CN116687518A

CN116687518A - Resonant frequency tracking method and device, electronic equipment and storage medium

Info

Publication number: CN116687518A
Application number: CN202211338418.4A
Authority: CN
Inventors: 肖露华; 孙斌; 袁礼琨; 邓华菁; 孙魁; 刘翔; 崔瑞; 王娟
Original assignee: Jiangxi Yuansai Medical Technology Co ltd
Current assignee: Jiangxi Yuansai Medical Technology Co ltd
Priority date: 2022-10-28
Filing date: 2022-10-28
Publication date: 2023-09-05

Abstract

The disclosure relates to a resonance frequency tracking method and device, electronic equipment and storage medium. The resonant frequency tracking method is applied to the process of cutting operation of ultrasonic knife equipment and comprises the following steps: acquiring the frequency bandwidth of a resonance system; acquiring a first phase difference between a first current flowing through the resonance system in a current period and a first voltage at two ends of the resonance system, and a second phase difference between a second current flowing through the resonance system in a previous period and a second voltage at two ends of the resonance system; obtaining the phase difference change rate of the resonance system in the current period and the last period according to the first phase difference and the second phase difference; and obtaining the first resonant frequency of the resonant system in the current period according to the frequency bandwidth, the first phase difference and the phase difference change rate. Through the process, the resonant frequency of the resonant system is predicted by combining the phase difference change rate and the frequency bandwidth, and the accuracy of resonant frequency prediction is effectively improved, so that the robustness of resonant frequency tracking is improved.

Description

Resonant frequency tracking method and device, electronic equipment and storage medium

Technical Field

The disclosure relates to the technical field of medical treatment, and in particular relates to a resonance frequency tracking method and device, electronic equipment and a storage medium.

Background

With the development of ultrasonic technology in the medical field, ultrasonic knife devices are increasingly used in medical treatment to replace common scalpels to cut and separate diseased tissues or organs of a human body. In the use process of the ultrasonic knife device, in order to enable the ultrasonic knife device to convert electric energy into mechanical energy as efficiently as possible, impedance matching is performed on the ultrasonic knife device, and a resonant frequency signal is generated to drive the ultrasonic transducer, so that the ultrasonic knife device is in a minimum impedance state. In the state of minimum impedance, the conversion efficiency and the output power of the ultrasonic transducer are maximum, the amplitude of the ultrasonic cutter head is maximum, but the heating value is minimum, so that the scald of the ultrasonic cutter head to human tissues is reduced, and the optimal cutting coagulation effect is achieved.

At present, after the ultrasonic knife device is started, along with the change of cut tissues, the abrasion after the ultrasonic knife is used and the like, the resonance state of the ultrasonic knife also changes, so that the resonance frequency of the ultrasonic knife device is required to be continuously searched, and the cutting effect of the ultrasonic knife device is ensured.

Disclosure of Invention

In view of this, the present disclosure proposes a resonant frequency tracking technical solution.

According to an aspect of the present disclosure, there is provided a resonant frequency tracking method applied to a process of performing a cutting operation by an ultrasonic blade device, including: acquiring the frequency bandwidth of a resonance system, wherein the resonance system comprises an ultrasonic transducer and an ultrasonic tool bit; acquiring a first phase difference between a first current flowing through the resonance system and a first voltage at two ends of the resonance system in a current period, and a second phase difference between a second current flowing through the resonance system and a second voltage at two ends of the resonance system in a previous period; obtaining the phase difference change rate of the resonance system in the current period and the last period according to the first phase difference and the second phase difference; and obtaining a first resonant frequency of the resonant system in the current period according to the frequency bandwidth, the first phase difference and the phase difference change rate.

In one possible implementation manner, the obtaining a first resonant frequency of the resonant system in the current period according to the frequency bandwidth, the first phase difference and the phase difference change rate includes: obtaining an adjustment parameter of a PID controller in a current period according to the first phase difference, the phase difference change rate and the frequency bandwidth; and obtaining a first resonance frequency of the resonance system in the current period according to the first phase difference, the phase difference change rate and the adjustment parameter.

In one possible implementation manner, the obtaining the adjustment parameter of the PID controller in the current period according to the first phase difference, the phase difference change rate and the frequency bandwidth includes: obtaining a first adjustment parameter of the PID controller in the current period according to the frequency bandwidth; obtaining a second adjustment parameter of the PID controller in the current period according to the phase difference change rate and the first phase difference; and obtaining the adjustment parameters according to the first adjustment parameters and the second adjustment parameters.

In one possible implementation manner, the obtaining, according to the frequency bandwidth, a first adjustment parameter of the PID controller in the current period includes: acquiring the frequency bandwidth of each ultrasonic tool bit matched with the ultrasonic transducer; fitting the frequency bandwidths of the ultrasonic tool bits to obtain a first adjustment parameter of the PID controller in the current period.

In one possible implementation, the method further includes: acquiring a first impedance of the resonance system in a current period according to the first current and the first voltage; acquiring a second impedance of the resonant system in a previous period according to the second current and the second voltage; obtaining the impedance change rate of the resonance system in the current period and the previous period according to the first impedance and the second impedance; obtaining a second resonance frequency of the resonance system in the current period according to the first impedance and the impedance change rate; and obtaining the resonance frequency of the resonance system in the current period according to the first resonance frequency and the second resonance frequency.

In one possible implementation, before the acquiring the frequency bandwidth of the resonant system, the method further includes: before ultrasonic knife equipment is used, obtaining initial current flowing through the resonance system and initial voltages at two ends of the resonance system; determining an overall impedance value of the resonant system according to the initial current and the initial voltage; acquiring an initial adjustment frequency corresponding to the overall impedance value in a preset corresponding relation, wherein the corresponding relation is a corresponding relation between the impedance value and the adjustment frequency; adjusting the driving frequency of the resonance system according to the initial adjusting frequency; and taking the driving frequency when the phase difference between the initial current and the initial voltage is zero as the initial resonance frequency of the resonance system.

In a possible implementation manner, the obtaining the initial adjustment frequency corresponding to the overall impedance value in the preset correspondence includes: acquiring a list of the corresponding relation between a preset impedance value and an adjustment frequency; determining a first impedance interval to which the overall impedance value belongs in the list; and determining the initial adjusting frequency according to the adjusting frequency corresponding to the first impedance interval in the list.

In a possible implementation manner, the obtaining the initial adjustment frequency corresponding to the overall impedance value in the preset correspondence includes: obtaining a function representing the corresponding relation between the impedance value and the adjustment frequency; determining a second impedance section in which the overall impedance value is located according to the overall impedance value and the function, wherein the second impedance section is one impedance section of the function; and determining the initial adjusting frequency corresponding to the integral impedance value according to the calculating mode of the impedance value and the adjusting frequency in the function.

In one possible implementation, the method further includes: acquiring a resonance frequency range of the resonance system; setting a first resonant frequency to an initial resonant frequency when the first resonant frequency exceeds the resonant frequency range; and when the frequency of the first resonant frequency exceeding the range of the resonant frequency exceeds the preset frequency, sending out reminding information of abnormal first resonant frequency.

