CN112667077B - Motor model parameter detection method and device, electronic equipment and medium - Google Patents
Motor model parameter detection method and device, electronic equipment and medium Download PDFInfo
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Abstract
The invention provides a motor model parameter detection method, a motor model parameter detection device, electronic equipment and a motor model parameter detection medium, wherein the method comprises the following steps: acquiring a voltage signal and a current signal of a motor in a working state, wherein a vibrator of the motor generates vibration in two directions; acquiring a preset frequency spectrum impedance expression of a motor model, wherein the frequency spectrum impedance expression is determined according to the mapping relation of dynamic parameters of the motor in two directions and the mapping relation of voltage and current of the motor; substituting the voltage signal and the current signal into the spectrum impedance expression respectively, and calculating to obtain a plurality of spectrum impedance values of the motor; and fitting calculation is carried out on the frequency spectrum impedance values of the motor by adopting a least square method according to the frequency spectrum impedance values of the motor, so as to obtain the target frequency spectrum impedance parameter of the motor model.
Description
[ Field of technology ]
The present invention relates to the field of haptic technology, and in particular, to a method and apparatus for detecting parameters of a motor model, an electronic device, and a medium.
[ Background Art ]
With the development of haptic technology, in electronic devices such as smart phones, smart watches, tablet computers, and the like, a haptic actuator using a motor as a carrier can obtain customized haptic experience by designing a specific signal waveform thereof. At present, more motors are used as linear motor models based on motion in a certain direction, but bandwidth and vibration directions of unidirectional motors limit perceived richness along with improvement of experience requirements, and design and application of unidirectional and bidirectional linear motors of single vibrators are realized, namely vibrators of the motors can vibrate in two directions, and a vibration system capable of moving in two directions can be generated.
The accuracy and the integrity of the technical parameters of the motor are critical to the accuracy of model establishment, the performance of the motor is directly determined, and the motor model based on unidirectional vibration is adopted to control larger error, so that the expected effect cannot be achieved.
[ Invention ]
In view of the foregoing, it is desirable to provide a motor model parameter detection method, apparatus, and medium for solving the problems of how to detect the parameter detection of a bi-directional vibration motor model, and improving the control accuracy and application performance of the motor.
The technical scheme of the invention is as follows:
In one aspect, a method for detecting parameters of a motor model is provided, including:
Acquiring a voltage signal and a current signal of a motor in a working state, wherein a vibrator of the motor generates vibration in two directions;
Acquiring a preset frequency spectrum impedance expression of a motor model, wherein the frequency spectrum impedance expression is determined according to the mapping relation of dynamic parameters of the motor in two directions and the mapping relation of voltage and current of the motor;
Substituting the voltage signal and the current signal into the spectrum impedance expression respectively, and calculating to obtain a plurality of spectrum impedance values of the motor;
and fitting calculation is carried out on the frequency spectrum impedance values of the motor by adopting a least square method according to the frequency spectrum impedance values of the motor, so as to obtain the target frequency spectrum impedance parameter of the motor model.
On the other hand, a motor model parameter detection device is provided, including collection module, acquisition module, calculation module and fitting module, wherein:
The acquisition module is used for acquiring a voltage signal and a current signal of the motor in a working state, and the vibrator of the motor generates vibration in two directions;
The acquisition module is used for acquiring a preset frequency spectrum impedance expression of a motor model, and the frequency spectrum impedance expression is determined according to the mapping relation of dynamic parameters of the motor in two directions and the mapping relation of the voltage and the current of the motor;
The calculation module is used for substituting the voltage signal and the current signal into the spectrum impedance expression respectively, and calculating to obtain a plurality of spectrum impedance values of the motor;
The fitting module is used for performing fitting calculation on the frequency spectrum impedance values of the motor by adopting a least square method according to the frequency spectrum impedance values of the motor to obtain target frequency spectrum impedance parameters of the motor model.
