CN111797483B - Method and device for correcting motor equalization electric signal and computer readable storage medium - Google Patents
Method and device for correcting motor equalization electric signal and computer readable storage medium Download PDFInfo
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Abstract
The application provides a method and equipment for correcting motor equalization electric signals and a computer readable storage medium, wherein the method comprises the following steps: obtaining a theoretical equilibrium 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 limit voltage distribution values of the motor under the excitation of a plurality of single-frequency signals within the preset frequency range; obtaining a voltage correction curve of the motor according to the limit voltage distribution value; according to the embodiment, the application can ensure that the balanced electric signal suitable for the motor with the specific model is obtained when the crust breaking phenomenon does not occur.
Description
Technical Field
The present invention relates to the field of motor driving technologies, and in particular, to a method and apparatus for correcting a motor equalization electrical signal, and a computer readable storage medium.
Background
Linear motors are widely used as a haptic feedback device. In practical applications, not only the design of vibration at the natural frequency F0 point, but also the bandwidth expansion are required, and different haptic effects can be realized at each frequency as much as possible. In order to make the different haptic effects of the motor have certain equality under each frequency, the working capacity of the motor at each frequency other than the F0 point needs to be evaluated, and the existing method is to calculate the excitation voltage of each frequency point according to the maximum displacement of the target displacement and the working at the F0 point under the rated voltage by modeling the X direction of the linear motor, wherein the voltage is limited to 9V.
Because the motor can generate stronger anisotropic vibration at a specific frequency, the motor can generate crust breaking phenomenon when the motor does not reach the maximum displacement of the X axis at the frequency. The measured data also indicate that motor crust breaking is Z-direction crust breaking. Obviously, due to the existence of Z-direction crust breaking, the original theoretical calculation cannot ensure that an equilibrium electric signal suitable for a motor of a specific model is obtained when crust breaking is not generated.
Disclosure of Invention
The invention mainly provides a method and equipment for correcting motor balanced electric signals and a computer readable storage medium, which can solve the problem that the original calculation theory cannot ensure that the motor balanced electric signals with specific types are obtained when the motor crust breaking phenomenon is not generated in the prior art.
In order to solve the technical problems, the application adopts a technical scheme that: a method of modifying an electrical signal for motor equalization, the method comprising the steps of: step S10: obtaining a theoretical equilibrium 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 limit voltage distribution values 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 equilibrium electric signal of the motor according to the voltage correction curve to obtain a corrected equilibrium electric 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 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 to obtain a displacement signal of the motor under the preset voltage amplitude; step S103: calculating a maximum displacement value of the motor under excitation of each step signal according to the displacement signals; step S104: obtaining the displacement proportion of each step signal according to each maximum displacement value and each 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 respectively exciting the motors by using a plurality of single-frequency signals as excitation signals; step S201: gradually adjusting the amplitude of the excitation signal from 0V to the threshold voltage, and judging whether the motor is crust breaking at each frequency point in the threshold voltage range; step S202: if not, taking the threshold voltage as a limit voltage value of the motor at the frequency point; step S203: if the motor is judged to have the crust breaking phenomenon at the frequency point in the threshold voltage range, the voltage when the motor has the crust breaking phenomenon at the frequency point is taken as the limit voltage value of the frequency point.
Preferably, the step S30 specifically includes the following steps: 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 the theoretically-equalized electrical signal of the motor according to the voltage correction curve,
To obtain the corrected 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 the preset frequency range.
Preferably, the preset frequency range is 50Hz-1000Hz.
In order to solve the technical problems, the application adopts another technical scheme that: there is provided a correction device for motor-balanced 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 being operable to execute the computer instructions to implement the correction method described above.
In order to solve the technical problems, the application adopts another technical scheme that: there is provided a computer readable storage medium having stored thereon a computer program, characterized in that the computer program is executed by a processor to implement a correction method as described above.
The beneficial effects of the application are as follows: different from the prior art, the application provides a method and equipment for correcting motor balanced electric signals, and a computer readable storage medium, by acquiring the limit voltage distribution value of each frequency point of a motor in a preset frequency range, and obtaining a voltage correction curve of the motor according to the limit voltage distribution value, and correcting a theoretical balanced electric signal of the motor according to the voltage correction curve, so that the balanced electric signal applicable to the motor with a specific model can be obtained when the motor does not generate a crust breaking phenomenon.