According to another aspect of the present disclosure, there is provided a resonant frequency tracking device applied to a process of performing a cutting operation by an ultrasonic blade apparatus, including: the frequency bandwidth acquisition module is used for acquiring the frequency bandwidth of a resonance system, wherein the resonance system comprises an ultrasonic transducer and an ultrasonic tool bit; the phase difference acquisition module is used for acquiring a first phase difference between a first current flowing through the resonance system and a first voltage at two ends of the resonance system in a current period, and a second phase difference between a second current flowing through the resonance system and a second voltage at two ends of the resonance system in a previous period; the phase difference change rate acquisition module is used for obtaining the phase difference change rate of the resonance system in the current period and the last period according to the first phase difference and the second phase difference; the first resonant frequency acquisition module is used for obtaining a first resonant frequency of the resonant system in the current period according to the frequency bandwidth, the first phase difference and the phase difference change rate.

In one possible implementation manner, the first resonant frequency obtaining module includes: the adjustment parameter acquisition sub-module is used for acquiring adjustment parameters of the PID controller in the current period according to the first phase difference, the phase difference change rate and the frequency bandwidth; the first resonant frequency obtaining sub-module is used for obtaining the first resonant frequency of the resonant system in the current period according to the first phase difference, the phase difference change rate and the adjustment parameter.

In one possible implementation manner, the apparatus further includes: the first impedance acquisition module is used for acquiring the first impedance of the resonance system in the current period according to the first current and the first voltage; the second impedance acquisition module is used for acquiring second impedance of the resonance system in the last period according to the second current and the second voltage; the impedance change rate acquisition module is used for obtaining the impedance change rate of the resonance system in the current period and the previous period according to the first impedance and the second impedance; the second resonant frequency acquisition module is used for acquiring a second resonant frequency of the resonant system in the current period according to the first impedance and the impedance change rate; and the resonant frequency acquisition module is used for acquiring the resonant frequency of the resonant system in the current period according to the first resonant frequency and the second resonant frequency.

In one possible implementation, the apparatus further includes: the initial voltage and current acquisition module is used for acquiring initial current flowing through the resonance system and initial voltages at two ends of the resonance system before the ultrasonic knife equipment is used; the overall impedance value acquisition module is used for determining the overall impedance value of the resonance system according to the initial current and the initial voltage; the initial adjustment frequency determining module is used for obtaining initial adjustment frequency corresponding to the overall impedance value in a preset corresponding relation, wherein the corresponding relation is the corresponding relation between the impedance value and the adjustment frequency; the driving frequency adjusting module is used for adjusting the driving frequency of the resonance system according to the initial adjusting frequency; and the initial resonance frequency acquisition module is used for taking the driving frequency when the phase difference between the initial current and the initial voltage is zero as the initial resonance frequency of the resonance system.

In one possible implementation manner, the initial adjustment frequency determining module includes: the list acquisition sub-module is used for acquiring a list of the corresponding relation between the preset impedance value and the adjustment frequency; a first impedance interval determining submodule, configured to determine a first impedance interval to which the overall impedance value belongs in the list; and the first adjusting frequency determining submodule is used for determining the adjusting frequency according to the adjusting frequency corresponding to the first impedance interval in the list.

In one possible implementation manner, the initial adjustment frequency determining module includes: the function acquisition sub-module is used for acquiring a function representing the corresponding relation between the impedance value and the adjustment frequency; a second impedance interval determining submodule, configured to determine a second impedance interval in which the overall impedance value is located according to the overall impedance value and the function, where the second impedance interval is an impedance interval of the function; and the second adjusting frequency determining submodule is used for determining the adjusting frequency corresponding to the integral impedance value according to the calculating mode of the impedance value and the adjusting frequency in the function.

In one possible implementation, the apparatus further includes: the resonant frequency range acquisition module is used for acquiring the resonant frequency range of the resonant system; a restoring module, configured to set the first resonant frequency to an initial resonant frequency when the first resonant frequency exceeds the resonant frequency range; the reminding information sending module is used for sending out reminding information that the first resonant frequency is abnormal when the frequency of the first resonant frequency exceeding the range of the resonant frequency exceeds the preset frequency.

According to another aspect of the present disclosure, there is provided an electronic device including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the above-described method when executing the instructions stored by the memory.

According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer program instructions, wherein the computer program instructions, when executed by a processor, implement the above-described method.

According to another aspect of the present disclosure, there is provided a computer program product comprising a computer readable code, or a non-transitory computer readable storage medium carrying computer readable code, which when run in a processor of an electronic device, performs the above method.

In the embodiment of the disclosure, after the first phase difference of the current period is obtained, according to the phase difference, the phase difference change rate of the current period and the previous period is obtained, and the frequency bandwidth, the first phase difference and the phase difference change rate are combined to obtain the resonant frequency of the resonant system in the current period. Through the process, the frequency bandwidth with the change amplitude larger than the phase difference change rate of current/voltage and reflecting the difference of different cutter heads is combined with the parameters of the two dimensions to predict the resonance frequency of the resonance system in the current period, so that the accuracy of the resonance frequency prediction is effectively improved, and the robustness of the resonance frequency tracking is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features and aspects of the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 shows a flowchart of a resonant frequency tracking method according to an embodiment of the present disclosure.

Fig. 2 shows a schematic diagram of an example of an application according to the present disclosure.

Fig. 3 shows an application schematic of a resonant frequency tracking device according to an embodiment of the present disclosure.

Fig. 4 shows a schematic diagram of a sampled current signal according to an embodiment of the present disclosure.

Fig. 5 shows a schematic diagram of phase signals of converted current and voltage according to an embodiment of the present disclosure.

Fig. 6 shows a block diagram of a resonant frequency tracking device according to an embodiment of the present disclosure.

Fig. 7 illustrates a block diagram of an electronic device, according to an embodiment of the present disclosure.

Fig. 8 illustrates a block diagram of an electronic device, according to an embodiment of the present disclosure.

Detailed Description

Various exemplary embodiments, features and aspects of the disclosure will be described in detail below with reference to the drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

In addition, numerous specific details are set forth in the following detailed description in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements, and circuits well known to those skilled in the art have not been described in detail in order not to obscure the present disclosure.

Ultrasonic waves are sound waves with a vibration frequency of more than 20000Hz, and the wavelength of the ultrasonic waves in the air is extremely short and is generally shorter than 2cm, so that the ultrasonic waves can easily obtain anisotropic sound energy, and further, the ultrasonic waves have many applications in industry and medicine. Ultrasonic vibration assisted medical treatment is a research hot spot of current medical ultrasound, and ultrasonic surgical knife (ultrasonic knife for short) equipment has the advantages of high precision, rapid hemostasis, regular knife edge and the like, and is increasingly widely applied.

The ultrasonic knife device mainly comprises three components: an ultrasonic power supply, an ultrasonic transducer and an ultrasonic tool bit arranged on the ultrasonic transducer. The ultrasonic power supply is mainly used for generating high-frequency electric power, and can be used for energy adjustment according to the coagulation speed and the cutting speed in the tissue cutting process. The ultrasonic transducer is mainly used for converting high-frequency electric energy into ultrasonic vibration energy and radiating ultrasonic waves through the ultrasonic tool bit.

