CN113938082B - Control method, control device, equipment and medium for linear motor - Google Patents
Control method, control device, equipment and medium for linear motor Download PDFInfo
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- CN113938082B CN113938082B CN202111290967.4A CN202111290967A CN113938082B CN 113938082 B CN113938082 B CN 113938082B CN 202111290967 A CN202111290967 A CN 202111290967A CN 113938082 B CN113938082 B CN 113938082B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
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Abstract
The invention discloses a control method, a control device, equipment and a medium of a linear motor, belonging to the technical field of linear motors, wherein the method comprises the following steps: acquiring the current speed, driving voltage and response time of target acceleration of a vibrator of the linear motor; obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor; obtaining a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient; obtaining an actual driving voltage based on the driving voltage and the target compensation voltage; and controlling the linear motor to vibrate based on the actual driving voltage. By adopting the control method of the invention, the response time of the linear motor acceleration can be accurately adjusted.
Description
Technical Field
The present invention relates to the field of linear motors, and in particular, to a method, a device, and a medium for controlling a linear motor.
Background
The linear motor (Linear Resonant Actuator, LRA) has been widely used in various vibration occasions of electronic devices by virtue of its strong, abundant, crisp vibration feeling, low energy consumption, and the like. For electronic device applications, linear motors can achieve very rich, realistic vibration feedback by constructing a wide variety of broadband vibration waveforms (acceleration waveforms).
The vibration sense of the linear motor is mainly realized by driving the vibrator to generate acceleration, and the faster the acceleration response is, the more crisp the vibration sense is; the larger the acceleration amplitude, the stronger the vibration sensation. In the actual control process, the acceleration response time is generally required to be adjusted according to the requirement under the condition of setting a certain acceleration amplitude, and in general, the shorter the acceleration response time is, the better the acceleration response time is. And the acceleration response time can be reduced by increasing the magnitude of the drive voltage.
However, the related art generally adopts manual adjustment of voltage amplitude and action time to obtain the expected response time, so that not only is the adjustment complicated, but also the response time of acceleration is difficult to precisely control, and in particular, the response time is difficult to precisely and dynamically adjust in the control process.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a control method, a control device, equipment and a medium of a linear motor, and aims to solve the problem that the response time of acceleration is difficult to accurately control by the linear motor.
To achieve the above object, in a first aspect, the present invention provides a control method of a linear motor, the method comprising:
acquiring the current speed, driving voltage and response time of target acceleration of a vibrator of the linear motor;
Obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor;
obtaining a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient;
obtaining an actual driving voltage based on the driving voltage and the target compensation voltage;
And controlling the linear motor to vibrate based on the actual driving voltage.
In an embodiment, after the obtaining the damping adjustment coefficient based on the response time and the hardware parameter of the linear motor, the method further includes:
if a steady-state amplitude input by a user is received, obtaining an equivalent voltage based on the steady-state amplitude, the damping adjustment coefficient and the hardware parameter;
Updating the driving voltage with the equivalent voltage.
In an embodiment, the obtaining the equivalent voltage based on the steady-state amplitude and the damping adjustment coefficient includes:
Obtaining an equivalent voltage amplitude based on the steady-state amplitude, the damping adjustment coefficient and a first preset formula; the first preset formula is:
Where u' m is the equivalent voltage magnitude, a ref is the steady-state magnitude, K ξ is the damping adjustment coefficient, ζ is the inherent damping coefficient of the linear motor, and M is vibrator mass of the linear motor, bl is magnetic field intensity, R is damping coefficient, and R is coil direct current resistance;
Obtaining an equivalent voltage based on the equivalent voltage amplitude and a second preset formula; the second preset formula is:
u′1(t)＝u′mcos(ωct)；
wherein u' 1 (t) is the equivalent voltage, and t is time.
In an embodiment, before the obtaining the current speed of the vibrator of the linear motor, the method further includes:
Acquiring a current voltage and the current of the linear motor;
obtaining the current speed of the vibrator based on the current voltage, the current and a third preset formula;
Wherein, the third preset formula is:
Wherein v (t) is the current speed of the vibrator, bl is the magnetic field intensity, u fdb (t) is the voltage, i fdb (t) is the current, and t is the time.