On the other hand, a motor model parameter detection system is provided, which is characterized by comprising a motor to be detected, a voltage and current acquisition device, a driving device and a motor model parameter detection device, wherein:
The voltage and current acquisition device is connected with the motor to be detected, the motor model parameter detection device is connected with the driving device, and the driving device is connected with the motor to be detected;
The voltage and current acquisition device is used for acquiring the working voltage value and the working current value of the motor to be detected and feeding back to the motor model parameter detection device; the driving device is used for outputting a preset sweep frequency signal to drive the motor to be detected under the control of the motor model parameter detection device; the motor model parameter detection means is for performing the steps as described above for the first aspect and any one of its possible implementations.
In another aspect, there is provided an electronic device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of the first aspect and any one of its possible implementations as described above.
In another aspect, there is provided a storage medium storing a program of computer instructions which, when executed by a processor, cause the processor to perform the steps of the first aspect and any one of its possible implementations as described above.
The invention has the beneficial effects that: obtaining a voltage signal and a current signal of a motor in a working state, vibrating a vibrator of the motor in two directions, obtaining a preset frequency spectrum impedance expression of a motor model, determining the frequency spectrum impedance expression according to a mapping relation of dynamic parameters of the motor in the two directions and a mapping relation of the voltage and the current of the motor, substituting the voltage signal and the current signal into the frequency spectrum impedance expression respectively, calculating to obtain a plurality of frequency spectrum impedance values of the motor, and fitting the frequency spectrum impedance values of the motor according to the plurality of frequency spectrum impedance values of the motor by adopting a least square method to obtain a target frequency spectrum impedance parameter of the motor model. Aiming at the bi-directional motor, according to the mapping relation of dynamic parameters in two directions and the mapping relation of voltage and current of the motor, the frequency spectrum impedance expression of the bi-directional motor can be accurately deduced, and further, the motor model parameters are determined in a mode of collecting data and curve fitting, a complete and accurate model suitable for the bi-directional motor is built, and the control precision and the application effect of the motor are improved.
[ Description of the drawings ]
FIG. 1 is a schematic flow chart of a motor model parameter detection method provided by the invention;
FIG. 2 is a schematic diagram of a swept frequency signal according to the present invention;
FIG. 3 is a schematic diagram of an impedance spectrum according to the present invention;
FIG. 4 is a schematic diagram of a motor model parameter detecting device according to the present invention;
fig. 5 is a schematic structural diagram of a motor model parameter detection system according to the present invention.
[ Detailed description ] of the invention
In order to make the present invention better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The motor is a motor and an engine, and the working principle is that the motor is a motor and an engine, the starter rotor is driven to rotate by the forced rotation of an electrified coil in a magnetic field, and a pinion on the rotor drives the flywheel of the engine to rotate. With the development of haptic technology, in electronic devices such as smart phones, smart watches, tablet computers, and the like, a haptic actuator using a motor as a carrier can obtain customized haptic experience by designing a specific waveform thereof. Currently, more motors are used, which are linear motor models based on unidirectional motion.
Embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of a method for detecting parameters of a motor model according to an embodiment of the invention. The method may include:
101. And acquiring a voltage signal and a current signal of the motor in an operating state, wherein a vibrator of the motor vibrates in two directions.
The execution body of the embodiment of the invention can be a motor model parameter detection device, and the device can detect the model parameters of the motor. The motor in the embodiment of the invention can be a single-vibrator bi-directional motor, namely, the vibrator of the motor can vibrate in two directions, so that a vibration system moving in two directions can be generated.
Under the condition that the motor is in a normal working state, the motor model parameter detection device can acquire the working voltage and the corresponding working current of the motor, and particularly can acquire a voltage signal and a current signal output by the motor under the working state.
In one embodiment, the step 101 may specifically include:
Under the condition that the motor is connected with a preset sweep frequency signal for driving, collecting a voltage signal and a current signal of the motor.
The sweep frequency signal related in the embodiment of the invention refers to a constant amplitude signal with the frequency periodically changing in a certain range. The sweep frequency is designed for testing, so that the sweep frequency signal is used for testing, and the device is mainly used for testing components and frequency characteristics of the whole machine.
Specifically, the preset sweep signal may be a logarithmic sweep signal x (t), where the voltage signal value u varies periodically with time t, and may be specifically set as required. The preset sweep frequency signal can be generated by a sweep generator and the like and input into a motor.
