阅读说明：本技术 一种超声换能器的输出控制方法及相关设备 (Output control method of ultrasonic transducer and related equipment ) 是由 陈向民 陈�峰 王辉东 徐凯 唐立华 姜伊欣 唐志鹏 郑中庭 于 2019-09-26 设计创作，主要内容包括：本申请公开了一种超声换能器的输出控制方法、装置、电子设备及计算机可读存储介质,该输出控制方法包括：获取所述超声换能器在PI控制下的输入数据和输出数据；基于模糊理论,根据所述输入数据和所述输出数据建立所述超声换能器的逆模型；同时启动PI控制以及基于所述逆模型的模糊控制,对所述超声换能器进行输出控制。本申请结合使用了直接逆模型控制与PI控制,并具体是根据超声波换能器的输入数据和输出数据来进行逆系统的参数辨识,建立精确的模糊系统构建逆模型,可有效提高和改善对超声波换能器输出电压的控制精度。(The application discloses an output control method, an output control device, electronic equipment and a computer readable storage medium of an ultrasonic transducer, wherein the output control method comprises the following steps: acquiring input data and output data of the ultrasonic transducer under PI control; establishing an inverse model of the ultrasound transducer from the input data and the output data based on fuzzy theory; and simultaneously starting PI control and fuzzy control based on the inverse model to control the output of the ultrasonic transducer. The method combines direct inverse model control and PI control, specifically carries out parameter identification of the inverse system according to input data and output data of the ultrasonic transducer, establishes an accurate fuzzy system to construct the inverse model, and can effectively improve and improve the control precision of the output voltage of the ultrasonic transducer.)

1. An output control method of an ultrasonic transducer, comprising:

acquiring input data and output data of the ultrasonic transducer under PI control;

establishing an inverse model of the ultrasound transducer from the input data and the output data based on fuzzy theory;

and simultaneously starting PI control and fuzzy control based on the inverse model to control the output of the ultrasonic transducer.

2. The output control method of claim 1, wherein said modeling an inverse model of the ultrasound transducer from the input data and the output data comprises:

carrying out fuzzy quantization on the output data according to the triangular membership function;

and substituting the quantized value after fuzzy quantization and the input data into a preset fuzzy rule formula to determine fuzzy parameters in the fuzzy rule formula.

3. The output control method according to claim 1, further comprising, after the simultaneously-initiated PI control and the fuzzy control based on the inverse model:

acquiring updated input data and output data;

and updating the inverse model according to the updated input data and output data until the optimized model precision meets the preset precision requirement.

4. The output control method according to claim 3, wherein the step of optimizing the model until the accuracy meets a preset accuracy requirement comprises:

calculating and judging whether the output error of the ultrasonic transducer is smaller than a preset error threshold value or not;

if so, judging that the optimized model precision meets the preset precision requirement;

if not, judging that the optimized model precision does not meet the preset precision requirement.

5. The output control method according to any one of claims 1 to 4, wherein the input data includes a present input voltage of the ultrasonic transducer, and the output data includes a present output voltage and a previous output voltage of the ultrasonic transducer.

6. An output control apparatus of an ultrasonic transducer, comprising:

the acquisition module is used for acquiring input data and output data of the ultrasonic transducer under the control of a PI (proportional integral) module;

a generating module, configured to establish an inverse model of the ultrasound transducer according to the input data and the output data based on a fuzzy theory;

and the control module is used for simultaneously starting PI control and fuzzy control based on the inverse model and carrying out output control on the ultrasonic transducer.

7. The output control apparatus according to claim 6, wherein the generating module is specifically configured to:

and carrying out fuzzy quantization on the output data according to the triangular membership function, and substituting a quantized value after the fuzzy quantization and the input data into a preset fuzzy rule formula to determine fuzzy parameters in the fuzzy rule formula.

8. The output control apparatus according to claim 6, characterized by further comprising:

and the updating module is used for acquiring updated input data and output data after PI control and fuzzy control based on the inverse model are started simultaneously, and updating the inverse model according to the updated input data and output data until the optimized model precision meets the preset precision requirement.

9. An electronic device, comprising:

a memory for storing a computer program;

a processor for executing the computer program to implement the steps of the output control method of an ultrasound transducer according to any of claims 1 to 5.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, is adapted to carry out the steps of the output control method of an ultrasonic transducer according to any one of claims 1 to 5.