In an embodiment, the obtaining the damping adjustment coefficient based on the response time and the hardware parameter of the linear motor includes:
obtaining a damping adjustment coefficient based on the response time, the hardware parameter of the linear motor and a fourth preset formula; the fourth preset formula is:
Wherein k ξ is the damping adjustment coefficient, t rd is the response time, ζ is the inherent damping coefficient of the linear motor, and M is the vibrator mass of the linear motor, bl is the magnetic field strength, k is the spring stiffness coefficient, R is the damping coefficient, and R is the coil direct current resistance.
In an embodiment, the obtaining the target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient includes:
Obtaining a target compensation voltage based on the current speed of the vibrator, the damping adjustment coefficient and a fifth preset formula; the fifth preset formula is:
wherein u c (t) is the target compensation voltage, k ξ is the damping adjustment coefficient, bl is the magnetic field strength, R is the damping coefficient, R is the coil direct current resistance, and v (t) is the current speed of the vibrator.
In a second aspect, the present invention also provides a control device for a linear motor, including:
the parameter acquisition module is used for acquiring the current speed, the driving voltage, the steady-state amplitude and the response time of the target acceleration of the vibrator of the linear motor;
the coefficient adjustment module is used for obtaining a damping adjustment coefficient based on the response time and the hardware parameters of the linear motor;
The compensation voltage determining module is used for obtaining a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient;
The voltage determining module is used for obtaining an actual driving voltage based on the driving voltage and the target compensation voltage;
and the vibration control module is used for controlling the linear motor to vibrate based on the actual driving voltage.
In a third aspect, the present invention also provides an electronic device, including:
A linear motor;
the driving module is connected with the linear motor and is used for providing driving voltage for the linear motor so as to drive the vibration unit to vibrate; and
The processing module is used for acquiring the current speed, the driving voltage and the steady-state amplitude and response time of the target acceleration of the vibrator of the linear motor; obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor; obtaining a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient; obtaining an actual driving voltage based on the driving voltage and the target compensation voltage; and controlling the linear motor to vibrate based on the actual driving voltage.
In an embodiment, further comprising:
the voltage and current detection module is used for being connected with the linear motor to detect the current and the current voltage of the linear motor and sending the current and the current voltage to the processing module;
The processing module is used for acquiring the current voltage and the current of the linear motor;
obtaining the current speed of the vibrator based on the current voltage, the current and a first preset formula;
the first preset formula is as follows:
Wherein v (t) is the current speed of the vibrator, bl is the magnetic field intensity, u fdb (t) is the voltage, i fdb (t) is the current, and t is the time.
In a fourth aspect, the present invention also provides a computer-readable storage medium having stored thereon a control program for a linear motor, which when executed by a processor, implements a control method for a linear motor as described above.
The invention provides a control method, a control device, equipment and a medium for a linear motor. The method comprises the steps of obtaining the current speed, the driving voltage and the target acceleration response time required to be achieved of a vibrator of the linear motor; obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor; obtaining a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient; obtaining an actual driving voltage based on the driving voltage and the target compensation voltage; and controlling the linear motor to vibrate based on the actual driving voltage.
Therefore, the invention calculates the damping adjustment coefficient between the virtual damping required by the target acceleration and the response time to be achieved and the original damping of the linear motor, constructs proper compensation voltage according to the vibrator speed and the damping adjustment coefficient, and controls the vibration of the linear motor based on the actual voltage after compensation, thereby changing the original damping characteristic of the motor, namely the virtual damping control, thereby realizing the accurate adjustment of the response time of the acceleration of the linear motor, reaching the response time of the target acceleration, being capable of accelerating the response time of the acceleration of the motor and realizing crisp and tailing-free vibration feedback.
Drawings
FIG. 1 is a flow chart of a first embodiment of a control method of a linear motor according to the present application;
FIG. 2 is a flow chart of a control method of a linear motor according to a second embodiment of the present application;
fig. 3 is an acceleration response waveform of embodiment 1 to embodiment 3 of the present application;
fig. 4 is a waveform diagram of actual control voltages in embodiments 1 to 3 of the present application;
FIG. 5 is a schematic flow chart of a control device of the linear motor of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to the present application.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Linear motors (Linear Resonant Actuator, LRA) have been widely used in various vibration applications of various consumer electronic devices by virtue of their strong, abundant, crisp and low energy consumption. By constructing a wide frequency vibration waveform (acceleration waveform) in a variety, the motor can realize very rich and real vibration feedback.