The voltage amplitude V, the initial frequency f 0, the end frequency f 1 and the sweep frequency duration t 1 are set to generate corresponding sweep frequency signal signals, and the parameters can be set according to the needs, which is not limited in the embodiment of the invention. For example, reference may be made to a schematic diagram of a swept frequency signal shown in fig. 2, where the voltage amplitude of the swept frequency signal is 0.4V and the frequency varies periodically over a range according to the setting, as shown in fig. 2.
The motor model parameter detection device can collect output voltage signals u (t) and current signals i (t) of the motor through the data collection card.
102. And acquiring a preset frequency spectrum impedance expression of the motor model, wherein the frequency spectrum impedance expression is determined according to the mapping relation of the dynamic parameters of the motor in two directions and the mapping relation of the voltage and the current of the motor.
The above-mentioned preset spectral impedance expression of the motor model may be determined according to a dynamic model and an electrical model of the motor. When the motor is a bi-directional motor, the dynamic model includes the mapping relation of the dynamic parameters in the two directions.
In one embodiment, the method for obtaining the spectral impedance expression of the preset motor model includes:
21. obtaining the mapping relation of dynamic parameters of the motor model in two directions and the mapping relation of the voltage and the current of the motor;
22. And determining the preset frequency spectrum impedance expression of the motor model according to the mapping relation of the dynamic parameters in the two directions of the motor model and the mapping relation of the voltage and the current.
The mapping relation of the dynamic parameters of the motor model in two directions and the mapping relation of the voltage and the current of the motor can be manually predetermined according to the specific construction of the motor model, and can be specifically expressed as a corresponding dynamic equation and an electrical equation. And the frequency spectrum impedance expression of the motor, namely the frequency spectrum impedance expression of the preset motor model, can be deduced through the mapping relation of the dynamic parameters of the motor in two directions and the mapping relation of voltage and current. There are unknown parameters in the expression obtained at this time.
In an alternative embodiment, the two directions mentioned in the above step 21 and step 22 may include a first direction x and a second direction y; the mapping relation between the voltage and the current of the motor specifically comprises:
A mapping relationship of a voltage u through a motor unit, a resistance Re of the motor unit, a inductance Le of the motor coil, a function Bl (x, y) of electromagnetic force coefficients of the motor unit in the first direction x and the second direction y, a function v (x, y) of speeds of the motor unit in the first direction x and the second direction y, and a current i through the motor unit.
Specifically, the mapping relationship between the voltage and the current of the motor can be expressed as the following electrical equation:
Where u is the voltage across the motor cell and i is the current across the motor cell; re is the resistance of the motor element, le is the motor coil inductance, bl (x, y) is the electromagnetic force coefficient function of the motor element in the first direction x and the second direction y, and v (x, y) is the function of the speed of the motor element in the first direction x and the second direction y.
Further optionally, the mapping relationship of the dynamic parameter in the first direction x includes:
A mapping relationship of a vibrator mass m of the motor, a velocity v x of the motor unit in the first direction x, an acceleration a x of the motor unit in the first direction x, a damping c x of the motor unit in the first direction x, an electromagnetic force coefficient Bl x of the motor unit in the first direction x, and a current i passing through the motor unit;
The mapping relation of the dynamic parameters in the second direction y comprises:
A mapping relationship of the vibrator mass m of the motor, the speed v y of the motor unit in the second direction y, the acceleration a y of the motor unit in the second direction y, the damping c y of the motor unit in the second direction y, the electromagnetic force coefficient Bl y of the motor unit in the second direction y, and the current i passing through the motor unit.
Specifically, the mapping relationship of the dynamic parameters of the motor in the first direction x may be expressed as the following dynamic equation:
m*ax+cx*vx+kx*x＝Blx*i，
Wherein m is the vibrator mass of the motor, v x、ax、cx、Blx is the speed of the motor monomer in the first direction x, the acceleration in the first direction x, the damping in the first direction x and the electromagnetic force coefficient in the first direction x respectively; i is the current through the motor cell.