Technical Field

The present disclosure relates to the field of ultrasound technologies, and in particular, to an output control method and apparatus for an ultrasound transducer, an electronic device, and a computer-readable storage medium.

Background

In ultrasonic detection, the output stability of the output energy of the ultrasonic transducer has important significance on the accuracy of a detection result. Under the same excitation signal, due to different actual working conditions, the load can cause the ultrasonic transducer to generate nonlinear characteristic changes under the action of a plurality of factors such as heating of the transducer, media and the like, the characteristics such as impedance and the like are changed, and further, the mechanical resonance frequency can generate larger deviation, and the output energy attenuation is generated.

Currently, the main methods for output energy control are automatic tracking of frequency and automatic adjustment of power. The automatic tracking of frequency is the basis of research, and the aim is to keep the ultrasonic driver in a resonance state all the time in the working process so as to ensure the working efficiency of the ultrasonic driver. The automatic adjustment of the power is to have stable working performance under the condition of working environment and load change, so that the vibration system can be automatically adjusted along with the change of the load or external factors. However, due to the complexity of the operating environment of the ultrasonic driver and its own nonlinearity, the conventional control method is generally unsatisfactory for controlling the operating output energy.

In view of the above, it is an important need for those skilled in the art to provide a solution to the above technical problems.

Disclosure of Invention

The present application aims to provide an output control method, an output control device, an electronic device, and a computer-readable storage medium for an ultrasonic transducer, so as to effectively improve and improve the output control precision of the ultrasonic transducer and stabilize the output control precision at an ideal output value.

In order to solve the above technical problem, in a first aspect, the present application discloses an output control method for an ultrasonic transducer, including:

acquiring input data and output data of the ultrasonic transducer under PI control;

establishing an inverse model of the ultrasound transducer from the input data and the output data based on fuzzy theory;

and simultaneously starting PI control and fuzzy control based on the inverse model to control the output of the ultrasonic transducer.

Optionally, the establishing an inverse model of the ultrasound transducer from the input data and the output data comprises:

carrying out fuzzy quantization on the output data according to the triangular membership function;

and substituting the quantized value after fuzzy quantization and the input data into a preset fuzzy rule formula to determine fuzzy parameters in the fuzzy rule formula.

Optionally, after the simultaneously starting the PI control and the fuzzy control based on the inverse model, the method further includes:

acquiring updated input data and output data;

and updating the inverse model according to the updated input data and output data until the optimized model precision meets the preset precision requirement.

Optionally, the step of optimizing until the accuracy of the optimized model meets a preset accuracy requirement includes:

calculating and judging whether the output error of the ultrasonic transducer is smaller than a preset error threshold value or not;

if so, judging that the optimized model precision meets the preset precision requirement;

if not, judging that the optimized model precision does not meet the preset precision requirement.

Optionally, the input data comprises a current input voltage of the ultrasonic transducer, and the output data comprises a current output voltage and a previous output voltage of the ultrasonic transducer.

In a second aspect, the present application also discloses an output control apparatus for an ultrasonic transducer, comprising:

the acquisition module is used for acquiring input data and output data of the ultrasonic transducer under the control of a PI (proportional integral) module;

a generating module, configured to establish an inverse model of the ultrasound transducer according to the input data and the output data based on a fuzzy theory;

and the control module is used for simultaneously starting PI control and fuzzy control based on the inverse model and carrying out output control on the ultrasonic transducer.

Optionally, the generating module is specifically configured to:

and carrying out fuzzy quantization on the output data according to the triangular membership function, and substituting a quantized value after the fuzzy quantization and the input data into a preset fuzzy rule formula to determine fuzzy parameters in the fuzzy rule formula.

Optionally, the method further comprises:

and the updating module is used for acquiring updated input data and output data after PI control and fuzzy control based on the inverse model are started simultaneously, and updating the inverse model according to the updated input data and output data until the optimized model precision meets the preset precision requirement.

In a third aspect, the present application also discloses an electronic device, including:

a memory for storing a computer program;

a processor for executing the computer program to implement the steps of any of the ultrasonic transducer output control methods described above.

In a fourth aspect, the present application also discloses a computer-readable storage medium having stored therein a computer program for implementing the steps of any one of the ultrasonic transducer output control methods described above when executed by a processor.