The vibrator is subjected to certain damping in the motion process, the damping characteristic is an important factor influencing the acceleration response speed and amplitude, and the larger the damping is, the shorter the rising time and the falling time of the motor acceleration response are, but the smaller the steady-state amplitude is; the smaller the damping, the longer the rise and fall times of the motor acceleration response, but the greater the steady-state amplitude. The motor needs to integrate the two requirements in actual design, and the inherent damping coefficient is designed in a compromise. Once the motor design is complete, its inherent damping characteristics are determined, and thus acceleration response time and steady-state amplitude are also determined. The vibration sense of the linear motor is mainly realized by driving the vibrator to generate acceleration, and the faster the acceleration response is, the more crisp the vibration sense is; the larger the acceleration amplitude, the stronger the vibration sensation. In the actual control process, the acceleration response time is generally required to be adjusted according to the requirement under the condition of setting a certain acceleration amplitude, and in general, the shorter the acceleration response time is, the better the acceleration response time is. And the acceleration response time can be reduced by increasing the magnitude of the drive voltage.
However, the related art generally adopts manual adjustment of voltage amplitude and action time to obtain the expected response time, so that not only is the adjustment complicated, but also the response time of acceleration is difficult to precisely control, and in particular, the response time is difficult to precisely and dynamically adjust in the control process.
Therefore, the embodiment of the application provides a control method of a linear motor, which is characterized in that a damping adjustment coefficient between virtual damping required by target acceleration and response time to be achieved and original damping of the linear motor is calculated, then a proper compensation voltage is constructed according to the vibrator speed and the damping adjustment coefficient, and the vibration of the linear motor is controlled based on the compensated actual voltage, so that the original damping characteristic of the motor, namely virtual damping control, is changed, the response time of the acceleration of the linear motor is accurately adjusted, the response time of the target acceleration is achieved, the response time of the acceleration of the motor is accelerated, and crisp and tailing-free vibration feedback is realized.
The inventive concept of the present application is further elucidated below in connection with a few specific embodiments.
Referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of a control method of a linear motor according to the present application.
In this embodiment, the method includes:
Step S101, obtaining the current speed, the driving voltage and the response time of the target acceleration of the vibrator of the linear motor.
In this embodiment, the execution body of the method is a processing module in a hardware circuit of the linear motor in the electronic device. The processing module is connected with the driving module, and the driving module is connected with the linear motor through the power amplifier, so that the processing module can send a driving signal to the driving module, and the driving module provides voltage for the linear motor.
In this embodiment, the processing module may acquire the target acceleration waveform data a (t) input by the user through the user interface of the electronic device, and the user may set a response time t rd for the target acceleration at any time.
The driving voltage is voltage data when the original driving waveform data drives the linear motor to vibrate, and can be expressed as a cosine function: u 1(t)＝umcos(ωc t).
The vibrator current speed may be denoted v (t). The current speed of the vibrator can be obtained by the processing module through detection and feedback according to a speed detection element in the linear motor.
Or in an embodiment, the current speed of the vibrator can be obtained according to the current fed back by the current detection module of the linear motor and the current fed back by the voltage detection module.
For example, at this time, before step S101, further includes:
Step S10, acquiring the current voltage and the current of the linear motor;
step S20, obtaining the current speed of the vibrator based on the current voltage, the current and a third preset formula;
Wherein, the third preset formula is:
Wherein v (t) is the current speed of the vibrator, bl is the magnetic field intensity, u fdb (t) is the voltage, i fdb (t) is the current, and t is the time.
At this time, the current speed of the vibrator can be obtained by real-time calculation of the current and the current voltage fed back by the current detection module and the voltage detection module.
Step S102, obtaining a damping adjustment coefficient based on the response time and the hardware parameters of the linear motor.
The hardware parameters are parameters of the driving circuit hardware of the linear motor, such as: vibrator mass m of the linear motor, magnetic field intensity Bl, spring stiffness coefficient k, damping coefficient R, ring direct current resistance R and the like.
It is understood that the damping adjustment coefficient is a virtual damping coefficient that is the ratio between the damping adjustment coefficients k ξ.
