CN204967593U - Adaptive control micro motor - Google Patents

Abstract

The utility model provides an adaptive control micro motor, including drive unit, active cell and adaptive control unit, drive unit is including fixed stator and personal vibrating mass, through the stator with vibrating mass's interact does all can and is the drive power that the active cell provided reciprocating motion, the active cell is the forced vibration part, is reciprocating motion under personal vibrating mass of drive unit drives, the adaptive control unit is used for the motion state feedback information according to the active cell, comes to carry out real time control to the motion state of active cell through the effort of corrective action in the active cell. The utility model discloses combine together motor hardware with control circuit, be convenient for adjust in real time the magnetic field intensity in the motor for the vibration of motor is more stable.

Description

Adaptive control micro motor

Technical Field

The utility model relates to a consumer electronics technical field, more specifically relates to a be applied to portable consumer electronics product adaptive control micromotor.

Background

With the development of communication technology, portable electronic products, such as mobile phones, handheld game consoles or handheld multimedia entertainment devices, have come into the lives of people. In these portable electronic products, a micro vibration motor is generally used for system feedback, such as incoming call prompt of a mobile phone, vibration feedback of a game machine, and the like. However, with the trend of light and thin electronic products, various components inside the electronic products also need to adapt to the trend, and the micro linear motor is no exception.

A conventional micro linear motor generally includes an upper cover, a lower cover forming a vibration space with the upper cover, a vibrator (including a weight block and a permanent magnet) performing linear reciprocating vibration in the vibration space, an elastic support member connecting the upper cover and causing the vibrator to perform reciprocating vibration, and an electromagnet (coil) located a distance below the vibrator.

In the micro linear motor with such a structure, the vibration of the motor is mainly realized by the mutual cooperation of mechanical structures, specifically, the magnetic field generated by the permanent magnet in the magnetic field dipole generated after the coil is electrified interacts with each other, so that the motor is driven to vibrate. The micro linear motor of the above conventional structure has the following disadvantages:

1. due to the fluctuation of the material size and unstable factors in the assembly process, the performance of the motor generates larger fluctuation;

2. the response speed of the traditional micro linear motor mainly depends on the magnitude of instantaneous driving force and damping, and the high driving force and the low damping result in high starting speed and low braking speed; the driving force is small, the damping is large, the starting is slow, the braking is fast, and the driving force and the damping cannot be considered;

3. the unbalanced polarization of the traditional micro linear motor in the vibration process can not be avoided, and the problem can only be solved through space avoidance, but the performance is necessarily reduced due to the space avoidance.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is an object of the present invention to provide an adaptive control micro motor, which can improve the performance of the motor by combining the hardware of the micro linear motor with the control circuit and applying an adaptive control algorithm to the control circuit to control the vibration state of the vibrator in real time.

The utility model provides a self-adaptive control micromotor, including drive unit and active cell, wherein, drive unit includes fixed stator and movable vibrating mass, and through the mutual force of stator and vibrating mass and provide reciprocating motion's drive power for the active cell; the rotor is a forced vibration part and is driven by a movable vibration block of the driving unit to do reciprocating motion; in addition, the device also comprises an adaptive control unit which is used for controlling the motion state of the mover in real time by adjusting the acting force acting on the mover according to the motion state feedback information of the mover.

The self-adaptive control unit comprises a control chip and a magnetic field force controllable unit, wherein the control chip is used for regulating and controlling an external input signal according to motion state feedback information of the rotor and determining a real-time control signal output to the magnetic field force controllable unit; the magnetic field force controllable unit is used for providing real-time control acting force for the rotor under the control of the control signal.

Wherein, the preferred scheme is, control chip includes: the feedback signal acquisition unit is used for acquiring voltage or current signals fed back by the rotor; the difference determining unit is used for determining an error signal for adjusting the motion state of the rotor according to the signal acquired by the feedback signal acquiring unit; the adaptive filtering unit is used for carrying out adaptive filtering on the external input signal according to the error signal determined by the difference determining unit; and the power amplification unit is used for carrying out power amplification on the signal filtered by the self-adaptive filtering unit so as to output a real-time control signal to the magnetic field force controllable unit.