Drawings
For a clearer description of the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:
FIG. 1 is a flow chart illustrating an embodiment of a method for correcting a motor equalization signal according to the present invention;
FIG. 2 is a flow chart illustrating an embodiment of the step S10 in FIG. 1 according to the present invention;
FIG. 3 is a flow chart illustrating an embodiment of the step S20 in FIG. 1 according to the present invention;
FIG. 4 is a flow chart illustrating an embodiment of the step S40 in FIG. 1 according to the present invention;
FIG. 5 is a graph showing the voltage values of each frequency point calculated according to a motor theoretical model before correction according to the present invention;
FIG. 6 is a graph showing the voltage distribution of the motor at each frequency point after correction according to the present invention;
FIG. 7 is a schematic illustration of steady-state acceleration curves after displacement equalization in accordance with 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 apparatus for equalizing an electrical signal by a motor in accordance with 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 following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1 together, fig. 1 is a flowchart illustrating an embodiment of a method for correcting a motor balanced electric signal according to the present invention, and as shown in fig. 1, the method for correcting a motor balanced electric signal provided by the present invention includes the following steps:
Step S10, obtaining a theoretical equilibrium electrical signal of a motor having a linear parametric model.
Wherein the linear parametric model is a characteristic inherent to the motor itself, which can be represented by formula (1):
Wherein s is laplace transform domain variable, x d(s) is displacement, v cm(s) is voltage, bl is magnetic coefficient, re is resistance, mt is motor vibrator 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 limit voltage distribution values 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 equilibrium electric signal of the motor according to the voltage correction curve to obtain a corrected equilibrium electric signal.
Referring to fig. 2 in combination, fig. 2 is a flow chart illustrating an embodiment of the step S10 of the present invention. As shown in fig. 2, the 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 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 by 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 signals.
Step S104: obtaining the displacement proportion of each step signal according to each maximum displacement value and the target displacement value; specifically, dividing the target displacement value by the maximum displacement value obtained by each frequency point to obtain the displacement proportion of the maximum displacement value obtained by each frequency point to the target displacement value.
Step S105: and obtaining the theoretical equilibrium electric signal according to the displacement proportion and the step signal. Specifically, the displacement ratio is multiplied to the plurality of step signals which are initially generated, thereby obtaining a theoretically balanced electric signal.
Referring to fig. 3 in combination, fig. 3 is a flow chart illustrating an embodiment of step S20 of the present invention. As shown in fig. 3, the step S20 of the present invention further includes the following sub-steps:
Step S200, setting a threshold voltage, and using a plurality of single-frequency signals as excitation signals to excite the motor, wherein the threshold voltage is the maximum voltage amplitude of the motor excitation signals.
Optionally, in order to avoid the motor from generating the over-punching crust breaking, the method further comprises adding buffer windows at the beginning and ending sections of the signal before implementing step S200, that is, generating a single frequency signal window of a preset frequency band range. Optionally, in the embodiment of the present invention, the preset frequency band range may be 50Hz-1000Hz, and the single frequency signal in the preset frequency band range is a step sweep frequency signal. Optionally, in a specific embodiment of the present invention, all frequency point signals within the range of 50Hz-1000Hz of the preset frequency band are used as excitation signals.
Step S201, gradually adjusting the amplitude of the excitation signal from 0V to the threshold voltage and judging whether the motor is crust breaking at each frequency point in the threshold voltage range.
And (3) respectively adjusting the amplitude of each frequency point signal from 0V to threshold voltage within a preset threshold voltage range, judging whether the motor is crust breaking in the threshold voltage range, if not, entering step S202, otherwise, entering step S203. Alternatively, 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 is not specifically limited herein.
Step S202, the threshold voltage is taken as the limit voltage value of the motor at the frequency point.
Alternatively, if the motor does not crust breaking in the threshold voltage range, the crust breaking limit voltage of the motor at the frequency point is set to be the threshold voltage, that is, 9V.
Step S203, takes the voltage of the motor when the crust breaking phenomenon occurs at the frequency point as the limit voltage value of the frequency point.
Alternatively, if the motor is crust breaking in the threshold voltage range, the voltage of the motor when the crust breaking occurs at the frequency point is taken as the limit voltage value of the frequency point. In this way, the crust breaking frequency point distribution and the crust breaking limit voltage distribution value of the same type of motor in all directions can be obtained by respectively repeating the steps S201-S203 through a plurality of single-frequency signals.
Step S30, obtaining a voltage correction curve of the motor according to the limit voltage distribution value.
