CN111797483A - Method and apparatus for correcting motor balanced electrical signal, and computer readable storage medium - Google Patents
Method and apparatus for correcting motor balanced electrical signal, and computer readable storage medium Download PDFInfo
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Abstract
The application provides a correction method and equipment for motor balanced electric signals and a computer readable storage medium, wherein the correction method comprises the following steps: obtaining a theoretically-balanced electrical signal for the motor, the motor having a linear parametric model; setting a preset frequency band, wherein the preset frequency band comprises a plurality of single-frequency signals; acquiring a limit voltage distribution value of the motor under excitation of a plurality of single-frequency signals in the preset frequency band range; obtaining a voltage correction curve of the motor according to the limit voltage distribution value; according to the embodiment, the theoretical balanced electrical signal of the motor is corrected according to the voltage correction curve to obtain the corrected balanced electrical signal.
Description
Technical Field
The present invention relates to the field of motor driving technologies, and in particular, to a method and an apparatus for correcting a motor balanced electrical signal, and a computer readable storage medium.
Background
Linear motors are widely used as a haptic feedback device. In practical applications, not only a design of vibrating at the natural frequency F0 is required, but also the bandwidth needs to be enlarged, so as to achieve different haptic effects at each frequency as much as possible. In order to make the motor have certain balance of different haptic effects at different frequencies, the operation capability of the motor at each frequency other than F0 needs to be evaluated, and the conventional method is to obtain the excitation voltage at each frequency point according to the target displacement and the maximum displacement when the motor operates at F0 under the rated voltage through the X-direction modeling of the linear motor, wherein the voltage of the excitation voltage is limited to 9V.
As the motor can generate strong anisotropic vibration at a specific frequency, the motor does not reach the maximum displacement of the X axis at the frequency, and the crust breaking phenomenon is generated. The measured data also shows that the motor crust breaking is Z-direction crust breaking. Obviously, due to the existence of the Z-direction crust breaking, the original theoretical calculation cannot ensure that a balanced electric signal suitable for a motor with a specific model is obtained when crust breaking is not generated.
Disclosure of Invention
The invention mainly provides a correction method and equipment for motor balanced electrical signals and a computer readable storage medium, which can solve the problem that in the prior art, due to the existence of a motor crust breaking phenomenon, an original calculation theory cannot ensure that the motor balanced electrical signals of a specific model can be obtained when the crust breaking phenomenon does not occur.
In order to solve the technical problem, the application adopts a technical scheme that: a method of modifying an equalized electrical signal for a motor, the method comprising the steps of: step S10: obtaining a theoretically-balanced electrical signal for the motor, the motor having a linear parametric model; step S20: setting a preset frequency band, wherein the preset frequency band comprises a plurality of single-frequency signals; acquiring a limit voltage distribution value of the motor under excitation of a plurality of single-frequency signals in the preset frequency band range; step S30: obtaining a voltage correction curve of the motor according to the limit voltage distribution value; step S40: and correcting the theoretical balanced electrical signal of the motor according to the voltage correction curve to obtain a corrected balanced electrical signal.
Preferably, the step S10 specifically includes the following steps: step S100: presetting a target displacement value of the motor; step S101: generating a step signal group with a preset voltage amplitude, wherein the step signal group comprises a plurality of step signals, and the step signals respectively have different frequency points; step S102: inputting each step signal into a linear parameter model of the motor respectively to obtain a displacement signal of the motor under the preset voltage amplitude; step S103: calculating the maximum displacement value of the motor under the excitation of each step signal according to the displacement signal; step S104: obtaining the displacement proportion of each step signal according to each maximum displacement value and a target displacement value; step S105: and obtaining the theoretical equilibrium electric signal according to the displacement proportion and the step signal.
Preferably, the step S20 specifically includes the following steps: step S200: setting a threshold voltage and exciting the motor by using the single-frequency signals as excitation signals respectively; step S201: gradually adjusting the amplitude of the excitation signal from 0V to the threshold voltage, and judging whether the motor has a crust breaking phenomenon at each frequency point within the range of the threshold voltage; step S202: if not, taking the threshold voltage as a limit voltage value of the motor at the frequency point; step S203: and if the motor is judged to have the crust breaking phenomenon at the frequency point within the threshold voltage range, taking the voltage of the motor when the crust breaking phenomenon occurs at the frequency point as the limit voltage value of the frequency point.