Specifically, the voltage equation of the linear motor is:
Wherein u (t) is a driving voltage; x (t) is displacement; v (t) is the speed; a (t) is acceleration.
Driven by a cosine voltage u (t) =u mcos(ωc t with amplitude u m, the acceleration response of the linear motor is:
In the method, in the process of the invention,
The time required for the acceleration amplitude to rise from 0 to 90% of the steady-state amplitude is defined as rise time t r; defining the time required for the acceleration amplitude to drop from 100% to 10% of the steady-state amplitude as drop time t d, then determining the response time as:
the steady-state amplitude of the acceleration response is:
It is obvious that the inherent damping coefficient xi of the system is represented by the expression Determining that the larger the inherent damping coefficient is, the shorter the response time of the acceleration response of the system is, but the smaller the steady-state amplitude is; the smaller the damping, the longer the response time of the system acceleration response, but the greater the steady-state amplitude. In general, the motor needs to combine the two requirements in actual design, and the inherent damping coefficient ζ is designed in a compromise.
In actual control, it is generally desirable that the response time t rd of the acceleration response of the motor be short enough to achieve fast, tailing-free vibration feedback. Therefore, the actual damping coefficient of the system can be realized by a virtual damping control mode. Specifically, the damping coefficient of the system can be adjusted in a voltage compensation mode, namely the virtual damping coefficient can be adjusted as required, and then the dynamic adjustment of the motor acceleration response time and the steady-state amplitude can be realized. If the user pays more attention to the response time t rd, the virtual damping coefficient is increased; if the user is more concerned about the steady-state amplitude a m, the virtual damping coefficient is adjusted down.
Thus, the damping adjustment coefficient k ξ may be obtained from the response time t rd input by the user and the hardware parameters of the linear motor. I.e. the ratio between the virtual damping coefficient and the inherent damping coefficient.
Specifically, step S102 specifically includes:
obtaining a damping adjustment coefficient based on the response time, the hardware parameter of the linear motor and a fourth preset formula; the fourth preset formula is:
Wherein k ξ is the damping adjustment coefficient, t rd is the response time, ζ is the inherent damping coefficient of the linear motor, and M is the vibrator mass of the linear motor, bl is the magnetic field strength, k is the spring stiffness coefficient, R is the damping coefficient, and R is the coil direct current resistance.
And step S103, obtaining a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient.
The target compensation voltage is the compensation voltage required for the virtual damping required for the linear motor to achieve the response time t rd.
Specifically, a target compensation voltage can be obtained based on the current speed of the vibrator, the damping adjustment coefficient and a fifth preset formula; the fifth preset formula is:
wherein u c (t) is the target compensation voltage, k ξ is the damping adjustment coefficient, bl is the magnetic field strength, R is the damping coefficient, R is the coil direct current resistance, and v (t) is the current speed of the vibrator.
Step S104, obtaining an actual driving voltage based on the driving voltage and the target compensation voltage.
I.e. the actual driving voltage u (t) =u c(t)+u1 (t).
Step S105, controlling the linear motor to vibrate based on the actual driving voltage.
It can be appreciated that if the virtual damping coefficient of the linear motor is expected to be adjusted to be k ξ times the intrinsic damping coefficient ζ, the adjusted voltage equation is:
Wherein the target compensation voltage is
Conversion to drive voltage ofThe response time of the acceleration of the linear motor driven by the driving voltage is as follows:
Wherein, Is a virtual damping coefficient.
Thereby, the virtual damping coefficient is adoptedThe response time t rd of the acceleration of the linear motor is:
It can be seen that when k ξ satisfies 0 < k ξ < 1, the virtual damping of the system decreases and the response time t rd increases. When k ξ is set to satisfy k ξ > 1, the virtual damping of the system increases and the response time t rd decreases.
Therefore, in this embodiment, when the response time t rd is a known value, the damping adjustment coefficient k ξ can be calculated according to the response time t rd required by the target acceleration and the hardware parameters of the linear motor, that is, the virtual damping coefficient of the linear motor system should be k ξ times the system inherent damping coefficient ζ in order for the linear motor to reach the response time t rd. To achieve thisThe damping coefficient of the system is adjusted in a voltage compensation mode, namely the virtual damping coefficient is adjusted according to the requirementTherefore, the vibrator speed v (t) and the damping adjustment coefficient k ξ can be utilizedThe target compensation voltage u c (t) is calculated, and the compensation voltage is compensated to the driving voltage, so that the actual response time of the linear motor when vibrating is t rd.