Optionally, calculating the limit voltage distribution value of the motor at each frequency point and the theoretical equilibrium voltage of the motor at each frequency point obtained in steps S10 and S20 to obtain a voltage correction curve of the motor. Specifically, the limit voltage distribution value is divided by a linear parameter model of the motor to obtain the voltage correction curve. For example, the motors of the same type have the same linear parameter model, and a certain number of motors of the same type are respectively measured to obtain a 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 a voltage correction curve (DISPLACEMENT PROTECT CONTROL, DPC) of the motor of the type. That is, the voltage correction curve can be used as a common line for the same type of motor, that is, the voltage correction curve can be multiplied on the basis of the theoretical equalization signal for any one motor of the type. 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 equilibrium electric signal of the motor according to the voltage correction curve to obtain a corrected equilibrium electric signal.
Referring to fig. 4, fig. 4 is a flowchart of an embodiment of step S40 of the present invention, where step S40 of fig. 4 further includes the following sub-steps:
Step S400, scaling the theoretical equilibrium electric signal of the motor according to the voltage correction curve to obtain the corrected equilibrium electric signal of the motor. Specifically, the voltage correction curve and the theoretical equilibrium electric signal are subjected to dot multiplication, so that the corrected equilibrium electric signal of the motor is obtained.
Furthermore, 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 that the motor reaches the target displacement within the preset frequency range. Optionally, the corrected balanced electric signal is output to the motor as an excitation signal, so that the motor can reach the target displacement within the range of 50Hz-1000Hz in the preset frequency band under the driving of the corrected balanced electric signal.
Referring to fig. 5, fig. 5 is a schematic diagram of the voltage values of each frequency point calculated according to the motor theoretical model before correction according to the present invention, and as can be seen from fig. 5, the voltage values can reach 9V at both low frequency and high frequency except near the natural frequency F0 (170 HZ). And in practical tests, it was found that the crust breaking phenomenon easily occurs at high frequency 460 HZ.
Referring to fig. 6, fig. 6 is a schematic diagram of a curve distribution of voltage values of each frequency point of the motor after correction according to the present invention, in which the voltage at 460HZ is corrected by adopting the correction method and algorithm according to the present invention as shown in fig. 5, the motor after correction is set according to the electric signal amplitude of the frequency distribution as shown in fig. 6, so that full-band non-crust breaking can be realized, a steady-state relative acceleration curve after displacement equalization is shown in fig. 7, and fig. 7 is a schematic diagram of a steady-state acceleration curve after displacement equalization according to the present invention. The steady state relative acceleration after displacement equalization is the ratio of the measured acceleration of the motor to the gravitational acceleration (9.8 m/s 2). It can be seen that in the case of driving the motor with a modified balanced electrical signal, the motor can reach maximum vibration capability at different frequencies.
Referring to fig. 8, fig. 8 is a schematic hardware diagram of the motor limit voltage testing platform according to the present invention, and the hardware system for measuring in fig. 7 includes a motor, a fixture, a sponge, a computer, a collection card, an amplifier and an accelerometer, wherein the accelerometer may be a triaxial accelerometer. The specific implementation principle is as follows:
Motor (LRA) and frock adhesive bonding, and the frock is placed on the cavernosum in order to avoid the influence of environment to measuring result. The accelerometer ACC measures the acceleration of the tool in the direction of motor LRA vibration. The digital signal generated on the PC is sent to the acquisition card to be converted into an analog signal by digital-to-analog conversion, the analog signal is amplified by the amplifier AMP2 to excite the motor LRA, the vibration of the motor LRA drives the tool to vibrate reversely, the tool is acquired and amplified by the accelerometer ACC, and the acquisition card NI-DAQ synchronously acquires and measures the acceleration in the vibration direction and the voltage signal exciting the 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 equilibrium electric signal of the motor is corrected according to the voltage correction curve, so that the equilibrium electric signal suitable for the motor with a specific model can be obtained when the motor does not generate the crust breaking phenomenon.
Referring to fig. 9, fig. 9 is a schematic block diagram of an embodiment of a motor electric signal equalizing correction device according to the present invention, where the correction device includes a processor 310 and a memory 320, the processor 310 is coupled to the memory 320, the memory 320 stores computer instructions, and the processor 310 executes the computer instructions to implement the correction method according to any of the above embodiments.
The processor 310 may also be referred to as a CPU (Central Processing Unit ). The processor 310 may be an integrated circuit chip with signal processing capabilities. 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 to such.
Referring to fig. 10, fig. 10 is a schematic block diagram of an embodiment of a computer readable storage medium provided in the present invention, where the computer readable storage medium stores a computer program 410, 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 a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or a terminal device such as a computer, a server, a mobile phone, a tablet, or the like.
Different from the prior art, the embodiment of the application provides a method and equipment for correcting motor balanced electric signals, and a computer readable storage medium, by acquiring the limit voltage distribution value of each frequency point of a motor in a preset frequency range, and obtaining a voltage correction curve of the motor according to the limit voltage distribution value, and correcting a theoretical balanced electric signal of the motor according to the voltage correction curve, so that the balanced electric signal applicable to the motor with a specific model can be obtained when the motor does not generate a crust breaking phenomenon.
