requirement, and the calculated value of the resonant frequency or the antiresonant frequency is taken as the next change target value T according to the selection O 。
And judging the newly added resistance point to adapt to the control of the transducer under the state of no resistance point.
S41, letting T according to tracking target O Equal to the resonant frequency or anti-resonant frequency;
specifically, referring to FIG. 3, the resonant frequency f r Or antiresonant frequency f a The two points with the reactance of 0 are selected according to application requirements. Generally, medium-low load ultrasonic processing application scenario selection f r Heavy-duty application scenario selection f a 。
S42, calculating T O The absolute value of the difference from the last wave frequency Δω.
Specifically, the gain effect of the steps S1-S4 is that the tracking target can be selected simply, the complicated parameter debugging process such as PID is not needed, the tracking speed is high, and the precision is high.
S5, performing post-processing on the change target value according to the set tracking speed and the set tracking precision.
S51, setting a maximum step value, a steady-state jitter value and a jitter phase difference value;
specifically, the maximum step value can be a static value or a dynamic value, and is used for limiting the maximum step of the algorithm single step; the magnitude of each step of adjustment of the algorithm is a steady-state jitter value, and the steady-state jitter value and the jitter phase difference value can be static values or dynamic values.
S52, calculating whether the current phase difference is lower than a set threshold value, if yes, changing the target value of the next adjustment into: steady state oscillation frequency + steady state jitter value n%3, where n is the number of frequency changes since the algorithm started to run. Otherwise, the next judgment is carried out.
Specifically, the combination of the step S52 and the calculation formula in the front has the capability of tracking error and self-resetting.
S53, if delta omega is larger than the set maximum step value, directly outputting the initial target value, otherwise, directly outputting the maximum step value.
Specifically, fig. 4 is a flow chart of a full state tracking method implementation, in which steps are prepared from the beginning to the calculation of Wc in order to obtain the first three frequency points and phase values. Fig. 1 shows a specific step of calculating Wc, and the user-selected resonance/antiresonance point is the calculation result Wc, and the processing steps at the rear of Wc in the block diagram are the post-reaction processing.
As shown in fig. 5, a system for tracking the frequency of a piezoelectric transducer in a full state, comprising:
the relational construction module is used for constructing a relational expression of the voltage-current phase difference of the transducer and the frequency of the wave of the transducer based on the Meisen equivalent model;
the solution module is used for obtaining the frequency of the wave and the corresponding voltage-current phase difference value of the transducer and solving the relational expression to obtain a solution of the relational expression;
the judging module is used for judging whether the transducer has a resistive point or not according to the solution of the relational expression; judging that a resistive point exists, and calculating the resonant frequency and anti-resonant frequency of the transducer; judging that no resistive point exists, and calculating the minimum capacitive point of the transducer;
and the output module is used for selecting the resonant frequency or antiresonance of the transducer as a change target value according to the requirement of a user.
The content in the method embodiment is applicable to the system embodiment, the functions specifically realized by the system embodiment are the same as those of the method embodiment, and the achieved beneficial effects are the same as those of the method embodiment.
A full state frequency tracking device of a piezoelectric transducer:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement a method of stateful frequency tracking of a piezoelectric transducer as described above.
The content in the method embodiment is applicable to the embodiment of the device, and the functions specifically realized by the embodiment of the device are the same as those of the method embodiment, and the obtained beneficial effects are the same as those of the method embodiment.
A storage medium having stored therein instructions executable by a processor, characterized by: the processor executable instructions when executed by the processor are for implementing a method of stateful frequency tracking of a piezoelectric transducer as described above.
The content in the method embodiment is applicable to the storage medium embodiment, and functions specifically implemented by the storage medium embodiment are the same as those of the method embodiment, and the achieved beneficial effects are the same as those of the method embodiment.
While the preferred embodiment of the present invention has been described in detail, the invention is not limited to the embodiment, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the invention, and these modifications and substitutions are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (6)
1. The full-state frequency tracking method of the piezoelectric transducer is characterized by comprising the following steps of:
constructing a relation between a voltage and current phase difference of the transducer and a frequency of the wave of the transducer based on a Meissen equivalent model;
acquiring a wave frequency and a corresponding transducer voltage current phase difference value, and solving a relational expression to obtain a solution of the relational expression;
judging whether the transducer has a resistive point according to the solution of the relation;
judging that a resistive point exists, calculating the resonant frequency and the antiresonance frequency of the transducer, and selecting the resonant frequency or antiresonance of the transducer as a change target value according to the requirement of a user;
judging that no resistive point exists, calculating the minimum capacitive point of the transducer and taking the minimum capacitive point as a change target value;
the formula of the relation between the voltage and current phase difference of the transducer and the frequency of the wave of the transducer is as follows:
in the above, L 1 Representing the dynamic inductance of the transducer, R 1 Representing the dynamic resistance of the transducer, C 1 Representing the dynamic capacitance of the transducer, C 0 The static capacitance of the transducer is represented, tan theta represents the tangent value of the phase angle of the voltage and current of the transducer, and omega is the current working frequency of the transducer;
the judgment rule in the step of judging whether the transducer has a resistive point according to the solution of the relation is as follows:
when K is 2 2 -4K 1 K 3 Not less than 0, the transducer has a resistive point at present;
when K is 2 2 -4K 1 K 3 <0, the transducer currently has no resistive spot.
2. The method of claim 1, further comprising:
and carrying out post-processing on the change target value according to the set tracking speed and tracking precision.
3. The method for tracking the frequency of the full state of the piezoelectric transducer according to claim 2, wherein the resonant frequency and the antiresonant frequency of the transducer are calculated as follows:
in the above, f r Representing the resonant frequency, f a Representing the antiresonant frequency.
4. A method of full state frequency tracking of a piezoelectric transducer according to claim 3, wherein the minimum capacitive point of the transducer is calculated as:
in the above, f l Representing the minimum capacitive point of the transducer.
5. The method for tracking the frequency of the full state of the piezoelectric transducer according to claim 4, wherein the step of post-processing the target value of the change according to the set tracking speed and the set tracking accuracy comprises the steps of:
setting a maximum step value, a steady-state jitter value and a jitter phase difference value;
judging that the voltage and current phase difference value of the transducer is smaller than the jitter phase difference value, and adjusting the target value of the next step to be the sum of the steady-state oscillation frequency and the steady-state jitter value;
when the voltage and current phase difference value of the transducer is larger than the jitter phase difference value and the difference between the target value of the next step and the current wave frequency is smaller than the maximum step value, outputting a change target value;
and outputting a maximum step value when the voltage and current phase difference value of the transducer is larger than the jitter phase difference value and the difference between the target value of the next step and the current wave frequency is larger than the maximum step value.
6. A system for tracking the frequency of the full state of a piezoelectric transducer according to claim 1, comprising:
the relational construction module is used for constructing a relational expression of the voltage-current phase difference of the transducer and the frequency of the wave of the transducer based on the Meisen equivalent model;
the solution module is used for obtaining the frequency of the wave and the corresponding voltage-current phase difference value of the transducer and solving the relational expression to obtain a solution of the relational expression;
the judging module is used for judging whether the transducer has a resistive point or not according to the solution of the relational expression; judging that a resistive point exists, and calculating the resonant frequency and anti-resonant frequency of the transducer; judging that no resistive point exists, and calculating the minimum capacitive point of the transducer;
and the output module is used for selecting the resonant frequency or antiresonance of the transducer as a change target value according to the requirement of a user.
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