It should be noted that in the present embodiment, the control method provided in the present embodiment may be adopted, and t rd may be set to a smaller value, for example, 0.01s, so as to achieve the effects of quick start, no tailing, and more crisp vibration feeling of the linear motor.
As an embodiment, a second embodiment of the control method of the linear motor of the present application is proposed. Referring to fig. 2, fig. 2 is a flow chart of a control method of a linear motor according to a second embodiment of the present application.
In this embodiment, the method includes the following steps:
Step S201, response time of current speed, driving voltage and target acceleration of the vibrator of the linear motor is obtained.
Step S202, obtaining a damping adjustment coefficient based on the response time and the hardware parameters of the linear motor.
Step 203, if a steady-state amplitude input by the user is received, obtaining an equivalent voltage based on the steady-state amplitude, the damping adjustment coefficient and the hardware parameter.
In this embodiment, the user may input the steady-state amplitude a ref of the target acceleration to the processing module through the user interface of the electronic device, or the user may also input the target acceleration waveform to the processing module through the user interface of the electronic device, and the processing module may analyze the acceleration waveform, so as to obtain the steady-state amplitude a ref.
After the processing module obtains the steady-state amplitude a ref, the processing module can obtain equivalent electricity based on the steady-state amplitude and the damping adjustment coefficient.
Specifically, step S203 includes: obtaining an equivalent voltage amplitude based on the steady-state amplitude, the damping adjustment coefficient and a first preset formula; the first preset formula is:
Where u' m is the equivalent voltage magnitude, a ref is the steady-state magnitude, K ξ is the damping adjustment coefficient, ζ is the inherent damping coefficient of the linear motor, and M is vibrator mass of the linear motor, bl is magnetic field intensity, R is damping coefficient, and R is coil direct current resistance;
Obtaining an equivalent voltage based on the equivalent voltage amplitude and a second preset formula; the second preset formula is:
u′1(t)＝u′mcos(ωct)；
wherein u' 1 (t) is the equivalent voltage, and t is time.
Step S204, updating the driving voltage by using the equivalent voltage.
Namely, the driving voltage u 1(t)＝u′1 (t).
Step S205, obtaining an actual driving voltage based on the driving voltage and the target compensation voltage.
Step S206, controlling the linear motor to vibrate based on the actual driving voltage.
It can be appreciated that if the virtual damping coefficient of the linear motor is expected to be adjusted to be k ξ times the intrinsic damping coefficient ζ, the adjusted voltage equation is:
Wherein the target compensation voltage is
Conversion to drive voltage ofThe response time of the acceleration of the linear motor driven by the driving voltage is as follows:
Wherein, Is a virtual damping coefficient.
Thereby, the virtual damping coefficient is adoptedAt this time, the steady-state amplitude a ref of the acceleration of the linear motor is:
It can be seen that when k ξ satisfies 0 < k ξ < 1, the virtual damping of the system decreases and the steady-state amplitude a ref increases. When k ξ is set to satisfy k ξ > 1, the virtual damping of the system increases and the steady-state amplitude a ref decreases.
Thus, in this embodiment, when the steady-state amplitude a ref is defined by the user, i.e., the steady-state amplitude a ref is known, the method can be based onAnd calculating an equivalent voltage amplitude u m, and updating original driving voltage data through equivalent voltage replacement, so that the steady-state amplitude of the vibration of the linear motor under the control of the actual voltage reaches a ref.
The user may define the steady-state amplitude a ref as a variable value, at which time the linear motor may achieve dynamic adjustment of the response time and steady-state amplitude of the acceleration. Or the user can define the steady-state amplitude a ref as a fixed value, e.g. the user can set the steady-state amplitude a ref as a constant value, thereby continuously based on the motor during the vibrationThe equivalent voltage amplitude u m is adjusted so that the steady-state amplitude a ref of the linear motor when vibrating is a constant value.