The difference determining unit extracts a current waveform representing the current motion state of the mover from motion state feedback information of the mover, and compares the current waveform with a preset sinusoidal waveform to form an error signal output to the adaptive filtering unit; the self-adaptive filtering unit adjusts the filtering parameters of the self-adaptive filtering unit according to the error signal and corrects the external input signal according to the filtering parameters.

Preferably, the control chip is a built-in circuit or a peripheral circuit of the adaptive control micro motor.

Wherein, it is preferable that the magnetic field force controllable unit comprises a moving part and a fixed part for applying a force to the moving part; wherein the moving part is combined with the mover and reciprocates together with the mover, and the fixed part is stationary relative to the stator.

Wherein, the preferable scheme is that the moving part is a permanent magnet, an electromagnet or a multi-turn coil fixedly combined with the rotor.

The vibrating block comprises at least two permanent magnets which are adjacently arranged and a magnetic conduction yoke which is arranged between the two permanent magnets which are adjacently arranged, and the polarities of the adjacent ends of the two permanent magnets which are adjacently arranged are the same; the stator comprises a coil and a magnetic conduction core arranged in the coil; the magnetizing direction of the permanent magnet is perpendicular to the axial direction of the coil.

Wherein, the preferred scheme is that the magnetic yoke and the magnetic core are arranged in a staggered way; and the distance d in the horizontal direction between the magnetic conductive yoke and the magnetic conductive core corresponding to the magnetic conductive yoke is within the numerical range of [0.1mm, 0.3mm ].

Preferably, the stator and the vibrating mass are arranged in a vertical direction, and the vibrating direction of the vibrating mass is parallel to the mounting plane of the stator.

The aforesaid is according to the utility model discloses a self-adaptation control micro motor has jumped the motor design thinking of the permanent magnet of current solidification and coil, through increasing control circuit, with the mode that motor hardware and chip, algorithm combined together, the vibration state of real-time adjustment motor makes the oscillator atress balanced all the time at the vibration in-process to make the motor can obtain the balanced sense of shaking of homogeneous.

Drawings

Other objects and results of the present invention will become more apparent and more readily appreciated as the same becomes better understood by reference to the following description and appended claims, taken in conjunction with the accompanying drawings. In the drawings:

fig. 1 is a schematic diagram of an overall explosion structure of an adaptive control micro-motor according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a combination structure of an adaptive control micro motor according to an embodiment of the present invention;

fig. 3 is a logic structure of an adaptive control micro motor according to an embodiment of the present invention;

fig. 4 is a logic structure of an adaptive control micro motor according to another embodiment of the present invention;

fig. 5 is a schematic block diagram of another embodiment of an adaptive control micro-motor according to the present invention;

fig. 6 is a schematic diagram of a process of adjusting non-linear motion according to an embodiment of the present invention;

fig. 7 is a circuit configuration of an adaptive control unit according to an embodiment of the present invention;

fig. 8a and 8b are schematic views of the combined structure of the vibration block and the stator according to the embodiment of the present invention;

fig. 9 is a schematic view of the working principle according to the embodiment of the present invention;

fig. 10a and 10b are schematic views of a vibrating mass and a stator assembly according to another embodiment of the present invention.

The same reference numbers in all figures indicate similar or corresponding features or functions.

Detailed Description

In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments. It may be evident, however, that such embodiment(s) may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing one or more embodiments.

In order to more clearly illustrate the technical solution of the present invention, some concepts related to the present invention will be described below.

The mover refers to a forced vibration part in the motor, and can also be called as a 'counterweight block' or a 'mass block', so as to strengthen a high-quality and high-density metal block for vibration balance, and can reciprocate under the driving of the driving unit and the magnetic field force controllable unit.

The driving unit, which is an inherent part in the structure of a conventional motor, includes a fixed stator and a movable vibrating mass, wherein the stator may be a fixed coil or an electromagnet, and the vibrating mass includes a permanent magnet, and provides a driving force for the mover to reciprocate by an interaction force of the coil or the electromagnet and the permanent magnet.

The magnetic field force controllable unit is an auxiliary structure arranged in the motor and mainly comprises a fixed part and a moving part, wherein the fixed part exerts force (mainly magnetic field force) on the moving part, and the moving part is fixedly combined with the rotor and vibrates together with the rotor; the motion state of the mover can be controlled by adjusting the force acting on the moving part.

Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

In order to solve the single unbalance problem of feeling that shakes that leads to of coil control mode among the current miniature vibrating motor structure, the utility model provides a self-adaptation control miniature motor combines together the hardware and the control circuit of motor, real-time motor's vibration state. Specifically, fig. 1 and 2 show an overall explosion structure and a combination structure of an adaptive control micro motor according to an embodiment of the present invention, respectively.

As shown in fig. 1 and fig. 2, the adaptive control micro-motor of the present embodiment mainly includes a housing, a vibrator, and a stator, where the stator and the vibrator are vertically arranged, and the stator is stationary and fixed relative to the housing. Wherein, the shell comprises an upper shell 1 and a rear cover 2; the vibrator comprises a balancing weight 31 and a vibrating block, wherein relative to a fixed stator, the vibrating block is a movable part in a driving unit for providing driving force for the adaptive control micromotor and consists of three permanent magnets 32a, 32b and 32c which are adjacently arranged and magnetic conductive yokes 33a and 33b which are respectively arranged between the adjacent permanent magnets; the stator includes two coils 41a, 41b provided corresponding to the vibrator and cores 42a, 42b provided in the coils, respectively. The magnetic conduction yokes and the magnetic conduction cores are arranged in a staggered mode, each magnetic conduction core is located at a position, far away from the center of the oscillator, of the corresponding magnetic conduction yoke, and the corresponding magnetic conduction core/magnetic conduction yoke can affect each other and change the trend of magnetic lines of force. In the figure, the magnetic yoke and the magnetic core are arranged in a staggered manner in the following order: the magnetic core 42a, the magnetic yoke 33b, and the magnetic core 42b, wherein the magnetic core 42a corresponds to the magnetic yoke 33a, and the magnetic yoke 33b corresponds to the magnetic core 42 b. The weight block 31 may be made of high-density metal materials such as tungsten steel block, nickel-tungsten alloy, etc. to increase the vibration force and make the vibration of the electronic product stronger.

In the embodiment shown in fig. 1 and 2, the vibrating mass and the stator constitute the driving unit of the self-adaptive control micro motor of the present invention, the counterweight 31 is a forcedly vibrating rotor, and the movable vibrating mass in the driving unit is acted by the magnetic field force of the fixed stator to drive the rotor to reciprocate.

In addition, the adaptive control micro motor is further provided with an adaptive control unit (not shown) for controlling the motion state of the mover in real time by adjusting the acting force acting on the mover based on the motion state feedback information of the mover. The adaptive control means may be a built-in circuit for adaptively controlling the micro motor, or may be provided outside the adaptive control micro motor as a peripheral circuit thereof.

Specifically, fig. 3 and 4 respectively show the logical structure of the adaptive control micro motor according to the embodiment of the present invention from different angles.

As shown in fig. 3 and 4, the adaptive control micro motor of the present invention includes an adaptive control unit 100, a driving unit 200, and a mover 300, wherein the driving unit 200 includes a fixed stator and a movable vibrating mass, and provides a driving force for the mover to reciprocate by an interaction force of the stator and the vibrating mass; the mover 300 is a forced vibration part and reciprocates under the driving of a movable vibration block of the driving unit 200; the adaptive control unit 100 controls the motion state of the mover 300 in real time by adjusting the acting force acting on the mover 300 according to the motion state feedback information of the mover 200.

The adaptive control unit 100 includes a control chip 110 and a magnetic field force controllable unit 120. The control chip 110 may receive an external input signal and motion state feedback information of the mover 300, regulate and control the external input signal according to the motion state feedback information of the mover 300, and determine a real-time control signal output to the magnetic field force controllable unit 120; the magnetic force controllable unit 120 is connected between the control chip 110 and the mover 300, and is configured to provide real-time controlled acting force for the mover 300 under the control of the control signal output by the control chip 110.

Fig. 5 is a schematic block diagram of another embodiment of an adaptive micro-motor control according to the present invention.

In the embodiment shown in fig. 5, the control chip further includes a feedback signal acquisition unit 111, a difference determination unit 112, an adaptive filtering unit 113, and a power amplification unit 114. The feedback signal acquisition unit 111 is used for acquiring voltage or current signals fed back by the mover 300; the difference determining unit 112 is configured to determine an error signal for adjusting a moving state of the mover according to the signal acquired by the feedback signal acquiring unit 111; an adaptive filtering unit 113 for adaptively filtering the external input signal according to the error signal determined by the difference determining unit 112; the power amplifying unit 114 is configured to perform power amplification on the signal filtered by the adaptive filtering unit 113 to output a real-time control signal to the magnetic field force controllable unit.