In the working process of the ultrasonic knife, the ultrasonic knife head is in direct contact with biological tissues, the ultrasonic waves radiated by the ultrasonic knife head enable the biological tissues to generate elastic vibration, and when the mechanical vibration of the biological tissues exceeds the elastic limit of the mechanical vibration, the biological tissues are broken or crushed. The ultrasonic knife device can be used for various surgical instrument fields such as soft tissue cutting, bone tissue cutting, debridement (ophthalmology and the like), tooth polishing and the like, and the ultrasonic knife device can be correspondingly used for an ultrasonic hemostatic knife, an ultrasonic bone knife, an ultrasonic debridement knife (for ophthalmology), an ultrasonic suction knife and the like. The biological tissue, the type of the ultrasonic blade device and the application field of the ultrasonic blade device are not particularly limited, and can be selected according to actual conditions. For a better illustration of the present disclosure, and to highlight the gist of the present disclosure, specific embodiments herein are described with respect to an ultrasonic blade apparatus for soft tissue cutting, and those skilled in the art will appreciate that the present disclosure may be practiced with respect to other types of ultrasonic blade apparatus such as ultrasonic bone blades.

Fig. 1 shows a flowchart of a resonant frequency tracking method according to an embodiment of the present disclosure, which may be applied to a resonant frequency tracking apparatus, which may be a terminal device, a server, or other processing device, etc. The terminal device may be a User Equipment (UE), a mobile device, a User terminal, a cellular phone, a cordless phone, a personal digital assistant (Personal Digital Assistant, PDA), a handheld device, a computing device, a vehicle mounted device, a wearable device, etc.

In some possible implementations, the resonant frequency tracking method may be implemented by way of a processor invoking computer readable instructions stored in a memory.

As shown in fig. 1, the resonant frequency tracking method, applied to a process of performing a cutting operation by an ultrasonic blade device, may include:

step S11, obtaining a frequency bandwidth of a resonance system, wherein the resonance system comprises an ultrasonic transducer and an ultrasonic tool bit.

Step S12, obtaining a first phase difference between a first current flowing through the resonant system and a first voltage at two ends of the resonant system in a current period, and a second phase difference between a second current flowing through the resonant system and a second voltage at two ends of the resonant system in a previous period.

And step S13, obtaining the phase difference change rate of the resonance system in the current period and the last period according to the first phase difference and the second phase difference.

And step S14, obtaining a first resonant frequency of the resonant system in the current period according to the frequency bandwidth, the first phase difference and the phase difference change rate.

In order to convert the electric energy of the ultrasonic power supply into ultrasonic vibration energy with highest efficiency, impedance matching is performed on ultrasonic knife equipment in a serial or parallel mode, so that a resonance system formed by the ultrasonic transducer and the ultrasonic knife head works in a resonance state with approximately equal driving frequency and resonance frequency. Specifically, the resonant frequency is the driving frequency of the ultrasonic transducer when the phase difference between the current flowing through the resonant system and the voltage across the resonant system is zero. Under the resonance state, the ultrasonic knife device is in the minimum impedance state, so that the conversion efficiency of the ultrasonic transducer is maximized, the output power is maximized, meanwhile, the amplitude of the ultrasonic knife head is maximized, the heating value is minimized, the scald of the ultrasonic knife head to human tissues is reduced, and the optimal cutting coagulation effect is achieved.

When the ultrasonic transducer works, due to the fact that factors such as load and temperature change, the phase difference can be changed in real time, therefore, the phase difference of the resonance system in the current period and the phase difference of the resonance system in the previous period can be used as control variables to obtain the resonance frequency in the current period, the change of the resonance system is captured in time, and the real-time tracking of the resonance frequency of the current resonance system is achieved. Specifically, a first current flowing through the resonant system in a current period, a first voltage at two ends of the resonant system, a second current flowing through the resonant system in a previous period, and a second voltage at two ends of the resonant system may be obtained, and according to the first current and the first voltage, a first phase difference between the first current and the first voltage in the current period may be obtained, and similarly, according to the second current and the second voltage, a second phase difference between the second current and the second voltage in the previous period may be obtained. Further, the change rate of the phase difference between the current period and the previous period can be obtained according to the first phase difference and the second phase difference, and then the resonance frequency of the current period is obtained according to the real-time phase difference of the current period, namely the first phase difference and the change rate of the phase difference. Wherein the period is the period of the current/voltage change in the resonant system.

In addition to phase differences, frequency bandwidth is also an important indicator of resonant systems. The ultrasonic heads of different models have different appearances, and the frequency bandwidth and other parameters of the ultrasonic heads also have different parameters, so that the frequency tracking is unstable. In an example, the frequency bandwidth may be introduced into the resonant frequency calculation of the current cycle, compensating for differences in different models of ultrasonic tips, making frequency tracking more stable. The frequency bandwidth is an inherent attribute of the ultrasonic tool bit, so that the frequency bandwidth of the current period can be obtained according to the resonant frequency and the antiresonant frequency in any period.

In one possible implementation manner, the obtaining a first resonant frequency of the resonant system in the current period according to the frequency bandwidth, the first phase difference and the phase difference change rate includes:

obtaining an adjustment parameter of a PID controller in a current period according to the first phase difference, the phase difference change rate and the frequency bandwidth;

and obtaining a first resonance frequency of the resonance system in the current period according to the first phase difference, the phase difference change rate and the adjustment parameter.

The PID control law is an algorithm widely applied to the interior of the ultrasonic power supply controller. The PID controller is a controller applying a PID algorithm. Because the PID algorithm has simple structure and good control effect, in an example, the PID algorithm can be used to obtain the adjustment parameters of the PID controller in the current period according to the first phase difference, the phase difference change rate and the frequency bandwidth, so as to further determine the resonant frequency of the resonant system according to the adjustment parameters. Specifically, the calculation of the first resonance frequency may be performed using formula (1).

f ₁ ＝U _k +K _p *(E(k)-E(k-1))+K _i *E(k)+K _d *(E(k)-2E(k-1)+2E(k-2)) (1)

Wherein f ₁ For a first resonant frequency, U _k E (k) is the current voltageThe phase difference, E (K-1) is the last phase difference, E (K-2) is the last phase difference, K _p Is a proportionality coefficient, K _i Is an integral coefficient, K _d Is a differential coefficient.

Specifically, the obtaining the adjustment parameters of the PID controller in the current period according to the first phase difference, the phase difference change rate and the frequency bandwidth includes:

obtaining a first adjustment parameter of the PID controller in the current period according to the frequency bandwidth;

obtaining a second adjustment parameter of the PID controller in the current period according to the phase difference change rate and the first phase difference;

and obtaining the adjustment parameters according to the first adjustment parameters and the second adjustment parameters.

In this example, a first adjustment parameter of the PID controller in the current period obtained according to the frequency bandwidth is combined with a second adjustment parameter of the PID controller in the current period obtained according to the phase difference change rate and the first phase difference, to obtain the adjustment parameter of the PID controller in the current period.

The obtaining a first adjustment parameter of the PID controller in the current period according to the frequency bandwidth includes: acquiring the frequency bandwidth of each ultrasonic tool bit matched with the ultrasonic transducer; fitting the frequency bandwidths of the ultrasonic tool bits to obtain a first adjustment parameter of the PID controller in the current period.