In order to facilitate understanding of the above technical solution, it is shown that:
Example 1: setting the steady-state amplitude a ref＝700m/s2,trd is not limited, i.e., no rise time is set.
Example 2: steady-state amplitude a ref＝700m/s2,trd = 0.01S is set, i.e. the rise time is set to 0.01S.
Example 3: steady-state amplitude a ref＝700m/s2,trd = 0.12S, i.e. the rise time is set to 0.12S.
Referring to fig. 3, fig. 3 shows acceleration response waveforms of the above-described embodiments 1 to 3. Referring to fig. 4, fig. 4 shows actual control voltage waveforms of the above-described embodiments 1 to 3.
It can be seen that especially in example 2, the response time is the shortest, the starting is faster, no tailing occurs, and the vibration feeling is more crisp than the linear motor characteristics before adjustment. It can be seen that the amplitude and response time of the acceleration are consistent with the set amplitude and time.
Based on the same inventive concept, referring to fig. 5, the present invention also provides a control device of a linear motor, comprising:
The parameter acquisition module is used for acquiring the response time of the current speed, the driving voltage and the target acceleration of the vibrator of the linear motor;
the coefficient adjustment module is used for obtaining a damping adjustment coefficient based on the response time and the hardware parameters of the linear motor;
The compensation voltage determining module is used for obtaining a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient;
The voltage determining module is used for obtaining an actual driving voltage based on the driving voltage and the target compensation voltage;
and the vibration control module is used for controlling the linear motor to vibrate based on the actual driving voltage.
In addition, referring to fig. 6, the present invention further provides an electronic device, including:
A linear motor 400;
A driving module 200, wherein the driving module 200 is connected with the linear motor 400, and the driving module 200 is used for providing driving voltage for the linear motor 400 to drive the vibration unit to vibrate; and
The processing module 100 is configured to obtain a current speed, a driving voltage, a steady-state amplitude and a response time of a target acceleration of the vibrator of the linear motor 400; obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor; obtaining a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient; obtaining an actual driving voltage based on the driving voltage and the target compensation voltage; and controlling the linear motor to vibrate based on the actual driving voltage.
In an embodiment, further comprising:
A voltage and current detection module 500, configured to be connected to the linear motor 400, to detect a present current and a present voltage of the linear motor, and send the detected current and the present voltage to the processing module 100;
The processing module 100 is configured to obtain a present voltage and the present current of the linear motor;
obtaining the current speed of the vibrator based on the current voltage, the current and a third preset formula;
Wherein, the third preset formula is:
Wherein v (t) is the current speed of the vibrator, bl is the magnetic field intensity, u fdb (t) is the voltage, i fdb (t) is the current, and t is the time.
In an embodiment, the processing module is further configured to obtain an equivalent voltage based on the steady-state amplitude, the damping adjustment coefficient, and the hardware parameter if the steady-state amplitude input by the user is received; updating the driving voltage with the equivalent voltage.
In an embodiment, the processing module is further configured to obtain an equivalent voltage amplitude based on the steady-state amplitude, the damping adjustment coefficient, and a first preset formula; the first preset formula is:
Where u m is the equivalent voltage amplitude, a ref is the steady-state amplitude, K ξ is the damping adjustment coefficient, ζ is the inherent damping coefficient of the linear motor, and M is vibrator mass of the linear motor, bl is magnetic field intensity, R is damping coefficient, and R is coil direct current resistance;
Obtaining an equivalent voltage based on the equivalent voltage amplitude and a second preset formula; the second preset formula is:
u1(t)＝umcos(ωct)；
wherein u 1 (t) is the equivalent voltage, and t is time.
In an embodiment, the processing module is further configured to obtain a damping adjustment coefficient based on the response time, the hardware parameter of the linear motor, and a fourth preset formula; the fourth preset formula is:
Wherein k ξ is the damping adjustment coefficient, t rd is the response time, ζ is the inherent damping coefficient of the linear motor, and M is the vibrator mass of the linear motor, bl is the magnetic field strength, k is the spring stiffness coefficient, R is the damping coefficient, and R is the coil direct current resistance.
In an embodiment, the processing module is further configured to obtain a target compensation voltage based on the current speed of the vibrator, the damping adjustment coefficient, and a fifth preset formula; the fifth preset formula is:
wherein u c (t) is the target compensation voltage, k ξ is the damping adjustment coefficient, bl is the magnetic field strength, R is the damping coefficient, R is the coil direct current resistance, and v (t) is the current speed of the vibrator.