As shown in fig. 5, after an external input signal is input to the adaptive control micro motor, the driving unit, i.e., the driving mover 300 reciprocates in a predetermined direction, the feedback signal collecting unit 111 collects feedback information (i.e., a voltage or current signal of the mover 300) that can represent a motion state of the mover 300 and is fed back by the mover 300, the difference determining unit 112 calculates a difference between a current motion state of the mover 300 and a control target (an expected motion state of the mover 300) according to the feedback information, thereby determining an error signal for adjusting the motion state of the mover, the adaptive filtering unit 113 adaptively filters the external input signal according to the error signal, the filtered signal is amplified by the power amplifying unit 114 and then output to the magnetic field force controllable unit 120, the mover 300 is driven by the power controllable unit 120 and the driving unit 200 to move, at this time, the motion state of the rotor can be controlled by the self-adaptive control unit in real time for one time.

In the above real-time control process, the magnetic force controllable unit 120 directly applies a force to the mover 300, and thus the magnetic force controllable unit 120 is disposed inside the adaptive control micro motor. In one embodiment of the present invention, the magnetic field force controllable unit 120 includes a moving part and a fixed part for applying an acting force to the moving part; the moving part is combined with the rotor and reciprocates together with the rotor, for example, the moving part may be several permanent magnets, electromagnets or multi-turn coils fixed at fixed points on the counterweight block, the fixed part is stationary relative to the stator, and may be a permanent magnet or an electromagnet or a multi-turn coil fixed inside the adaptive control micro motor, or the stator of the adaptive control micro motor itself may be used as the fixed part of the magnetic field force controllable unit.

Because the conventional micro linear motor only realizes the vibration of the motor through the mutual matching of mechanical structures, the distance between the central axes of the stator and the vibrating block in the driving unit can change along with the vibration, so that the size of the driving force is influenced, namely the vibration of the vibrating block driving the rotor in the motor is nonlinear in practice. The utility model discloses an above-mentioned feedback information real-time adjustment according to the current motion state of active cell is to the drive power of active cell to adjust the vibration of active cell for linear motion from nonlinear motion, effectively improved the stability of vibration.

Fig. 6 shows a process of adjusting non-linear motion according to an embodiment of the present invention.

As shown in fig. 6, after the motor is started, the adaptive control unit starts to receive an external input signal and starts a corresponding adaptive control process. After the start-up, the difference determination unit 112 first determines whether feedback information (voltage or current signal) of the mover is input (step S601), and if the feedback information of the mover is input, the process proceeds to step S602: extracting a current waveform representing the current motion state of the rotor from the feedback information; then, the current waveform is compared with a preset sine waveform (step S603), and an error signal is generated according to the comparison result and is output to the adaptive filtering unit 113, and the adaptive filtering unit 113 adjusts the filtering parameter according to the error signal and corrects the external input signal according to the filtering parameter (step S604). After the external input signal is corrected, it is further determined whether the corrected external input signal satisfies a requirement (step S605), that is, whether the corrected external input signal is sufficient to adjust the motion state of the mover to the preset state, if the corrected external input signal satisfies the requirement, the next feedback information of the mover is continuously waited for, and if the corrected external input signal does not satisfy the requirement, the steps S602 to S605 are repeated, and the corrected external input signal is input as the feedback information to perform the extraction-comparison-correction-determination again until the corrected external input signal is sufficient to adjust the motion state of the mover to the preset state.

Additionally, the utility model provides an adaptive control micro motor still includes flexible line way board (PFCB)7, and stator and control chip 110 all can be fixed on FPCB7, and the coil lead wire of stator and control chip pass through circuit and external circuit intercommunication on the FPCB7, and FPCB7 is fixed with epitheca 1, and back lid 2 can be fixed with FPCB7 through the mode of buckle, and FPCB7 communicates motor internal circuit and external circuit.

Similarly, the control chip 110 may be fixed to the housing.

Fig. 7 shows a circuit configuration of an adaptive control unit according to an embodiment of the present invention.