The output control method of the ultrasonic transducer provided by the application comprises the following steps: acquiring input data and output data of the ultrasonic transducer under PI control; establishing an inverse model of the ultrasound transducer from the input data and the output data based on fuzzy theory; and simultaneously starting PI control and fuzzy control based on the inverse model to control the output of the ultrasonic transducer.

Therefore, the direct inverse model control and the PI control are combined, the parameter identification of the inverse system is specifically carried out according to the input data and the output data of the ultrasonic transducer, the accurate fuzzy system is established to construct the inverse model, and the control precision of the output voltage of the ultrasonic transducer can be effectively improved. The output control device of the ultrasonic transducer, the electronic device and the computer readable storage medium provided by the application also have the beneficial effects.

Drawings

In order to more clearly illustrate the technical solutions in the prior art and the embodiments of the present application, the drawings that are needed to be used in the description of the prior art and the embodiments of the present application will be briefly described below. Of course, the following description of the drawings related to the embodiments of the present application is only a part of the embodiments of the present application, and it will be obvious to those skilled in the art that other drawings can be obtained from the provided drawings without any creative effort, and the obtained other drawings also belong to the protection scope of the present application.

Fig. 1 is a flowchart of an output control method of an ultrasonic transducer according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram illustrating an output control method of an ultrasonic transducer according to an embodiment of the present disclosure;

fig. 3 is a block diagram of an output control apparatus of an ultrasonic transducer according to an embodiment of the present disclosure;

fig. 4 is a block diagram of an electronic device according to an embodiment of the present disclosure.

Detailed Description

The core of the application is to provide an output control method, an output control device, an electronic device and a computer readable storage medium for an ultrasonic transducer, so as to effectively improve and improve the output control precision of the ultrasonic transducer and stabilize the output control precision at an ideal output value.

In order to more clearly and completely describe the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Currently, the main methods for output energy control are automatic tracking of frequency and automatic adjustment of power in both directions. The automatic tracking of frequency is the basis of research, and the aim is to keep the ultrasonic driver in a resonance state all the time in the working process so as to ensure the working efficiency of the ultrasonic driver. The automatic adjustment of the power is to have stable working performance under the condition of working environment and load change, so that the vibration system can be automatically adjusted along with the change of the load or external factors. However, due to the complexity of the operating environment of the ultrasonic driver and its own nonlinearity, the conventional control method is generally unsatisfactory for controlling the operating output energy. In view of the above, the present application provides an output control method for an ultrasonic transducer, which can effectively solve the above problems.

Referring to fig. 1, an embodiment of the present application discloses an output control method for an ultrasonic transducer, which mainly includes:

s11: and acquiring input data and output data of the ultrasonic transducer under the PI control.

The input data may specifically include a current input voltage u (k) of the ultrasonic transducer, and the output data may specifically include a current output voltage and a previous output voltage of the ultrasonic transducer.

In this embodiment, first, a PI controller is specifically used to perform PI control on the ultrasonic transducer. According to the desired output voltage y of the ultrasonic transducer_d(k) And calculating the residual difference with the actual output voltage through a PI algorithm to obtain a PI control quantity input to the ultrasonic transducer, namely the current input voltage u (k) of the ultrasonic transducer, and further obtaining the current output voltage y (k) and the previous output voltage y (k-1) of the ultrasonic transducer under the PI control. The control algorithm of the PI controller is as follows:

u(k)＝y(k-1)+(K_p+K_i)e(k)-K_pe(k-1)；

wherein, K_pIs a proportionality coefficient; k_iIs an integral coefficient; e (k) is the current error; e (k-1) is the previous error.

Thus, the current input voltage, the current output voltage and the previous output voltage of the ultrasonic transducer constitute a data center for establishing an inverse model. Specifically, the incremental digital PI controller can be operated normally for two cycles, and the related data in the two cycles can be obtained.

S12: based on fuzzy theory, an inverse model of the ultrasound transducer is built from the input data and the output data.

An inverse model of an ultrasound transducer, i.e. a model in which the output data of the ultrasound transducer is used as input, i.e. the input data of the ultrasound transducer can be output. The inverse model of the nonlinear system is connected with the system in series, so that the nonlinear influence can be effectively eliminated, and the control precision is improved. The method for building the inverse model is to take input data and output data of a controlled system as output data and input data of the built inverse model respectively, and the inverse model can be built by training and parameter solving for many times.