In some embodiments, a power amplifier is further disposed between the driving module and the linear motor, and the power amplifier performs power matching on the driving voltage transmitted from the driving module to the power amplifier. The driving voltage may be an analog signal or a digital signal. The power amplifier may be a class a, B, AB, or D driver as is common in the art.
In addition, the embodiment of the application also provides a computer storage medium, wherein a control program of the linear motor is stored on the storage medium, and when the control program of the linear motor is executed by a processor, the steps of the control method of the linear motor are realized. Therefore, a detailed description will not be given here. In addition, the description of the beneficial effects of the same method is omitted. For technical details not disclosed in the embodiments of the computer-readable storage medium according to the present application, please refer to the description of the method embodiments of the present application. As an example, the program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of computer programs, which may be stored on a computer-readable storage medium, and which, when executed, may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random access Memory (Random AccessMemory, RAM), or the like.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (8)
1. A method of controlling a linear motor, the method comprising:
acquiring the current speed, driving voltage and response time of target acceleration of a vibrator of the linear motor;
Obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor;
obtaining a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient;
obtaining an actual driving voltage based on the driving voltage and the target compensation voltage;
controlling the linear motor to vibrate based on the actual driving voltage;
the obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor includes:
obtaining a damping adjustment coefficient based on the response time, the hardware parameter of the linear motor and a fourth preset formula; the fourth preset formula is:
Wherein k ξ is the damping adjustment coefficient, t rd is the response time, ζ is the inherent damping coefficient of the linear motor, and M is the vibrator mass of the linear motor, bl is the magnetic field intensity, k is the spring stiffness coefficient, R is the damping coefficient, and R is the coil direct current resistance;
the obtaining the target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient includes:
Obtaining a target compensation voltage based on the current speed of the vibrator, the damping adjustment coefficient and a fifth preset formula; the fifth preset formula is:
Wherein u c (t) is the target compensation voltage, v (t) is the current speed of the vibrator, and t is the moment;
The obtaining an actual driving voltage based on the driving voltage and the target compensation voltage includes:
And taking the sum of the driving voltage and the target compensation voltage as the actual driving voltage.
2. The control method of a linear motor according to claim 1, characterized in that, after the damping adjustment coefficient is obtained based on the response time and a hardware parameter of the linear motor, the method further comprises:
if a steady-state amplitude input by a user is received, obtaining an equivalent voltage based on the steady-state amplitude, the damping adjustment coefficient and the hardware parameter;
Updating the driving voltage with the equivalent voltage.
3. The control method of a linear motor according to claim 2, characterized in that the obtaining an equivalent voltage based on the steady-state amplitude and the damping adjustment coefficient includes:
Obtaining an equivalent voltage amplitude based on the steady-state amplitude, the damping adjustment coefficient and a first preset formula; the first preset formula is:
Where u' m is the equivalent voltage magnitude, a ref is the steady-state magnitude,
Obtaining an equivalent voltage based on the equivalent voltage amplitude and a second preset formula; the second preset formula is:
u1′(t)＝u′mcos(ωct)；
Wherein u 1' (t) is the equivalent voltage.
4. The method according to claim 1, characterized in that before the response time of the vibrator current speed, the driving voltage, and the target acceleration of the linear motor is obtained, the method further comprises:
acquiring the current voltage and current of the linear motor;
obtaining the current speed of the vibrator based on the current voltage, the current and a third preset formula;
Wherein, the third preset formula is:
Wherein v (t) is the current speed of the vibrator, u fdb (t) is the current voltage, and i fdb (t) is the current.