Specifically, the mapping relationship of the dynamic parameters of the motor in the second direction y may be expressed as the following dynamic equation:
m*ay+cy*vy+ky*y＝Bly*i，
Wherein m is the vibrator mass of the motor, v y、ay、cy、Bly is the speed of the motor monomer in the second direction y, the acceleration in the second direction y, the damping in the second direction y and the electromagnetic force coefficient in the second direction y respectively; i is the current through the motor cell.
Optionally, before acquiring the mapping relationship between the voltage and the current of the motor, the method further includes:
and obtaining the mapping relation between the voltage and the current of the motor according to the preset expression of the sweep frequency signal and the mapping relation between the voltage, the current and the frequency spectrum impedance.
Specifically, it can be understood that the preset sweep frequency signal provides voltage for the motor in the test system, so that the motor voltage in the mapping relationship can be determined according to the expression of the preset sweep frequency signal, and the motor voltage is substituted into the expression to obtain the mapping relationship between the voltage and the current of the specific motor.
Through the electrical equation and the dynamics equation, the impedance Lawster transformation parameter model can be obtained:
That is, the mapping relation between the voltage, the current and the spectrum impedance can be expressed as the formula of the resistance-to-resistance transformation parameter model, and the specific spectrum impedance expression can be obtained by substituting the formula.
103. Substituting the voltage signal and the current signal into the spectral impedance expression, respectively, and calculating to obtain a plurality of spectral impedance values of the motor.
Specifically, the collected voltage signal and current signal may be substituted into the above-mentioned spectral impedance expression to perform calculation, and a plurality of corresponding spectral impedance values may be obtained.
104. And fitting and calculating the frequency spectrum impedance value of the motor by adopting a least square method according to the frequency spectrum impedance values of the motor to obtain the target frequency spectrum impedance parameter of the motor model.
The least square method (also called as least squares method) related to the embodiment of the invention is a mathematical tool widely applied in the fields of data processing such as error estimation, uncertainty, system identification, prediction and forecast, and the like, and is a mathematical optimization technology. It finds the best functional match for the data by minimizing the sum of squares of the errors.
According to the embodiment of the invention, the unknown motor frequency spectrum impedance can be simply obtained by utilizing the least square method, and the square sum of errors between the obtained frequency spectrum impedance values and the actual frequency spectrum impedance values is minimized. That is, specifically, an error corresponding to each spectral impedance value Z may be calculated: err (k) =r-Z, where R is a preset parameter representing the actual spectral impedance value, and R is the final spectral impedance expression after fitting.
Regarding the plurality of spectral impedance values as a plurality of points in a coordinate system, a spectral impedance value curve can be obtained by fitting through a least square method, and a target spectral impedance parameter of the motor model is also obtained, wherein the target spectral impedance parameter can be a spectral impedance expression and can be a mapping relation between the frequency and the impedance of the motor.
In summary, in the embodiment of the present invention, the frequency sweep is performed according to the frequency sweep signal described above, so that an impedance curve that can be corresponding to the frequency sweep signal can be obtained. In particular, reference may be made to an impedance spectrum diagram shown in fig. 3, wherein the abscissa represents frequency and the ordinate represents impedance magnitude |r (k) | as shown in fig. 3-1. As shown in fig. 3-2, wherein the abscissa represents frequency and the ordinate represents impedance phase (R (k)).
According to the embodiment of the invention, a sweep frequency signal x (t) can be generated and fed back to the motor, a voltage signal u (t) and a current signal i (t) output by the motor are collected, complex expression of a spectrum impedance curve is obtained, an impedance curve and an actual physical parameter limiting range are calculated according to the sweep frequency signal x (t), an initial value of motor model parameter fitting is set, model impedance is solved, an error is calculated, and fitting is calculated by a least square method, so that a linear parameter target value of the bidirectional motor is obtained.
Aiming at the bi-directional motor, the embodiment of the invention can accurately deduce the frequency spectrum impedance expression of the bi-directional motor according to the mapping relation of the dynamic parameters in two directions and the mapping relation of the voltage and the current of the motor, further determine the motor model parameters in a mode of collecting data and curve fitting, establish a complete and accurate model suitable for the bi-directional motor, be applied to control and configuration of the motor and improve the control precision and the application effect of the motor.