Specifically, each ultrasonic tool bit can be the ultrasonic tool bit of different models, and then, the frequency bandwidth to each ultrasonic tool bit fits, can be for the frequency bandwidth to the ultrasonic tool bit of different models fits. The method for fitting the frequency bandwidths of the ultrasonic tool bits can be linear fitting, the specific method and steps of the linear fitting are not particularly limited, and any method can be used for linearly fitting the frequency bandwidths of the ultrasonic tool bits. In an example, the first adjustment parameter may include: first proportional coefficient K _p 1. First integral coefficient K _i 1. First differential coefficient K _d 1. In particular, the equation of the linear fit may be as the formula(2) As shown. Further, after the first adjustment parameter is obtained, the resonant frequency of the resonant system in the current period can be obtained according to the first adjustment parameter and the second adjustment parameter.

y＝ax+b (2)

Wherein y is a first scale factor K _p 1. First integral coefficient K _i 1 or a first differential coefficient K _d And 1, x is the frequency bandwidth, and a and b are constant coefficients obtained by fitting.

Through the embodiment, the frequency bandwidths of the ultrasonic tool bits are fitted, and the resonance frequency of the resonance system in the current period is obtained according to the first adjustment parameters of the PID controller obtained after fitting. The process brings the differences of the cutter heads of different types into solving of the resonant frequency, corrects the instability of frequency tracking caused by the differences of the cutter heads, and improves the accuracy of solving of the resonant frequency of the current period.

In addition to the frequency bandwidth of each ultrasonic blade, the phase difference can be further taken into account in the parameter calculation of the PID controller of the ultrasonic transducer. Wherein the second adjustment parameter may include: second scaling factor K _p 2. Second integral coefficient K _i 2. Second differential coefficient K _d 2. Specifically, the second adjustment parameter may be obtained according to the first phase difference and the phase difference change rate.

In one example, a differential blurring algorithm may be used to calculate the second tuning parameter, which may be eliminated in advance before the error occurs, to increase the speed of resonant frequency tracking. Specifically, the fuzzy controller for parameter adjustment takes a two-input three-output form, takes an error and an error change rate as inputs, and takes the correction of three parameters P, I, D of the PID controller as outputs. The phase difference and the phase change rate are divided into 5 fuzzy sets: negative Big (NB), negative Small (NS), zero (ZO), positive Small (PS), positive Big (PB). The domains of error and error rate are [ -90,90]The quantization scale is { -45, -25,0,25,45}. A triangle membership function is selected, and the sum of membership is a+a (1-b) + (1-a) (1-b). Calculating K according to the established fuzzy control rule table and membership function value _p 2，K _i 2，K _d A value of 2.

TABLE 1 fuzzy control rules table

Further, after the first adjustment parameter and the second adjustment parameter are obtained, the first adjustment parameter and the second adjustment parameter may be combined to obtain the adjustment parameter of the PID controller in the current period. Specifically, a kalman fusion algorithm may be used to solve the adjustment parameters. The prediction formula of the Kalman fusion algorithm is shown in the formula (3) and the formula (4):

wherein X is _kp For the estimated value of the last moment of k, P _kp Estimating covariance, X, for a posterior at a time instant k _k-1 Is X _kp Estimated value of last time, P _k-1 Is P _kp The posterior estimated covariance of the last moment, A is the state transition matrix, B is the control matrix, u _k To control the quantity coefficient, w _k To predict noise, Q _k For state transition noise, A ^T Is a transpose of the state transition matrix.

The state formula of the Kalman fusion algorithm is shown in formulas (5), (6) and (7):

wherein K is Kalman coefficient, H is a conversion matrix of state variable knife measurement (observation), and represents the relation between the state and the observation, H ^T Transpose of the transformation matrix for state variable knife measurement (observation), R is measurement noise covariance, X _k X is the estimated value of k time _kp For the estimated value of the last moment of k, Y _k As a measurement value, P _k Estimating covariance for a posterior at time k, P _kp Covariance is estimated for the face at the previous time.

Through the above embodiment, the frequency bandwidth is used as a variable to obtain the first adjustment parameter of the PID controller, the phase difference change rate with the change amplitude larger than the current/voltage and the first phase difference are used as variables to obtain the second adjustment parameter of the PID controller, and then the adjustment parameter of the PID controller in the current period is obtained through the first adjustment parameter and the second adjustment parameter. The process combines the parameters of two dimensions, namely the phase difference change rate with the change amplitude larger than the current/voltage and the frequency bandwidth reflecting the difference of different cutter heads, and effectively improves the accuracy of the adjustment parameters of the PID controller in solving the adjustment parameters of the PID controller.

In the embodiment of the disclosure, an adjustment parameter of the PID controller in the current period is obtained according to the first phase difference, the phase difference change rate and the frequency bandwidth, and then a first resonance frequency of the resonance system is obtained according to the adjustment parameter, the first phase difference and the phase difference change rate. Through the process, the first resonant frequency is solved, and the solving of the adjusting parameters of the PID controller with simple structure and good control effect is refined, so that the solving speed of the resonant frequency is effectively improved, and the timely tracking of the resonant frequency is realized.

As the tissue contacted by the ultrasonic blade changes and the ultrasonic blade wears away, the current flowing through the resonant system and the voltage across the resonant system change, and thus the impedance of the resonant system changes. In one possible implementation, the method further includes:

acquiring a first impedance of the resonance system in a current period according to the first current and the first voltage;

acquiring a second impedance of the resonant system in a previous period according to the second current and the second voltage;

obtaining the impedance change rate of the resonance system in the current period and the previous period according to the first impedance and the second impedance;

obtaining a second resonance frequency of the resonance system in the current period according to the first impedance and the impedance change rate;

and obtaining the resonance frequency of the resonance system in the current period according to the first resonance frequency and the second resonance frequency.

The first impedance can be obtained by calculation according to a first current effective value and a first voltage effective value; the second impedance may be calculated from the second current effective value and the second voltage effective value. After the first impedance and the second impedance are obtained, the impedance of the resonance system in the current period and the change rate of the impedance of the resonance system in the previous period can be obtained. The change in impedance reflects: in an example, a change in the resonant frequency of the current cycle caused by a change in impedance may be added to the solution of the resonant frequency of the current cycle. Specifically, the second resonant frequency of the ultrasonic bit in the current period can be obtained according to the first impedance and the impedance change rate of the current period and the previous period. Furthermore, the resonance frequency of the ultrasonic tool bit in the current period can be obtained according to the first resonance frequency and the second resonance frequency.

In an example, the first impedance and the impedance change rate may use a gradient descent method to obtain the second resonant frequency, so as to ensure that the impedance reaches a minimum value, thereby reducing the influence of the matching difference between the host machine and the tool bit, and improving the accuracy of the resonant frequency. The step of obtaining the second resonant frequency by using the gradient descent method in the present disclosure is not particularly limited, and may be selected according to actual conditions.

In the embodiment of the disclosure, the second resonant frequency obtained by calculating the impedance and the impedance change rate is added to the solution of the resonant frequency of the resonant system in the current period. Through the process, the solving of the influence of the impedance change rate on the resonant frequency of the resonant system is increased, the resonant frequency is predicted by using the impedance change rate, the frequency bandwidth and the phase difference change rate, and the accuracy of the solving of the resonant frequency is effectively improved, so that the robustness of the resonant frequency tracking process is improved.