5. A control device of a linear motor, characterized by comprising:
the parameter acquisition module is used for acquiring the current speed, the driving voltage, the steady-state amplitude and the response time of the target acceleration of the vibrator of the linear motor;
the coefficient adjustment module is used for obtaining a damping adjustment coefficient based on the response time and the hardware parameters of the linear motor;
The compensation voltage determining module is used for obtaining a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient;
The voltage determining module is used for obtaining an actual driving voltage based on the driving voltage and the target compensation voltage;
a vibration control module for controlling the linear motor to vibrate based on the actual driving voltage;
the coefficient adjustment module is specifically configured to obtain a damping adjustment coefficient based on the response time, a hardware parameter of the linear motor, and a fourth preset formula; the fourth preset formula is:
Wherein k ξ is the damping adjustment coefficient, t rd is the response time, ζ is the inherent damping coefficient of the linear motor, and M is the vibrator mass of the linear motor, bl is the magnetic field intensity, k is the spring stiffness coefficient, R is the damping coefficient, and R is the coil direct current resistance;
the compensation voltage determining module is used for obtaining a target compensation voltage based on the current speed of the vibrator, the damping adjustment coefficient and a fifth preset formula; the fifth preset formula is:
Wherein u c (t) is the target compensation voltage, v (t) is the current speed of the vibrator, and t is the moment;
the vibration control module is specifically configured to use a sum of the driving voltage and the target compensation voltage as the actual driving voltage.
6. An electronic device, comprising:
A linear motor;
the driving module is connected with the linear motor and is used for providing driving voltage for the linear motor so as to drive the vibration unit to vibrate; and
The processing module is used for acquiring the current speed, the driving voltage and the steady-state amplitude and response time of the target acceleration of the vibrator of the linear motor; obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor; obtaining a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient; obtaining an actual driving voltage based on the driving voltage and the target compensation voltage; controlling the linear motor to vibrate based on the actual driving voltage;
the processing module is specifically configured to obtain a damping adjustment coefficient based on the response time, the hardware parameter of the linear motor, and a fourth preset formula; the fourth preset formula is:
Wherein k ξ is the damping adjustment coefficient, t rd is the response time, ζ is the inherent damping coefficient of the linear motor, and M is the vibrator mass of the linear motor, bl is the magnetic field intensity, k is the spring stiffness coefficient, R is the damping coefficient, and R is the coil direct current resistance;
The processing module is specifically configured to obtain a target compensation voltage based on the current speed of the vibrator, the damping adjustment coefficient and a fifth preset formula; the fifth preset formula is:
Wherein u c (t) is the target compensation voltage, v (t) is the current speed of the vibrator, and t is the moment;
the processing module is specifically configured to use a sum of the driving voltage and the target compensation voltage as the actual driving voltage.
7. The electronic device of claim 6, further comprising:
the voltage and current detection module is used for being connected with the linear motor to detect the current and the current voltage of the linear motor and sending the current and the current voltage to the processing module;
The processing module is used for acquiring the current voltage and the current of the linear motor;
obtaining the current speed of the vibrator based on the current voltage, the current and a first preset formula;
the first preset formula is as follows:
Wherein v (t) is the current speed of the vibrator, u fdb (t) is the current voltage, i fdb (t) is the current, and t is the time.
8. A computer-readable storage medium, wherein a control program of a linear motor is stored thereon, which when executed by a processor, implements the control method of a linear motor according to any one of claims 1 to 4.
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| CN202111290967.4A CN113938082B (en) | 2021-10-29 | 2021-10-29 | Control method, control device, equipment and medium for linear motor |
| PCT/CN2022/120564 WO2023071641A1 (en) | 2021-10-29 | 2022-09-22 | Control method and apparatus for linear resonant actuator, and device and medium |
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| CN115622475B (en) * | 2022-11-07 | 2024-11-05 | 歌尔股份有限公司 | Protection method for linear motor, terminal device and computer readable storage medium |
| CN115632592B (en) * | 2022-11-07 | 2025-01-14 | 歌尔股份有限公司 | Linear motor vibrator displacement control method and device, terminal equipment and 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 |
| CN118191583B (en) * | 2022-12-12 | 2025-02-07 | 荣耀终端有限公司 | A linear motor aging test method and terminal device |
| CN119234386A (en) * | 2023-04-28 | 2024-12-31 | 上海艾为电子技术股份有限公司 | Motor driving method, driving chip, device and medium |
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| CN113938082B (en) * | 2021-10-29 | 2024-07-02 | 歌尔股份有限公司 | Control method, control device, equipment and medium for linear motor |
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| CN110112984A (en) * | 2019-05-29 | 2019-08-09 | 维沃移动通信有限公司 | Vibration control method and mobile terminal of a linear motor |
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