Preferably, the step S30 specifically includes the following steps: and dividing the limit voltage distribution value by a linear parameter model of the motor to obtain the voltage correction curve.
Preferably, the step S40 specifically includes the following steps: step S400: scaling a theoretically equalized electrical signal of the motor according to the voltage correction curve,
to obtain said modified equalized electrical signal.
Preferably, the step S40 further includes the steps of: step S401: and driving the motor by using the corrected balanced electric signal of the motor so as to enable the motor to reach the target displacement within a preset frequency range.
Preferably, the preset frequency range is 50Hz-1000 Hz.
In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided a correction device for motor-equalized electrical signals, the correction device comprising a processor and a memory, the memory storing computer instructions, the processor being coupled to the memory, the processor in operation executing the computer instructions to implement the correction method described above.
In order to solve the above technical problem, the present application adopts another technical solution: there is provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the correction method as described above.
The beneficial effect of this application is: different from the situation of the prior art, the application provides a method and device for correcting a motor balanced electrical signal and a computer readable storage medium, by acquiring the limit voltage distribution value of each frequency point of a motor within a preset frequency range, acquiring a voltage correction curve of the motor according to the limit voltage distribution value, and correcting a theoretical balanced electrical signal of the motor according to the voltage correction curve, the method and device can ensure that the motor obtains a balanced electrical signal suitable for a motor of a specific model when a crust breaking phenomenon does not occur.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic flow chart diagram illustrating a method for correcting an equalized electrical signal of a motor according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating an embodiment of step S10 of FIG. 1 according to the present invention;
FIG. 3 is a flowchart illustrating an embodiment of step S20 of FIG. 1 according to the present invention;
FIG. 4 is a flowchart illustrating an embodiment of step S40 of FIG. 1 according to the present invention;
FIG. 5 is a schematic diagram of a curve of voltage values at various frequency points calculated according to a theoretical model of a motor before correction according to the present invention;
FIG. 6 is a diagram illustrating the distribution of the voltage values of the motor at various frequency points after the correction according to the present invention;
FIG. 7 is a schematic representation of a steady state acceleration curve after displacement equalization of the present invention;
FIG. 8 is a hardware schematic of the motor limit voltage test platform of the present invention;
FIG. 9 is a schematic block diagram of an embodiment of a correction device for equalizing electrical signals for a motor of the present invention;
FIG. 10 is a schematic block diagram of an embodiment of a computer-readable storage medium provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a method for correcting an equalized electrical signal of a motor according to the present invention, and as shown in fig. 1, the method for correcting an equalized electrical signal of a motor according to the present invention includes the following steps:
step S10, a theoretical equilibrium electrical signal of a motor having a linear parametric model is obtained.
In which the linear parameter model is a characteristic inherent to the motor itself, which can be expressed by equation (1):
where s is a laplace transform domain variable, xd(s) is the displacement, vcm(s) is voltage, Bl is magnetic coefficient, Re is resistance, mt is motor oscillator mass, ct is mechanical damping, and Kt is spring stiffness coefficient.
Step S20: setting a preset frequency band, wherein the preset frequency band comprises a plurality of single-frequency signals; acquiring a limit voltage distribution value of the motor under the excitation of a plurality of single-frequency signals within the preset frequency range;
step S30: obtaining a voltage correction curve of the motor according to the limit voltage distribution value;
step S40: and correcting the theoretical balanced electric signal of the motor according to the voltage correction curve to obtain a corrected balanced electric signal.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating an embodiment of step S10 according to the present invention. Referring to fig. 2, step S10 of the present invention further includes the following sub-steps:
step S100: presetting a target displacement value of a motor; the target displacement value is the maximum displacement value that the motor is expected to achieve.
Step S101: generating a step signal group with a preset voltage amplitude, wherein the step signal group comprises a plurality of step signals, and the step signals respectively have different frequency points; specifically, each step signal may have a frequency point corresponding to a plurality of single-frequency signals one to one and each step signal has the same voltage amplitude.