In one possible implementation, before the acquiring the frequency bandwidth of the resonant system, the method further includes:

acquiring initial current flowing through the resonance system and initial voltages at two ends of the resonance system;

determining an overall impedance value of the resonant system according to the initial current and the initial voltage;

Acquiring an initial adjustment frequency corresponding to the overall impedance value in a preset corresponding relation, wherein the corresponding relation is a corresponding relation between the impedance value and the adjustment frequency;

adjusting the driving frequency of the resonance system according to the initial adjusting frequency;

and taking the driving frequency when the phase difference between the initial current and the initial voltage is zero as the initial resonance frequency of the resonance system.

In the production process of the ultrasonic tool bit, each ultrasonic tool bit of the same model cannot be completely consistent due to the limitation of the processing technology, and the resonant frequency of a resonant system formed by the ultrasonic transducer and the ultrasonic tool bit can be changed. After the ultrasonic knife device is started, before formal work (namely cutting biological tissues), the resonant frequency of a resonant system formed by the ultrasonic transducer and the ultrasonic knife head needs to be quickly found, so that the ultrasonic knife device enters a resonant working state as soon as possible. In order to distinguish the resonance frequency of the resonance system during the normal operation (during the tissue cutting process) of the ultrasonic blade device from the resonance frequency of the resonance system before the normal operation (before the biological tissue cutting process), the resonance frequency of the resonance system before the normal operation is referred to as an initial resonance frequency, and the resonance frequency of the resonance system during the normal operation is referred to as a resonance frequency.

When the ultrasonic transducer works in a resonance state, the overall impedance value of the resonance system is smaller than that of the resonance system in a non-resonance state. If the ultrasonic transducer works in a resonance state, the integral impedance value of the resonance system is the minimum impedance value, and when the ultrasonic transducer works in a non-resonance state, the larger the integral impedance value of the resonance system is different from the minimum impedance value, the larger the difference between the driving frequency of the resonance system and the resonance frequency is. Therefore, the driving frequency can be adjusted according to the integral impedance value of the resonant system, namely, the driving frequency is adjusted to enable the integral impedance value of the resonant system to be infinitely close to the minimum impedance value, and the ultrasonic transducer can work in the resonant state. Specifically, the calculation method of the overall impedance value of the resonant system can be obtained according to the initial voltage at two ends of the resonant system and the initial current flowing through the ultrasonic transducer.

Further, after the overall impedance value of the ultrasonic transducer and the ultrasonic blade is obtained, the driving frequency of the ultrasonic transducer can be adjusted according to the overall impedance value. Specifically, the overall impedance values are different, and the adjustment amplitudes for the driving frequencies of the ultrasonic transducers are different: when the overall impedance value is larger, the adjustment amplitude can be adjusted greatly, so that the overall impedance value is close to the minimum impedance value as soon as possible; when the overall impedance value is smaller, the adjustment amplitude can be adjusted to realize fine adjustment of the overall impedance value. As described above, the driving frequency at which the phase difference between the initial current and the initial voltage is zero is set to the initial resonance frequency. In one possible implementation manner, the driving frequency when the phase difference between the initial current and the initial voltage is zero is used as the initial resonance frequency of the ultrasonic blade, and the driving frequency comprises: and taking the driving frequency when the phase difference between the initial current and the initial voltage is zero for the first time as the initial resonance frequency.

In an example, an initial adjustment frequency corresponding to the overall impedance value in a preset corresponding relationship may be obtained, and then the driving frequency is adjusted according to the initial adjustment frequency, so as to determine an initial resonance frequency, where the corresponding relationship is a corresponding relationship between the impedance value and the adjustment frequency. In this implementation manner, the ultrasonic blade device may acquire a correspondence between the pre-stored impedance value and the adjustment frequency, and then query the initial adjustment frequency corresponding to the determined overall impedance value according to the correspondence. Here, the correspondence between the impedance value and the adjustment frequency may be a piecewise function, for example, when the overall impedance value is smaller than the first impedance value, the initial adjustment frequency may be a first adjustment frequency, and when the overall impedance value is greater than or equal to the first impedance value, the initial adjustment frequency may be a second adjustment frequency, so that the initial adjustment frequency corresponding to the overall impedance value may be determined quickly through the correspondence between the impedance value and the adjustment frequency. Here, the correspondence between the impedance value and the adjustment frequency may also be a continuous function, so that it is possible to realize continuous variation of the adjustment frequency according to the impedance value.

Therefore, the current initial adjusting frequency can be rapidly determined through the corresponding relation between the preset impedance value and the adjusting frequency, the driving frequency can be automatically adjusted according to the integral impedance value, the proper initial adjusting frequency is provided for ultrasonic knife equipment, the adjusting speed of the driving frequency is improved, and the determining speed of the initial resonant frequency is further improved.

In an example, the correspondence between the impedance value and the adjustment frequency may be determined from a large number of data obtained by scene simulation. For example, when the impedance value is constant, the maximum adjustment frequency at which the driving frequency can be adjusted at the impedance value is determined, and the determined maximum adjustment frequency that can be adjusted can be used as the adjustment frequency corresponding to the impedance value. In some implementations, after determining the maximum adjustable frequency that can be adjusted at a certain impedance value, the maximum adjustable frequency that can be adjusted may also be adjusted, for example, the maximum adjustable frequency that can be adjusted is adjusted again, and the adjusted frequency obtained after the adjustment again is used as the adjusted frequency corresponding to the ultrasonic tool bit of other types. In this way, it is possible to consider that the driving frequency of the resonance system in which different ultrasonic heads are mounted reacts differently to the adjustment frequency.

In one example of this implementation, a list of the correspondence of preset impedance values and adjustment frequencies may be obtained; determining a first impedance interval to which the overall impedance value belongs in the list; and determining the initial adjusting frequency according to the adjusting frequency corresponding to the first impedance interval in the list. In this example, the correspondence of the impedance value and the adjustment frequency may be represented by a list. The list may record a plurality of impedance value intervals and adjustment frequencies or adjustment frequency coefficients corresponding to each impedance value interval, so as to find the adjustment frequency or adjustment frequency coefficient corresponding to the first impedance interval according to the first impedance interval where the overall impedance value is located, and determine the initial adjustment frequency corresponding to the overall impedance value. In an example, in the case that the correspondence between the impedance interval and the adjustment frequency coefficient is recorded in the list, after the corresponding adjustment frequency coefficient is obtained through the first impedance interval, the adjustment frequency coefficient may be multiplied by the adjustment frequency reference value of the ultrasonic blade device, to obtain an initial adjustment frequency corresponding to the overall impedance value.

As shown in table 1, if the initial adjustment frequency of the ultrasonic blade driving frequency is set with 4 gear positions, the initial adjustment frequency corresponding to the overall impedance value can be determined by the corresponding relationship between the impedance value and the adjustment frequency shown in table 1.