As shown in fig. 7, the adaptive control unit includes a control chip 110 and a magnetic field force controllable unit 120, the magnetic field force controllable unit 120 may include a plurality of electromagnets or multi-turn coils uniformly distributed on the surface of the mover, and one control chip may control the electromagnets or multi-turn coils through leads or circuit boards. It should be noted that the magnetic field force controllable unit 120 shown in fig. 7 only shows a part thereof, and the part may be a moving part or a fixed part. That is, the magnetic field generated by one portion (moving portion/fixed portion) of the magnetic force controllable unit 120 is fixed and constant, the portion generating the fixed and constant magnetic field is not shown in the embodiment shown in fig. 7, and another portion (fixed portion/moving portion) of the magnetic force controllable unit 120 can generate a variable magnetic field under the control of the control chip 110, thereby adjusting the force between the fixed portion and the variable portion of the magnetic force controllable unit 120.

Fig. 8a and 8b show a combination structure of a vibrating mass and a stator in an adaptive control micro motor according to the present invention. As shown in fig. 8a and 8b, among the three adjacent permanent magnets, the polarity of the adjacent end of each permanent magnet and the adjacent permanent magnet is the same, namely, the adjacent ends are arranged in the sequence of S-N, N-S, S-N (as shown in fig. 8 a) or the sequence of N-S, S-N, N-S (as shown in fig. 8 b), the magnetic conductive yoke is arranged between the adjacent permanent magnets, and the magnetizing direction of the permanent magnets is perpendicular to the axial direction of the stator. Because the two ends of the two permanent magnets with the same polarity can generate repulsive force, the magnetic lines of force of the permanent magnets can intensively pass through the magnetic conducting yoke between the two adjacent permanent magnets and the coil arranged below the vibrating block, so that the magnetic flux passing through the coil is increased as much as possible.

The operation of the adaptive control micro motor of the present invention will be briefly described with reference to fig. 9. According to the left-hand rule for judging the stress direction of the electrified conductor in the magnetic field, the left hand is stretched, so that the thumb is perpendicular to the other four fingers and is in the same plane with the palm; the magnetic induction line enters from the palm, and the four fingers point to the direction of current, and the direction pointed by the thumb is the direction of the ampere force exerted on the electrified lead in the magnetic field. Assuming the direction of the current in the coil, it is labeledThe direction of the current flow is perpendicular to the drawing and is indicated asThe current direction is perpendicular to the drawing surface and is outward, and the first coil isThe second coil must also beAndtherefore, the coils are all stressed to the right F, and because the coils are fixed, the permanent magnets are stressed to the left F' based on the relation between the acting force and the reacting force. So, receive the permanent magnet of driving force left and just drive the balancing weight and do translational motion left together to the left spring of extrusion balancing weight, the spring on tensile balancing weight right side. Similarly, when the current direction changes, the direction of the magnetic force F received by the coil is leftward according to the left-hand rule. However, because the coil is fixed, the permanent magnet is acted by the F' with the same size and the opposite direction to the F, the permanent magnet which is acted by the right driving force drives the balancing weight to do the right translation movement together, and simultaneously, the springs at the two ends of the balancing weight are stretched/extruded continuously after being restored from the extruding/stretching state. The above motions are alternately performed, so that the vibrator formed by the vibrating mass composed of the permanent magnet and the magnetic yoke and the counterweight block reciprocates in a direction parallel to the mounting plane of the stator.

According to the principle, the control chip is used for controlling the electrifying direction and the electrifying size of the magnetic field force controllable unit in the self-adaptive control micro motor, the phase and the size of the electrifying in the magnetic field force controllable unit can be adjusted in real time according to the motion state of the rotor, so that the driving force borne by the rotor cannot change along with the position change of reciprocating motion, the force on the vibrator is balanced, and the vibration sense with relative balance is obtained.

In the above embodiment, the vibrating mass includes three permanent magnets, but the specific application is not limited to the above configuration, and the number of the permanent magnets constituting the vibrating mass may be appropriately selected according to the magnitude of the vibrating force required for the application product. Such as more permanent magnets or a combination of a seismic mass and a stator consisting of two permanent magnets, as shown in fig. 10a and 10b, respectively.