Step S102: and respectively inputting each step signal into a linear parameter model of the motor to obtain a displacement signal of the motor under a preset voltage amplitude.
Step S103: and calculating the maximum displacement value of the motor under the excitation of each step signal according to the displacement signal.
Step S104: obtaining the displacement proportion of each step signal according to each maximum displacement value and each target displacement value; specifically, the displacement ratio of the maximum displacement value obtained at each frequency point to the target displacement value is obtained by dividing the target displacement value by the maximum displacement value obtained at each frequency point.
Step S105: and obtaining the theoretical balanced electric signal according to the displacement proportion and the step signal. Specifically, a displacement proportion is multiplied to a plurality of the step signals generated initially, so as to obtain a theoretical equilibrium electric signal.
Referring to fig. 3, fig. 3 is a flowchart illustrating an embodiment of step S20 according to the present invention. Referring to fig. 3, step S20 of the present invention further includes the following sub-steps:
step S200, setting a threshold voltage and using the plurality of single-frequency signals as excitation signals for exciting the motor, wherein the threshold voltage is the maximum voltage amplitude of the motor excitation signal.
Optionally, in order to avoid the overshoot and crust breaking of the motor, the method further includes adding a buffer window to the beginning and ending segments of the signal before implementing step S200, that is, generating a single-frequency signal window of the preset frequency range. Optionally, in the embodiment of the present invention, the preset frequency range may be 50Hz to 1000Hz, and the single-frequency signal within the preset frequency range is a step frequency sweep signal. Optionally, in a specific embodiment of the present invention, all frequency point signals within the range of 50Hz to 1000Hz of the preset frequency band are used as excitation signals.
Step S201, the amplitude of the excitation signal is gradually adjusted from 0V to a threshold voltage, and whether the motor has a crust breaking phenomenon at each frequency point within the range of the threshold voltage is judged.
Adjusting the amplitude of each frequency point signal from 0V to a threshold voltage within a preset threshold voltage range, judging whether the motor has a crust breaking phenomenon within the threshold voltage range, if the crust breaking phenomenon does not occur within the threshold voltage range, entering step S202, otherwise, entering step S203. Optionally, the threshold voltage range in the embodiment of the present invention is less than or equal to 9V, and may be set to other values in other embodiments, which are not specifically limited herein.
And step S202, taking the threshold voltage as the limit voltage value of the motor at the frequency point.
Alternatively, if the motor does not have a crust breaking phenomenon in the threshold voltage range, the crust breaking limit voltage of the motor at the frequency point is set to be the threshold voltage, i.e., 9V.
And step S203, taking the voltage of the motor when the crust breaking phenomenon occurs at the frequency point as the limit voltage value of the frequency point.
Optionally, if the motor has a crust breaking phenomenon in the threshold voltage range, the voltage at the frequency point where the crust breaking phenomenon occurs is taken as the limit voltage value of the frequency point. In this way, the step S201 to the step S203 are repeated by the plurality of single-frequency signals, so that the crust breaking frequency point distribution and the crust breaking limit voltage distribution value of the same type of motor in each direction can be obtained.
In step S30, a voltage correction curve of the motor is obtained from the limit voltage distribution value.
Optionally, the limit voltage distribution values of the motor at each frequency point and the theoretical equilibrium voltage of the motor at each frequency point, which are obtained in steps S10 and S20, are calculated to obtain a voltage correction curve of the motor. Specifically, the voltage correction curve is obtained by dividing the limit voltage distribution value by a linear parameter model of the motor. For example, the motors of the same type have the same linear parameter model, a certain number of motors of the same type are respectively measured to obtain the limit voltage distribution value of each motor at each frequency point, and the limit voltage distribution value of each motor at each frequency point is divided by the linear parameter model of the motor, so as to determine the voltage correction curve (DPC) of the motor of the type. That is, the voltage correction curve can be used as a general line for the same type of motor, that is, for any motor of the type, the voltage correction curve can be multiplied on the basis of the theoretical equilibrium signal. Of course, the correction method of the present invention can be applied to any type of motor, and is not particularly limited herein.