TABLE 1 correspondence table of impedance values and adjustment frequencies

Impedance value (omega)	Adjusting frequency (Hz)
		0-99	1
100-499	25
		500-999	50
>1000	100

In another example of this implementation, a function characterizing the correspondence of impedance values to adjustment frequencies may be obtained; determining a second impedance section in which the overall impedance value is located according to the overall impedance value and the function, wherein the second impedance section is one impedance section of the function; and determining the initial adjusting frequency corresponding to the integral impedance value according to the calculating mode of the impedance value and the adjusting frequency in the function. Here, the second impedance interval is one impedance interval of a function. The function may include an adjustment frequency or an adjustment frequency coefficient calculation mode corresponding to each impedance section, and the impedance sections may be plural, so that the adjustment frequency calculation mode corresponding to the second impedance section may be searched according to the second impedance section where the overall impedance value is located, and the initial adjustment frequency corresponding to the overall impedance value may be calculated by using the adjustment frequency calculation mode.

For example, assuming that the adjustment frequency coefficient 1 of the adjustment frequency reference value b of the ultrasonic blade apparatus, the impedance value and the adjustment frequency coefficient may be expressed as a linear function as shown in formula (8):

y＝x/a (8)

wherein y may represent an adjustment frequency coefficient, x may represent an impedance value, and a may represent an impedance reference value corresponding to the adjustment frequency reference value b. In one example, the impedance reference value a may be 1k omega to 5k omega and the tuning frequency reference value may be 30 to 150Hz. When the overall impedance value is 0.2 to 0.8 times a, the adjustment frequency may be 0.2 to 0.8 times b. And determining the initial adjusting frequency corresponding to the overall impedance value by the calculating mode of the adjusting frequency coefficient shown in the formula (8).

According to the driving frequency adjusting scheme provided by the embodiment of the disclosure, the overall impedance value can be determined, the initial adjusting frequency is further determined, and the driving frequency of the ultrasonic knife device is automatically adjusted according to the initial adjusting frequency, so that the initial resonant frequency of the ultrasonic knife device can be found as soon as possible after the ultrasonic knife device is started, the conversion efficiency of the transducer is improved, convenience is brought to the use of the ultrasonic knife device, and the optimal tissue cutting effect is achieved.

In the embodiment of the disclosure, an overall impedance value of a resonant system is obtained through an initial current flowing through the resonant system and an initial voltage at two ends of the resonant system before formal use of ultrasonic knife equipment, and then an initial adjustment frequency is determined from a corresponding relation between the impedance value and the adjustment frequency according to the overall impedance value, so that the driving frequency of vibration of the resonant system is adjusted according to the initial resonant frequency, when the phase difference between the initial current and the initial voltage is zero, the resonant system is represented to enter a resonant state, and the driving frequency at the moment is set as the initial resonant frequency of the resonant system. Through the process, the process of determining the initial resonant frequency of the resonant system can be converted into the process of adjusting the driving frequency of the resonant system according to the initial resonant frequency corresponding to the integral impedance value of the resonant system, the process can determine the initial resonant frequency of the resonant system without considering the type of an ultrasonic tool bit, and the difficulty of determining the initial resonant frequency is reduced; and for the same ultrasonic tool bit, as the integral impedance value of the resonant system in which the ultrasonic tool bit is positioned is determined, the initial resonant frequency corresponding to the integral impedance value is also determined, and the initial resonant frequency of the resonant system obtained by the method is also determined, so that the consistency of the result of determining the initial resonant frequency is higher, and the robustness of the initial resonant frequency determining process is improved.

In one possible implementation, the method further includes:

acquiring a resonance frequency range of the resonance system;

setting a first resonant frequency to an initial resonant frequency when the first resonant frequency exceeds the resonant frequency range;

and when the frequency of the first resonant frequency exceeding the range of the resonant frequency exceeds the preset frequency, sending out reminding information of abnormal first resonant frequency.

The resonance frequency range of the resonance system formed by the ultrasonic transducer and the ultrasonic tool bit is an inherent attribute of the ultrasonic tool equipment, and the first resonance frequency is required to be in the resonance frequency range in order to achieve a better tissue cutting effect. When the ultrasonic knife device is abnormal, such as abrasion or severe heating of the ultrasonic knife head, the resonance frequency of the resonance system may be shifted, and when the value exceeds the specified frequency range, the effect of the ultrasonic knife device is reduced too much, so that the ultrasonic knife device is not suitable for continuous operation and needs to be replaced, and therefore, errors need to be reported when the resonance frequency exceeds the resonance frequency range.

In addition to the shift of the resonance frequency caused by wear of the ultrasonic blade head, etc., the momentary abnormality of the ultrasonic blade apparatus may also cause the shift of the resonance frequency, and thus, this situation needs to be excluded. In an example, the resonant frequency beyond the range of the resonant frequency can be confirmed for a plurality of times, so that the probability of error reporting caused by instantaneous abnormality of the ultrasonic knife device is reduced, and the accuracy of error reporting of the ultrasonic knife device is improved.

In the embodiment of the disclosure, after the obtained resonant frequency range is passed, the obtained first resonant frequency is monitored, the first resonant frequency exceeding the resonant frequency range is reset, and when the exceeding frequency reaches a threshold value, reminding information is sent out. The process confirms the first resonant frequency beyond the resonant frequency range for a plurality of times, and sends out reminding information, so that error reporting caused by instantaneous abnormality of ultrasonic knife equipment can be reduced, error reporting accuracy of the ultrasonic knife equipment is improved, and robustness of the resonant frequency tracking process is further improved.

Application scenario example

At present, the ultrasonic knife equipment has low resonant frequency searching speed in the use process, and cannot timely adjust the resonant frequency deviation caused by various reasons, so that the ultrasonic knife equipment cannot completely work in a resonant state, and the optimal use effect of the ultrasonic knife cannot be ensured.

Fig. 2 is a schematic diagram illustrating an application example according to the present disclosure, as shown in fig. 2, an embodiment of the present disclosure proposes a resonant frequency tracking method, which is applied to a process of performing a cutting operation by an ultrasonic blade device, where the resonant frequency tracking process may be:

as shown in fig. 2, the resonant frequency tracking process can be roughly divided into five steps.

First, obtaining an adjustment parameter. Specifically, the step may include: the method comprises the steps of first adjustment parameter acquisition, second adjustment parameter acquisition and adjustment parameter acquisition.

The first adjustment parameter obtaining process comprises the following steps: obtaining the frequency bandwidths of ultrasonic tool bits of various types matched with an ultrasonic transducer, and performing linear fitting on the frequency bandwidths to obtain a first adjustment parameter of a PID controller in the current period: first proportional coefficient K _p 1. First integral coefficient K _i 1 or a first differential coefficient K _d 1。

The second adjustment parameter obtaining process is as follows: acquiring a first phase difference of the current period voltage and current of the resonance system and a second phase difference of the last period voltage and current; obtaining the phase difference change rate of the current period and the last week of the resonance system according to the first phase difference and the second phase difference; according to the first phase difference and the phase difference change rate, obtaining a second adjustment parameter of the PID controller in the current period through a fuzzy algorithm: second scaling factor K _p 2. Second integral coefficient K _i 2. Second differential coefficient K _d 2。

The acquisition process of the adjustment parameters comprises the following steps: and obtaining the adjustment parameters of the PID controller in the current period through a Kalman fusion algorithm for the first adjustment parameters and the second adjustment parameters.