The foregoing description is only illustrative of the present application and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present application.
Claims (8)
1. A method for modifying an electrical signal for motor equalization, the method comprising the steps of:
Step S10: obtaining a theoretical equilibrium 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 limit voltage distribution values of the motor under the excitation of a plurality of single-frequency signals within the preset frequency range;
Step S30: dividing the limit voltage distribution value by a linear parameter model of the motor to obtain a voltage correction curve of the motor;
step S40: and correcting the theoretical equilibrium electric signal of the motor according to the voltage correction curve to obtain a corrected equilibrium electric 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 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 to obtain a displacement signal of the motor under the preset voltage amplitude;
Step S103: calculating a maximum displacement value of the motor under excitation of each step signal according to the displacement signals;
step S104: obtaining the displacement proportion of each step signal according to each maximum displacement value and each 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 respectively exciting the motors by using a plurality of single-frequency signals as excitation signals;
step S201: gradually adjusting the amplitude of the excitation signal from 0V to the threshold voltage, and judging whether the motor is crust breaking at each frequency point in the threshold voltage range;
step S202: if not, taking the threshold voltage as a limit voltage value of the motor at the frequency point;
Step S203: if the motor is judged to have the crust breaking phenomenon at the frequency point in the threshold voltage range, the voltage when the motor has the crust breaking phenomenon at the frequency point is taken as the limit voltage value of the frequency point.
4. A correction method according to claim 3, wherein said step S40 comprises the steps of:
Step S400: and scaling the theoretical equilibrium electric signal of the motor according to the voltage correction curve to obtain the corrected equilibrium electric signal.
5. The correction method according to claim 4, wherein said step S40 further comprises 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 the preset frequency range.
6. The correction method according to claim 1, wherein the preset frequency range is 50Hz-1000Hz.
7. A correction device for motor-balanced electrical signals, characterized in that it comprises a processor and a memory, said memory storing computer instructions, said processor being coupled to said memory, said processor executing said computer instructions in operation to implement the correction method according to any one of claims 1 to 6.
8. A computer readable storage medium having stored thereon a computer program, wherein the computer program is executed by a processor to implement the correction method according to any one of claims 1 to 6.
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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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| CN112491323B (en) * | 2020-11-27 | 2022-04-26 | 瑞声新能源发展(常州)有限公司科教城分公司 | Linear motor over-stroke control method and device, computer equipment and storage medium |
| CN113762116A (en) * | 2021-08-27 | 2021-12-07 | 瑞声光电科技(常州)有限公司 | Motor crust breaking risk detection method and system and computer readable storage medium |
| CN115632593B (en) * | 2022-11-07 | 2025-01-07 | 歌尔股份有限公司 | Protection method for linear motor, terminal device and computer readable storage medium |
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| CN106301137A (en) * | 2016-08-31 | 2017-01-04 | 歌尔股份有限公司 | Actively control the method for linear motor vibrations, device, system and electronic equipment |
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| JP4983358B2 (en) * | 2007-04-11 | 2012-07-25 | パナソニック株式会社 | Motor drive device |
| JP2009293758A (en) * | 2008-06-09 | 2009-12-17 | Konica Minolta Business Technologies Inc | Mount damper and image forming device using the same |
| DE102014206048A1 (en) * | 2013-04-30 | 2014-10-30 | Schaeffler Technologies Gmbh & Co. Kg | Method for operating an electric motor |
| JP2017034886A (en) * | 2015-08-03 | 2017-02-09 | セイコーインスツル株式会社 | Motor control device, motor control method, and printer device |
| JP2017147870A (en) * | 2016-02-18 | 2017-08-24 | 株式会社明電舎 | Motor vibration evaluation testing method and motor vibration evaluation testing device |
| JP6493260B2 (en) * | 2016-03-14 | 2019-04-03 | オムロン株式会社 | Motor control device, motor control method, control system, information processing program, and recording medium |
| CN106208890A (en) * | 2016-07-21 | 2016-12-07 | 瑞声科技(新加坡)有限公司 | Linear electric machine vibrates conforming compensation device and compensation method thereof |
| CN106411217B (en) * | 2016-08-31 | 2018-11-02 | 歌尔股份有限公司 | Method, apparatus, system and the electronic equipment of active control linear motor |
| CN110995079B (en) * | 2019-12-16 | 2023-04-28 | 瑞声科技(新加坡)有限公司 | Method, device, terminal and storage medium for generating motor vibration signal |
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