And step S40, correcting the theoretical balance electric signal of the motor according to the voltage correction curve to obtain a corrected balance electric signal.
Referring to fig. 4, fig. 4 is a flowchart illustrating an embodiment of step S40 of the present invention, where step S40 of fig. 4 further includes the following sub-steps:
and step S400, scaling the theoretical balanced electric signal of the motor according to the voltage correction curve to obtain a corrected balanced electric signal of the motor. Specifically, the voltage correction curve is dot-multiplied with the theoretical equilibrium electrical signal, so as to obtain a corrected equilibrium electrical signal of the motor.
Further, the correction method of the present invention further includes: step S401: and driving the motor by using the corrected balanced electric signal of the motor so as to enable the motor to reach the target displacement within the preset frequency range. Optionally, the modified equalized electrical signal is output to the motor as an excitation signal, so that the motor can reach the target displacement within a preset frequency band range from 50Hz to 1000Hz under the driving of the modified equalized electrical signal.
Referring to fig. 5, fig. 5 is a schematic diagram of a curve of voltage values at various frequency points calculated according to a theoretical model of a motor before correction, and as can be seen from fig. 5, except for a point near a natural frequency F0(170HZ), the voltage values can reach 9V at both low and high frequencies. And in practical tests, the crust breaking phenomenon is found to easily occur at the high frequency of 460 Hz.
Referring to fig. 6, fig. 6 is a schematic diagram of the distribution of the curves of the corrected motor voltage values at each frequency point, for example, fig. 5 corrects the voltage at 460HZ by using the correction method and algorithm of the present invention, the corrected motor is set according to the amplitude of the electrical signal with the frequency distribution as shown in fig. 6, so that full-band shelling can be achieved, and the steady-state relative acceleration curve after displacement equalization is shown in fig. 7, and fig. 7 is a schematic diagram of the steady-state acceleration curve after displacement equalization according to the present invention. The steady-state relative acceleration after displacement equalization is the actual measurement acceleration and the gravity acceleration of the motor (9.8 m/s)2) The ratio of (a) to (b). It can be seen that in the case of driving the motor with the modified equalized electrical signal, the motor can achieve maximum vibration capability at different frequencies.
Referring to fig. 8, fig. 8 is a schematic diagram of the hardware of the motor limit voltage testing platform of the present invention, and fig. 7 shows a hardware system for measurement, which includes a motor, a tool, a sponge, a computer, an acquisition card, an amplifier, and an accelerometer, wherein the accelerometer may be a three-axis accelerometer. The specific realization principle is as follows:
the motor (LRA) and the tool are in adhesive fit, and the tool is placed on the sponge body to avoid the influence of the environment on the measuring result. The accelerometer ACC measures the acceleration of the tool in the direction of vibration of the motor LRA. Digital signals generated on a computer PC are sent to an acquisition card to be converted into analog signals in a digital-analog mode, the analog signals are amplified through an amplifier AMP2 to excite a motor LRA, vibration of the motor LRA drives a tool to vibrate in the reverse direction, the tool is acquired and amplified through an accelerometer ACC, and the acquisition card NI-DAQ synchronously acquires and measures acceleration in the vibration direction and voltage signals of the excitation motor for data analysis.
In the above embodiment, the voltage correction curve of the motor is obtained according to the limit voltage distribution value by obtaining the limit voltage distribution value of each frequency point of the motor within the preset frequency range, and the theoretical balanced electrical signal of the motor is corrected according to the voltage correction curve, so that the balanced electrical signal suitable for the motor of a specific model can be obtained when the motor does not have a crust breaking phenomenon.
Referring to fig. 9, fig. 9 is a schematic block diagram of an embodiment of a correction apparatus for equalizing an electrical signal of a motor according to the present invention, where the correction apparatus in this embodiment includes a processor 310 and a memory 320, the processor 310 is coupled to the memory 320, and the memory 320 stores computer instructions, and the processor 310 executes the computer instructions to implement the correction method in any of the above embodiments when operating.
The processor 310 may also be referred to as a Central Processing Unit (CPU). The processor 310 may be an integrated circuit chip having signal processing capabilities. The processor 310 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor, but is not limited thereto.