As shown in fig. 10a and 10b, the vibrating mass includes two permanent magnets 32a ', 32 b' disposed adjacently, the adjacent ends of the two permanent magnets having the same polarity, and a magnetic yoke 33a 'disposed between the two permanent magnets 32 a', 32b ', and a stator composed of a coil 41' and a magnetically permeable core 42 'disposed in the coil 41' is disposed below the vibrating mass, and the magnetic yoke 33a 'and the magnetically permeable core 42' are arranged in a staggered manner. .

In the above embodiments, the magnet in the vibrating mass is a permanent magnet, and an electromagnet may be used as the magnet in the vibrating mass. When the magnet in the vibrating block is an electromagnet, the control chip can be electrically connected with the electromagnet in the vibrating block through the lead, so that the current direction and the current magnitude of the electromagnet in the vibrating block are controlled through the control chip, and real-time adjustment is performed according to the vibration state of the mover.

In the embodiment shown in fig. 1 and 2, the vibrating block is embedded and fixed in the balancing weight to drive the balancing weight to vibrate horizontally. Specifically, the middle part of the balancing weight is provided with an avoiding structure for avoiding the stator, and the central position of the avoiding structure on the balancing weight is provided with a groove for accommodating the vibrating block. In the specific assembling process, the permanent magnets and the magnetic conducting yokes which form the vibrating block can be fixed together, and then the vibrating block is integrally fixed in the groove in a gluing mode or a laser electric welding mode.

Additionally, the utility model discloses a still including setting up two vibration guiding axle spacing springs and the stopper at balancing weight 31 both ends, spacing spring housing is established on vibration guiding axle 51a, 51 b. In the embodiment shown in fig. 1 and 2, the limiting blocks 53a and 53b are respectively fixed on the upper casing 1, the two vibration guide shafts 51a and 51b are respectively fixed at two ends of the counterweight 31, and the limiting blocks 53a and 53b are further provided with guide holes for the vibration guide shafts to reciprocate. Thus, the vibrating mass drives the weight block 31 and the vibration guide shafts 51a and 51b fixed to both ends of the weight block 31 to vibrate within a limited range of the guide hole under the action of the magnetic field generated after the stator is energized.

Wherein, the limiting springs 52a, 52b respectively sleeved on the vibration guide shafts 51a, 51b are respectively limited between the balancing weight 31 and the corresponding limiting blocks 53a, 53b, and provide elastic restoring force for the vibration of the vibrator.

In addition, in order to reduce the friction force between the vibration guide shaft and the guide hole as much as possible and improve the product quality, the end of the vibration guide shaft, which is deep into the guide hole, can be sleeved with the shaft sleeves 54a and 54b, and the contact surface of the shaft sleeve and the guide hole is smooth and wear-resistant. The increase of axle sleeve has reduced the area of contact of vibration guiding axle and guiding hole to can adopt the smooth wear-resisting material preparation axle sleeve in density height, surface, can reduce the frictional force between vibration guiding axle and the guiding hole as far as possible on the basis that does not increase the cost, improve lubricated degree.

As another embodiment of the present invention, the limiting block can be fixed at both ends of the weight block respectively, or the weight block and the limiting block are designed as an integral structure, the limiting block is provided with a guide hole for the reciprocating motion of the vibration guide shaft, and the two vibration guide shafts are fixed on the upper shell respectively, and the shaft sleeve is sleeved at one end of the guide shaft acting with the guide hole (here, the end close to the weight block). Therefore, the vibrating block drives the balancing weight and the limiting blocks fixed at the two ends of the balancing weight to vibrate along the vibration guide shaft within the limited range of the guide hole under the action of a magnetic field generated after the stator is electrified.

Obviously, the amplitude of the vibrator vibration determines the depth of the vibration guide shaft penetrating into the guide hole, the depth of the tail end of the vibration guide shaft penetrating into the guide hole from the bottom end of the guide hole and the width of the edge of the avoiding structure from the outer edge of the stator. In the embodiments shown in fig. 1, 2 and 3, the horizontal distance d between the magnetic yoke and the magnetic core corresponding to the magnetic yoke is within a numerical range of [0.1mm, 0.3mm ], that is, the horizontal distance between the center line of each magnetic yoke and the center line of the magnetic core of the corresponding (i.e., closest) stator is 0.1-0.3 mm, so the depth of the corresponding vibration guide shaft penetrating into the guide hole, the depth of the vibration guide shaft penetrating into the end of the guide hole from the bottom end of the guide hole and the width of the edge of the avoiding structure from the outer edge of the stator are all slightly larger than 0.2 mm.