Based on the description of the embodiment of the motor model parameter detection method, the embodiment of the invention also discloses a motor model parameter detection device. Referring to fig. 4, the motor model parameter detection apparatus 400 includes an acquisition module 410, an acquisition module 420, a calculation module 430, and a fitting module 440, wherein:
the acquisition module 410 is configured to acquire a voltage signal and a current signal of a motor in an operating state, where a vibrator of the motor vibrates in two directions;
the obtaining module 420 is configured to obtain a preset spectral impedance expression of the motor model, where the spectral impedance expression is determined according to a mapping relationship of dynamic parameters of the motor in two directions and a mapping relationship of voltage and current of the motor;
the calculating module 430 is configured to respectively substitute the voltage signal and the current signal into the spectral impedance expressions, and calculate to obtain a plurality of spectral impedance values of the motor;
The fitting module 440 is configured to perform a fitting calculation on the spectral impedance values of the motor by using a least square method according to the plurality of spectral impedance values of the motor, so as to obtain a target spectral impedance parameter of the motor model.
According to an embodiment of the present invention, each step involved in the method shown in fig. 1 may be performed by each module in the motor model parameter detecting apparatus 400 shown in fig. 4, which is not described herein.
The motor model parameter detection device 400 in the embodiment of the present invention may obtain a voltage signal and a current signal of a motor in a working state, wherein a vibrator of the motor vibrates in two directions to obtain a preset spectrum impedance expression of a motor model, the spectrum impedance expression is determined according to a mapping relationship of dynamic parameters of the motor in two directions and a mapping relationship of voltage and current of the motor, the voltage signal and the current signal are respectively substituted into the spectrum impedance expression, a plurality of spectrum impedance values of the motor are obtained by calculation, and then a target spectrum impedance parameter of the motor model can be obtained by fitting and calculating the spectrum impedance values of the motor by using a least square method according to the plurality of spectrum impedance values of the motor. Aiming at the bi-directional motor, according to the mapping relation of dynamic parameters in two directions and the mapping relation of voltage and current of the motor, the frequency spectrum impedance expression of the bi-directional motor can be accurately deduced, and further, the motor model parameters are determined in a mode of collecting data and curve fitting, a complete and accurate model suitable for the bi-directional motor is built, and the control precision and the application effect of the motor are improved.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a motor model parameter detection system according to an embodiment of the present invention, and as shown in fig. 5, a motor model parameter detection system 500 may include a motor 510 to be detected, a voltage and current acquisition device 520, a driving device 530, and a motor model parameter detection device 540; wherein:
The voltage and current acquisition device 520 is connected with the motor 510 to be detected, the motor model parameter detection device 540 is connected with the driving device 530, and the driving device 530 is connected with the motor 510 to be detected;
The voltage and current acquisition device 520 is configured to acquire an operating voltage value and an operating current value of the motor 510 to be detected, and feed back the operating voltage value and the operating current value to the motor model parameter detection device 540;
the driving device 530 is configured to output a preset sweep frequency signal under the control of the motor model parameter detecting device 540 to drive the motor 510 to be detected;
The motor model parameter detecting apparatus 540 may be the structure of the motor model parameter detecting apparatus 400 in the embodiment shown in fig. 4, and is used for executing the steps involved in the method shown in fig. 1, and will not be described herein.
Alternatively, during the motor model parameter detection, the motor 510 to be detected may be adhered to a fixing surface, so that the motor 510 to be detected is fixed from moving. In a specific embodiment, the driving device 530 may be a power amplifier; the voltage and current acquisition device 520 may be a data acquisition card for acquiring voltage signals and current signals; the motor model parameter detecting device 540 may be a terminal device, such as a computer.
Based on the description of the method embodiment and the device embodiment, the embodiment of the invention also provides electronic equipment. The electronic device includes at least a processor and a memory, the memory storing a computer storage medium.