And step two, solving the first resonance frequency. Specifically, according to the adjustment parameters, the first phase difference and the phase difference change rate, a first resonance frequency of the current period of the resonance system is obtained through a PID algorithm.

And thirdly, solving the second resonance frequency. Specifically, a first impedance of a resonance system of the current period and a second impedance of a resonance system of the previous period are obtained; obtaining the impedance change rate of the resonance system of the current period and the previous period according to the first impedance and the second impedance; and obtaining a second resonance frequency of the current period of the resonance system through a PID algorithm according to the impedance change rate and the first impedance.

And fourthly, solving the resonant frequency. Specifically, the sum of the first resonant frequency and the second resonant frequency is taken as the resonant frequency of the current period of the resonant system.

And fifthly, adjusting the driving frequency. Specifically, the driving frequency is adjusted according to the resonance frequency: when the resonant frequency does not exceed the preset resonant frequency range, adjusting the driving frequency to be the resonant frequency; when the resonant frequency exceeds a preset resonant frequency range and the exceeding times do not reach a preset times N, adjusting the driving frequency to be the resonant frequency; and when the resonant frequency exceeds the preset resonant frequency range and the exceeding times reach the preset times N, carrying out abnormal error reporting.

As shown in fig. 3, the present invention provides an application schematic diagram of an initial resonance frequency determining apparatus, as shown in fig. 3, comprising:

(1) Digital Signal (DSP) processor: the device comprises a core controller, a power control module, a driving signal module, a power shift position setting module, a display module and an FPGA module, wherein the core controller is used for receiving equipment storage module information and display module information and detection information of the FPGA module, outputting a corresponding current value to the power control module according to the set power shift position and setting a frequency value to the driving signal module. The DSP processor also obtains the impedance value of the ultrasonic tool bit and the ultrasonic transducer through the voltage effective value and the current effective value in the effective value processing module according to the formula (9).

Z＝U/I (9)

Wherein Z is the impedance value of the ultrasonic tool bit and the ultrasonic transducer as a whole, U is the effective voltage value, and I is the effective current value.

(2) A programmable control chip (FPGA) module: the device is used for detecting pulse width signals (including current pulse width signals and voltage pulse width signals), receiving equipment abnormal condition signals (abnormal conditions include frequency abnormality, voltage abnormality and current abnormality) and detecting whether a key module starts signals, and the module and the DSP processing can be integrated.

(3) And a driving signal module: the device is used for receiving the signal instruction of the DSP processor to generate a corresponding set frequency value, and a DDS chip is adopted to generate a sine wave driving signal with the resolution of 0.1Hz, so that the noise is smaller than that of a PWM driving signal, and the cutting effect is better.

(4) And a power control module: the current effective value parameter processing module is used for receiving the current effective value parameter in the current voltage effective value processing module and the set current output by the DSP processor, comparing the actual feedback current effective parameter value with the set current value, if the current effective value parameter is larger than the current effective value parameter, reducing the output power, and if the current effective value parameter is larger than the set current value parameter, increasing the output power.

(5) And a power amplification module: the drive signal is power-amplified and includes the output power value (i.e., the magnitude of the current) of the drive signal module.

(6) The power amplifier auxiliary module: the power amplifier is used for adjusting the working point of the power amplifier module to an optimal state (namely, the power module is in a normal working state).

(7) Isolation matching module: the method realizes the electrical isolation of the input and the output, and simultaneously increases a proper inductance to eliminate the influence of the static capacitance C0 of the transducer, so that the impedance of the transducer is pure resistive, and the mechanical resonance frequency Fs and the resonance frequency Fr (the frequency with zero phase and lower degree) of the transducer are approximately equal, and the specific method is as follows: the amplified output power value and the set frequency value are received and are used for matching the impedance of the transducer tool bit module, so that the transducer is in a pure resistive working state.

(8) And a power supply module: the switching power supply is used for supplying power to the equipment, the switching frequency is 200Khz, the module is required to be far away from the working frequency of the equipment, and the influence of the power supply on the equipment is reduced.

(9) And a sampling module: for sampling the output voltage and current.

(10) The effective value processing module: the method is used for converting the current signal in the sampling module into a voltage signal and converting the sampled voltage and current into effective values, and the effective values are calculated in the mode shown in a formula (10).

E＝Em/2/sqrt(2) (10)

Where Em is the peak-to-peak value and sqrt is the open root number.

(11) And the phase processing module is used for: for converting the sampled voltage and current into a pulse signal (phase signal), the sampled current signal is shown in fig. 4, and the phase signal of the converted current and voltage is shown in fig. 5.

The phase difference calculation formula is as follows:

Φ＝((Tv1-Ti1)+(Tv2-Ti2))/2 (11)

where Φ is the phase difference between the voltage and the current, tv1 is the rising edge time of the voltage, tv2 is the falling edge time of the voltage, ti1 is the rising edge time of the current, and Ti2 is the falling edge time of the current.

(12) And a protection processing module: for detecting whether an abnormality occurs in the device.

(13) The key module is as follows: the device is used for power on/off, start/stop of equipment energy output and the like.

(14) And the equipment storage module is used for: for storing device-related parameters; (language, sound, brightness, frequency independent).

(15) And a display module: and the ultrasonic knife device parameter information display device is used for displaying ultrasonic knife device parameter information.

(16) Transducer storage module: the energy-saving device is embedded in the energy converter and used for storing parameters such as gear power, use time, use times and the like of the energy converter.

(17) Transducer tool bit module: the energy output by the device is converted into mechanical vibration through the transducer to drive the cutter head to vibrate, so that the cutting coagulation function is realized.

Note that, the resonant frequency tracking method according to the embodiments of the present disclosure is not limited to application to the processing of soft tissue, and may be applied to any human tissue processing, which is not limited in this disclosure.

It will be appreciated that the above-mentioned method embodiments of the present disclosure may be combined with each other to form a combined embodiment without departing from the principle logic, and are limited to the description of the present disclosure. It will be appreciated by those skilled in the art that in the above-described methods of the embodiments, the particular order of execution of the steps should be determined by their function and possible inherent logic.

In addition, the disclosure further provides a resonant frequency tracking device, an electronic device, a computer readable storage medium, and a program, where the foregoing may be used to implement any one of the resonant frequency tracking methods provided in the disclosure, and corresponding technical schemes and descriptions and corresponding descriptions referring to method parts are not repeated.

Fig. 6 shows a block diagram of a resonant frequency tracking device according to an embodiment of the disclosure. The resonant frequency tracking means may be a terminal device, a server or other processing device, etc. The terminal device may be a User Equipment (UE), a mobile device, a User terminal, a cellular phone, a cordless phone, a personal digital assistant (Personal Digital Assistant, PDA), a handheld device, a computing device, a vehicle mounted device, a wearable device, etc.

In some possible implementations, the resonant frequency tracking device may be implemented by way of a processor invoking computer readable instructions stored in a memory.