Specifically, the inverse model is specifically established according to a Fuzzy theory, and is a Fuzzy System (FS). Therefore, in one embodiment, when building the inverse model of the ultrasound transducer from the input data and the output data, the following steps may be specifically included:

carrying out fuzzy quantization on output data according to the triangular membership function;

and substituting the quantized value after fuzzy quantization and the input data into a preset fuzzy rule formula to determine fuzzy parameters in the fuzzy rule formula.

As a preferred embodiment, the fuzzy system as an inverse model of the ultrasonic transducer may be implemented based on a triangle membership function, and the output data of the ultrasonic transducer is fuzzy quantized to a corresponding fuzzy set. The trigonometric membership function is:

wherein A is_iIs a fuzzy set;

for y to fuzzy set A_iDegree of membership of; [ a ] A_i-ω_i,a_i+ω_i]Is the range of the fuzzy set.

Further, the fuzzy system outputs based on fuzzy rules. For a fuzzy system as an inverse system of the ultrasonic transducers, it is necessary to obtain input data of the corresponding ultrasonic transducers according to output data of the ultrasonic transducers by adjusting fuzzy parameters in a fuzzy rule formula. Thus, the fuzzy system has two inputs: y (k), Y (k-1), corresponding to the two fuzzy input variables Y1 and Y2, respectively; and an output: u (k) corresponds to a fuzzy output variable.

As a specific embodiment, when performing fuzzification on the input and output of the fuzzy system, for simple calculation, two fuzzy domains may be specifically set for each variable: p (corresponding to the positive field) and N (corresponding to the negative field). The fuzzy rule may specifically include the following four fuzzy rule formulas:

Rule_1：

Rule_2：

Rule_3：

Rule_4：

wherein q is₁、q₂、q₃Are all fuzzy parameters.

On the basis of the above, the fuzzy basis function is defined as:

wherein, p (y)_k) Is a fuzzy base; q. q.s_l＝[q₁,q₂,q₃]；y_k＝[y(k-1),y(k),1]^T。

In order to identify the fuzzy parameters in the fuzzy rule formula, the n input data and the output data of the fuzzy system obtained in step S11 may be substituted into the fuzzy rule formula, and each fuzzy parameter may be determined by using the minimization error index E of the recursive least squares method. The calculation formula of the error index E is as follows:

wherein E is a minimized error index;

is a fuzzy basis function.

S13: and simultaneously starting PI control and fuzzy control based on an inverse model to output and control the ultrasonic transducer.

After the inverse model of the ultrasonic transducer is established, the output of the ultrasonic transducer can be controlled based on the PI controller and the inverse model together. That is, the control amount calculated by PI control and the fuzzy control amount obtained by the inverse model are added, and then input to the ultrasonic transducer as the total control amount to be controlled.

In addition, it should be noted that, in order to realize the control of the output voltage and amplitude of the ultrasonic transducer, and simultaneously, considering the actual working environment of high power and high frequency, the feedback loop is easily interfered by high-frequency signals, and is not suitable for differential control, and the parameter adaptation range of the differential link in the debugging process is narrow, so that the present application directly adopts the simplified PID algorithm, i.e. PI algorithm, to control, so as to reduce the oscillation caused by the interference signal.

The output control method of the ultrasonic transducer provided by the embodiment of the application comprises the following steps: acquiring input data and output data of an ultrasonic transducer under PI control; establishing an inverse model of the ultrasonic transducer according to the input data and the output data based on a fuzzy theory; and simultaneously starting PI control and fuzzy control based on an inverse model to output and control the ultrasonic transducer.

Therefore, the direct inverse model control and the PI control are combined, the parameter identification of the inverse system is specifically carried out according to the input data and the output data of the ultrasonic transducer, the accurate fuzzy system is established to construct the inverse model, and the control precision of the output voltage of the ultrasonic transducer can be effectively improved.

On the basis of the above, as a specific embodiment, the method for controlling the output of the ultrasonic transducer according to the embodiment of the present application further includes, after the PI control and the fuzzy control based on the inverse model are simultaneously started:

acquiring updated input data and output data;

and updating the inverse model according to the updated input data and output data until the optimized model precision meets the preset precision requirement.