The computer storage medium may be stored in a memory of the electronic device, the computer storage medium storing a computer program comprising program instructions, the processor being configured to execute the program instructions stored in the computer storage medium. A processor (or CPU (Central Processing Unit, central processing unit)) is a computing core and a control core of an electronic device, which is adapted to implement one or more instructions, in particular to load and execute one or more instructions to implement a corresponding method flow or a corresponding function; in one embodiment, the processor described above in the embodiments of the present invention may be used to perform a series of processes, including any steps of the method in the embodiment shown in fig. 1, and so on.
The embodiment of the invention also provides a computer storage medium (Memory), which is a Memory device in the electronic device and is used for storing programs and data. It is understood that the computer storage media herein may include both built-in storage media in the electronic device and extended storage media supported by the electronic device. The computer storage medium provides a storage space that stores an operating system of the electronic device. Also stored in the memory space are one or more instructions, which may be one or more computer programs (including program code), adapted to be loaded and executed by the processor. The computer storage medium herein may be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory; optionally, at least one computer storage medium remote from the processor may be present.
In one embodiment, one or more instructions stored in a computer storage medium may be loaded and executed by a processor to implement the corresponding steps in the above embodiments; in particular, one or more instructions in the computer storage medium may be loaded by the processor and perform any steps of the method of fig. 1, which are not described herein.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus and modules described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the division of the module is merely a logical function division, and there may be another division manner when actually implemented, for example, a plurality of modules or components may be combined or may be integrated into another system, or some features may be omitted or not performed. The coupling or direct coupling or communication connection shown or discussed with each other may be through some interface, device or module indirect coupling or communication connection, which may be in electrical, mechanical, or other form.
The modules illustrated as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted across a computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (digital subscriber line, DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a read-only memory (ROM), or a random-access memory (random access memory, RAM), or a magnetic medium such as a floppy disk, a hard disk, a magnetic tape, a magnetic disk, or an optical medium such as a digital versatile disk (DIGITAL VERSATILE DISC, DVD), or a semiconductor medium such as a Solid State Disk (SSD), or the like.
Claims (7)
1. A method for detecting parameters of a motor model, comprising:
Acquiring a voltage signal and a current signal of a motor in a working state, wherein a vibrator of the motor generates vibration in two directions;
obtaining a preset spectral impedance expression of a motor model, including: obtaining the mapping relation of dynamic parameters of the motor model in two directions and the mapping relation of the voltage and the current of the motor; determining a frequency spectrum impedance expression of the preset motor model according to the mapping relation of dynamic parameters in two directions of the motor model and the mapping relation of the voltage and the current;
wherein the two directions include a first direction x and a second direction y;
The mapping relation between the voltage and the current of the motor specifically comprises the following steps: a mapping relationship of a voltage u through a motor cell, a resistance Re of the motor cell, a inductance Le of the motor coil, a function Bl (x, y) of electromagnetic force coefficients of the motor cell in the first direction x and the second direction y, a function v (x, y) of speeds in the first direction x and the second direction y, and a current i through the motor cell;
The mapping relation of the dynamic parameters in the first direction x comprises the following steps: a mapping relationship of a vibrator mass m of the motor, a speed v x of the motor unit in the first direction x, an acceleration a x of the motor unit in the first direction x, a damping c x of the motor unit in the first direction x, an electromagnetic force coefficient Bl x of the motor unit in the first direction x, and a current i passing through the motor unit;
The mapping relation of the dynamic parameters in the second direction y comprises the following steps: a mapping relationship of a vibrator mass m of the motor, a speed v y of the motor unit in the second direction y, an acceleration a y in the second direction y, a damping c y in the second direction y, an electromagnetic force coefficient Bl y in the second direction y, and a current i passing through the motor unit;
Substituting the voltage signal and the current signal into the spectrum impedance expression respectively, and calculating to obtain a plurality of spectrum impedance values of the motor;
and fitting calculation is carried out on the frequency spectrum impedance values of the motor by adopting a least square method according to the frequency spectrum impedance values of the motor, so as to obtain the target frequency spectrum impedance parameter of the motor model.