As shown in fig. 6, the resonant frequency tracking device 60, applied to the process of performing the cutting operation by the ultrasonic blade device, may include:

a frequency bandwidth obtaining module 61, configured to obtain a frequency bandwidth of a resonance system, where the resonance system includes an ultrasonic transducer and an ultrasonic blade;

A phase difference obtaining module 62, configured to obtain a first phase difference between a first current flowing through the resonant system and a first voltage across the resonant system in a current period, and a second phase difference between a second current flowing through the resonant system and a second voltage across the resonant system in a previous period;

a phase difference change rate obtaining module 63, configured to obtain a phase difference change rate of the resonant system in a current period and a previous period according to the first phase difference and the second phase difference;

the first resonant frequency obtaining module 64 is configured to obtain a first resonant frequency of the resonant system in the current period according to the frequency bandwidth, the first phase difference, and the phase difference change rate.

The disclosed embodiments also provide a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method. The computer readable storage medium may be a non-volatile computer readable storage medium.

The embodiment of the disclosure also provides an electronic device, which comprises: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the instructions stored in the memory to perform the above method.

Embodiments of the present disclosure also provide a computer program product comprising computer readable code which, when run on a device, causes a processor in the device to execute instructions for implementing the resonant frequency tracking method as provided in any of the embodiments above.

The disclosed embodiments also provide another computer program product for storing computer readable instructions that, when executed, cause a computer to perform the operations of the resonant frequency tracking method provided by any of the above embodiments.

The electronic device may be provided as a terminal, server or other form of device.

Fig. 7 illustrates a block diagram of an electronic device 800, according to an embodiment of the disclosure. For example, electronic device 800 may be a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, exercise device, personal digital assistant, or the like.

Referring to fig. 7, an electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input/output interface 812, a sensor component 814, and a communication component 816.

The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interactions between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the electronic device 800.

The multimedia component 808 includes a screen between the electronic device 800 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. When the electronic device 800 is in an operational mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 further includes a speaker for outputting audio signals.

Input/output interface 812 provides an interface between processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.

The sensor assembly 814 includes one or more sensors for providing status evaluations of various aspects of the electronic device 800. For example, the sensor assembly 814 may detect an on/off state of the electronic device 800, a relative positioning of the components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in position of the electronic device 800 or a component of the electronic device 800, the presence or absence of a user's contact with the electronic device 800, an orientation or acceleration/deceleration of the electronic device 800, and a change in temperature of the electronic device 800. The sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate communication between the electronic device 800 and other devices, either wired or wireless. The electronic device 800 may access a wireless network based on a communication standard, such as WiFi,2G, or 3G, or a combination thereof. In one exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for executing the methods described above.

In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 804 including computer program instructions executable by processor 820 of electronic device 800 to perform the above-described methods.

Fig. 8 illustrates a block diagram of an electronic device 1900 according to an embodiment of the disclosure. For example, electronic device 1900 may be provided as a server. Referring to fig. 8, electronic device 1900 includes a processing component 1922 that further includes one or more processors and memory resources represented by memory 1932 for storing instructions, such as application programs, that can be executed by processing component 1922. The application programs stored in memory 1932 may include one or more modules each corresponding to a set of instructions. Further, processing component 1922 is configured to execute instructions to perform the methods described above.

The electronic device 1900 may also include a power component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input/output (I/O) interface 1958. The electronic device 1900 may operate an operating system based on a memory 1932, such as Windows Server ^TM ，Mac OS X ^TM ，Unix ^TM ,Linux ^TM ，FreeBSD ^TM Or the like.

In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 1932, including computer program instructions executable by processing component 1922 of electronic device 1900 to perform the methods described above.

The present disclosure may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.

The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.

Computer program instructions for performing the operations of the present disclosure can be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, c++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present disclosure are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information of computer readable program instructions, which can execute the computer readable program instructions.

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The computer program product may be realized in particular by means of hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied as a computer storage medium, and in another alternative embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), or the like.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. The resonant frequency tracking method is applied to the cutting operation process of ultrasonic knife equipment and is characterized by comprising the following steps of:

acquiring the frequency bandwidth of a resonance system, wherein the resonance system comprises an ultrasonic transducer and an ultrasonic tool bit;

Acquiring a first phase difference between a first current flowing through the resonance system and a first voltage at two ends of the resonance system in a current period, and a second phase difference between a second current flowing through the resonance system and a second voltage at two ends of the resonance system in a previous period;

obtaining the phase difference change rate of the resonance system in the current period and the last period according to the first phase difference and the second phase difference;

and obtaining a first resonant frequency of the resonant system in the current period according to the frequency bandwidth, the first phase difference and the phase difference change rate.

2. The method of claim 1, wherein the obtaining a first resonant frequency of the resonant system in a current period based on the frequency bandwidth, the first phase difference, and the phase difference rate of change comprises:

3. The method according to claim 2, wherein the obtaining the tuning parameters of the PID controller in the current period according to the first phase difference, the phase difference change rate and the frequency bandwidth includes:

4. A method according to claim 3, wherein said obtaining a first adjustment parameter of the PID controller in the current period according to the frequency bandwidth comprises:

acquiring the frequency bandwidth of each ultrasonic tool bit matched with the ultrasonic transducer;

fitting the frequency bandwidths of the ultrasonic tool bits to obtain a first adjustment parameter of the PID controller in the current period.

5. The method according to claim 1, characterized in that the method further comprises:

6. The method of claim 1, wherein prior to the acquiring the frequency bandwidth of the resonant system, the method further comprises:

7. The method of claim 6, wherein the obtaining the initial adjustment frequency corresponding to the overall impedance value in the preset correspondence relationship includes:

Acquiring a list of the corresponding relation between a preset impedance value and an adjustment frequency;

determining a first impedance interval to which the overall impedance value belongs in the list;

and determining the initial adjusting frequency according to the adjusting frequency corresponding to the first impedance interval in the list.

8. The method of claim 6, wherein the obtaining the initial adjustment frequency corresponding to the overall impedance value in the preset correspondence relationship includes:

obtaining a function representing the corresponding relation between the impedance value and the adjustment frequency;

determining a second impedance section in which the overall impedance value is located according to the overall impedance value and the function, wherein the second impedance section is one impedance section of the function;

and determining the initial adjusting frequency corresponding to the integral impedance value according to the calculating mode of the impedance value and the adjusting frequency in the function.

9. The method according to claim 6, further comprising:

acquiring a resonance frequency range of the resonance system;

10. The utility model provides a resonant frequency tracking means is applied to ultrasonic knife equipment and carries out cutting operation's in-process, which is characterized in that includes:

the frequency bandwidth acquisition module is used for acquiring the frequency bandwidth of a resonance system, wherein the resonance system comprises an ultrasonic transducer and an ultrasonic tool bit;

the phase difference acquisition module is used for acquiring a first phase difference between a first current flowing through the resonance system and a first voltage at two ends of the resonance system in a current period, and a second phase difference between a second current flowing through the resonance system and a second voltage at two ends of the resonance system in a previous period;

the phase difference change rate acquisition module is used for obtaining the phase difference change rate of the resonance system in the current period and the last period according to the first phase difference and the second phase difference;

the first resonant frequency acquisition module is used for obtaining a first resonant frequency of the resonant system in the current period according to the frequency bandwidth, the first phase difference and the phase difference change rate.

11. An electronic device, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to implement the method of any one of claims 1 to 9 when executing the instructions stored by the memory.

12. A non-transitory computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the method of any of claims 1 to 9.