Specifically, in this embodiment, after the initial inverse model constructed by the fuzzy system is established in step S12, the fuzzy system may be further optimized by using an iterative idea to establish a Dynamic Fuzzy System (DFS). Specifically, the output data and the input data of the ultrasonic transducer obtained after the inverse model and the PI controller act together can be substituted into the fuzzy rule formula of the inverse system again for parameter optimization, the inverse system model is updated, and the model precision is improved. Theoretically, as long as the data sample size is large enough, the inverse model is corrected through continuous iterative learning and updating, so that ideal fuzzy parameters can be obtained, and a good control effect is obtained. Referring to fig. 2 in particular, fig. 2 is a schematic diagram illustrating an output control method of another ultrasonic transducer disclosed in an embodiment of the present application.

In the continuous correction process, after the inverse model is updated and corrected every time, whether the output error of the ultrasonic transducer is smaller than a preset error threshold value is calculated and judged; if so, judging that the optimized model precision meets the preset precision requirement, and stopping correction and updating; if not, judging that the optimized model precision does not meet the preset precision requirement, and continuing updating and optimizing.

Referring to fig. 3, an embodiment of the present application discloses an output control device for an ultrasonic transducer, which mainly includes:

the acquisition module 21 is configured to acquire input data and output data of the ultrasonic transducer under PI control;

a generating module 22, configured to establish an inverse model of the ultrasound transducer according to the input data and the output data based on a fuzzy theory;

and the control module 23 is used for simultaneously starting the PI control and the fuzzy control based on the inverse model to control the output of the ultrasonic transducer.

Therefore, the output control device of the ultrasonic transducer disclosed by the embodiment of the application combines and uses direct inverse model control and PI control, specifically performs parameter identification of an inverse system according to input data and output data of the ultrasonic transducer, establishes an accurate fuzzy system to construct the inverse model, and can effectively improve and improve the control precision of the output voltage of the ultrasonic transducer.

For the specific content of the output control device of the ultrasonic transducer, reference may be made to the foregoing detailed description of the output control method of the ultrasonic transducer, and details thereof are not repeated here.

Further, on the basis of the foregoing, in an embodiment of the output control apparatus of the ultrasonic transducer disclosed in the embodiment of the present application, the generating module 22 is specifically configured to:

and carrying out fuzzy quantization on the output data according to the triangular membership function, and substituting a quantized value after the fuzzy quantization and the input data into a preset fuzzy rule formula to determine fuzzy parameters in the fuzzy rule formula.

Further, on the basis of the above, as a specific implementation manner, the output control apparatus of the ultrasound transducer disclosed in the embodiment of the present application further includes:

and the updating module is used for acquiring updated input data and output data after PI control and fuzzy control based on the inverse model are started simultaneously, and updating the inverse model according to the updated input data and output data until the optimized model precision meets the preset precision requirement.

Further, on the basis of the above, as a specific implementation manner, in the output control apparatus of an ultrasound transducer disclosed in the embodiment of the present application, the update module includes a determination unit configured to:

calculating and judging whether the output error of the ultrasonic transducer is smaller than a preset error threshold value or not; if so, judging that the optimized model precision meets the preset precision requirement; if not, judging that the optimized model precision does not meet the preset precision requirement.

Based on the above, as a specific embodiment, the input data includes a current input voltage of the ultrasonic transducer, and the output data includes a current output voltage and a previous output voltage of the ultrasonic transducer.

Referring to fig. 4, an embodiment of the present application discloses an electronic device, including:

a memory 31 for storing a computer program;

a processor 32 for executing the computer program to implement the steps of any of the ultrasonic transducer output control methods described above.

Further, the present application discloses a computer-readable storage medium, in which a computer program is stored, and the computer program is used for implementing the steps of any one of the above-mentioned ultrasonic transducer output control methods when being executed by a processor.

For details of the electronic device and the computer-readable storage medium, reference may be made to the foregoing detailed description of the output control method of the ultrasonic transducer, and details thereof will not be repeated here.

The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the equipment disclosed by the embodiment, the description is relatively simple because the equipment corresponds to the method disclosed by the embodiment, and the relevant parts can be referred to the method part for description.

It is further noted that, throughout this document, relational terms such as "first" and "second" are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The technical solutions provided by the present application are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, without departing from the principle of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall into the protection scope of the present application.