2. The method for detecting parameters of a motor model according to claim 1, wherein the step of acquiring the voltage signal and the current signal of the motor in the operating state includes:
and under the condition that the motor is connected with a preset sweep frequency signal for driving, collecting a voltage signal and a current signal of the motor.
3. The motor model parameter detection method according to claim 1, characterized in that before acquiring the voltage-current mapping relationship of the motor, the method further comprises:
And obtaining the mapping relation between the voltage and the current of the motor according to the preset expression of the sweep frequency signal and the mapping relation between the voltage, the current and the frequency spectrum impedance.
4. The motor model parameter detection device is characterized by comprising an acquisition module, a calculation module and a fitting module, wherein:
The acquisition module is used for acquiring a voltage signal and a current signal of the motor in a working state, and the vibrator of the motor generates vibration in two directions;
The acquisition module is used for acquiring a preset frequency spectrum impedance expression of a motor model, and the frequency spectrum impedance expression is determined according to the mapping relation of dynamic parameters of the motor in two directions and the mapping relation of the voltage and the current of the motor;
The acquisition module is specifically configured to: obtaining the mapping relation of dynamic parameters of the motor model in two directions and the mapping relation of the voltage and the current of the motor; determining a frequency spectrum impedance expression of the preset motor model according to the mapping relation of dynamic parameters in two directions of the motor model and the mapping relation of the voltage and the current;
wherein the two directions include a first direction x and a second direction y;
The mapping relation between the voltage and the current of the motor specifically comprises the following steps: a mapping relationship of a voltage u through a motor cell, a resistance Re of the motor cell, a inductance Le of the motor coil, a function Bl (x, y) of electromagnetic force coefficients of the motor cell in the first direction x and the second direction y, a function v (x, y) of speeds in the first direction x and the second direction y, and a current i through the motor cell;
The mapping relation of the dynamic parameters in the first direction x comprises the following steps: a mapping relationship of a vibrator mass m of the motor, a speed v x of the motor unit in the first direction x, an acceleration a x of the motor unit in the first direction x, a damping c x of the motor unit in the first direction x, an electromagnetic force coefficient Bl x of the motor unit in the first direction x, and a current i passing through the motor unit;
The mapping relation of the dynamic parameters in the second direction y comprises the following steps: a mapping relationship of a vibrator mass m of the motor, a speed v y of the motor unit in the second direction y, an acceleration a y in the second direction y, a damping c y in the second direction y, an electromagnetic force coefficient Bl y in the second direction y, and a current i passing through the motor unit;
The calculation module is used for substituting the voltage signal and the current signal into the spectrum impedance expression respectively, and calculating to obtain a plurality of spectrum impedance values of the motor;
The fitting module is used for performing fitting calculation on the frequency spectrum impedance values of the motor by adopting a least square method according to the frequency spectrum impedance values of the motor to obtain target frequency spectrum impedance parameters of the motor model.
5. The motor model parameter detection system is characterized by comprising a motor to be detected, a voltage and current acquisition device, a driving device and a motor model parameter detection device, wherein:
The voltage and current acquisition device is connected with the motor to be detected, the motor model parameter detection device is connected with the driving device, and the driving device is connected with the motor to be detected;
The voltage and current acquisition device is used for acquiring the working voltage value and the working current value of the motor to be detected and feeding back to the motor model parameter detection device; the driving device is used for outputting a preset sweep frequency signal to drive the motor to be detected under the control of the motor model parameter detection device; the motor model parameter detection apparatus is for performing the steps of the motor model parameter detection method according to any one of claims 1 to 3.
6. An electronic device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the motor model parameter detection method of any one of claims 1 to 3.
7. A storage medium storing a program of computer instructions which, when executed by a processor, cause the processor to perform the steps of the method of any one of claims 1 to 3.
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| PCT/CN2021/071348 WO2022134237A1 (en) | 2020-12-24 | 2021-01-13 | Method and apparatus for measuring parameters of motor model, electronic device, and medium |
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| CN113702829B (en) * | 2021-08-31 | 2024-03-08 | 歌尔股份有限公司 | Method and device for generating sweep frequency characteristic curve of vibration motor and storage medium |
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