Referring to fig. 10, fig. 10 is a schematic block diagram of an embodiment of a computer-readable storage medium provided by the present invention, in which a computer program 410 is stored, and the computer program 410 can be executed by a processor to implement the correction method in any of the above embodiments.
Alternatively, the readable storage medium may be various media that can store program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or may be a terminal device such as a computer, a server, a mobile phone, or a tablet.
Different from the prior art, embodiments of the present application provide a method and an apparatus for correcting a motor balanced electrical signal, and a computer readable storage medium, where a voltage correction curve of a motor is obtained according to a limit voltage distribution value of the motor at each frequency point within a preset frequency range, and a theoretical balanced electrical signal of the motor is corrected according to the voltage correction curve, so that it can be ensured that a balanced electrical signal suitable for a motor of a specific model is obtained when a crust breaking phenomenon does not occur in the motor.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Claims (9)
1. A method for modifying an equalized electrical signal of a motor, the method comprising the steps of:
step S10: obtaining a theoretically-balanced electrical signal for the motor, the motor having a linear parametric model;
step S20: setting a preset frequency band, wherein the preset frequency band comprises a plurality of single-frequency signals; acquiring a limit voltage distribution value of the motor under excitation of a plurality of single-frequency signals in the preset frequency band range;
step S30: obtaining a voltage correction curve of the motor according to the limit voltage distribution value;
step S40: and correcting the theoretical balanced electrical signal of the motor according to the voltage correction curve to obtain a corrected balanced electrical signal.
2. The correction method according to claim 1, wherein the step S10 specifically includes the steps of:
step S100: presetting a target displacement value of the motor;
step S101: generating a step signal group with a preset voltage amplitude, wherein the step signal group comprises a plurality of step signals, and the step signals respectively have different frequency points;
step S102: inputting each step signal into a linear parameter model of the motor respectively to obtain a displacement signal of the motor under the preset voltage amplitude;
step S103: calculating the maximum displacement value of the motor under the excitation of each step signal according to the displacement signal;
step S104: obtaining the displacement proportion of each step signal according to each maximum displacement value and a target displacement value;
step S105: and obtaining the theoretical equilibrium electric signal according to the displacement proportion and the step signal.
3. The correction method according to claim 1, wherein the step S20 specifically includes the steps of:
step S200: setting a threshold voltage and exciting the motor by using the single-frequency signals as excitation signals respectively;
step S201: gradually adjusting the amplitude of the excitation signal from 0V to the threshold voltage, and judging whether the motor has a crust breaking phenomenon at each frequency point within the range of the threshold voltage;
step S202: if not, taking the threshold voltage as a limit voltage value of the motor at the frequency point;
step S203: and if the motor is judged to have the crust breaking phenomenon at the frequency point within the threshold voltage range, taking the voltage of the motor when the crust breaking phenomenon occurs at the frequency point as the limit voltage value of the frequency point.
4. The correction method according to claim 3, wherein the step S30 specifically includes the steps of:
and dividing the limit voltage distribution value by a linear parameter model of the motor to obtain the voltage correction curve.
5. The correction method according to claim 4, wherein the step S40 specifically includes the steps of:
step S400: and scaling the theoretical balanced electrical signal of the motor according to the voltage correction curve to obtain the corrected balanced electrical signal.
6. The correction method according to claim 5, wherein the step S40 further includes the steps of:
step S401: and driving the motor by using the corrected balanced electric signal of the motor so as to enable the motor to reach the target displacement within a preset frequency range.
7. The method of claim 1, wherein the predetermined frequency range is 50Hz to 1000 Hz.
8. A correction device for motor equalization electric signals, characterized in that the correction device comprises a processor and a memory, the memory stores computer instructions, the processor is coupled with the memory, and the processor executes the computer instructions when working to realize the correction method according to any one of claims 1 to 7.
9. A computer-readable storage medium, on which a computer program is stored, the computer program being executable by a processor to implement a correction method according to any one of claims 1 to 7.
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| PCT/CN2020/104640 WO2022000649A1 (en) | 2020-06-30 | 2020-07-24 | Method and apparatus for correcting equalizing electrical signal of motor, and computer-readable storage medium |
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| CN2020106228074 | 2020-06-30 | ||
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