In order to optimize the control of the vibration balance inside the motor, it is also possible to add a magnetic balance mechanism inside the motor, for example, a pair of first balance magnets 61a, 61b provided on both vertical side walls of the weight 31, respectively, and a pair of second balance magnets corresponding to the first balance magnets 61a, 61b also provided on the housing at positions corresponding to the ends of the weight 31, respectively, and the second balance magnets 62a, 62b attract the corresponding first balance magnets 61a, 61 b.

Because two pairs of first balance magnets 61a and 61b are respectively fixed at two ends of the balancing weight 31, and two pairs of second balance magnets mutually attracted with the two pairs of first balance magnets 61a and 61b are respectively fixed on the inner wall of the shell, namely two pairs of magnets capable of giving positioning attraction to two ends of the vibrator vibrating in the space are fixedly arranged at two ends of the vibrating space on the shell, therefore, in the vibrating process of the vibrator, four corners of the vibrator can receive the directional attraction of four corners corresponding to the vibrating space, and magnetic balance guidance is provided for the vibration of the vibrator in the vibrating space. The magnetic balance guide cannot deform or wear, and has higher accuracy and stability compared with the existing mechanical balance guide means.

The first balance magnet and the second balance magnet in the magnetic balance mechanism can adopt a permanent magnet, an electromagnet or any combination of the permanent magnet and the electromagnet, for example, the first balance magnet and the second balance magnet both adopt permanent magnets or both adopt electromagnets; or the first balance magnet adopts an electromagnet, and the second balance magnet adopts a permanent magnet; or the first balance magnet adopts a permanent magnet, and the second balance magnet adopts an electromagnet.

Similarly, when the magnet in the magnetic balance mechanism is an electromagnet, the magnet in the magnetic balance mechanism can be electrically connected with the chip through a lead wire, so that the current direction and the current magnitude of the magnet in the magnetic balance mechanism are controlled through the chip to adjust the stress balance of the vibrating mass in the vibrating process.

An adaptive control micro motor according to the present invention is described above by way of example with reference to the accompanying drawings. However, it will be appreciated by those skilled in the art that various modifications may be made to the adaptive control micro motor of the present invention without departing from the scope of the invention. Therefore, the scope of the present invention should be determined by the content of the appended claims.

Claims (10)

1. An adaptive control micro motor comprises a driving unit and a rotor, wherein the driving unit comprises a fixed stator and a movable vibrating block, and the rotor is provided with a driving force for reciprocating motion through the interaction force of the stator and the vibrating block; the rotor is a forced vibration part and is driven by a movable vibration block of the driving unit to reciprocate; it is characterized in that the preparation method is characterized in that,

the self-adaptive control unit is used for controlling the motion state of the rotor in real time by adjusting the acting force acting on the rotor according to the motion state feedback information of the rotor.

2. The adaptive control micro-motor of claim 1, wherein the adaptive control unit comprises a control chip and a magnetic field force controllable unit, wherein,

the control chip is used for regulating and controlling an external input signal according to the motion state feedback information of the rotor and determining a real-time control signal output to the magnetic field force controllable unit;

and the magnetic field force controllable unit is used for providing real-time control acting force for the rotor under the control of the control signal.

3. The adaptive control micro-motor of claim 2, wherein the control chip comprises:

the feedback signal acquisition unit is used for acquiring voltage or current signals fed back by the rotor;

the difference determining unit is used for determining an error signal for adjusting the motion state of the rotor according to the signal acquired by the feedback signal acquiring unit;

the adaptive filtering unit is used for carrying out adaptive filtering on the external input signal according to the error signal determined by the difference determining unit;

and the power amplification unit is used for performing power amplification on the signal filtered by the self-adaptive filtering unit so as to output the real-time control signal to the magnetic field force controllable unit.

4. The adaptive control micro-motor according to claim 3, wherein the difference determining unit forms the error signal outputted to the adaptive filtering unit by extracting a current waveform representing a current motion state of the mover from the motion state feedback information of the mover, and comparing the current waveform with a preset sinusoidal waveform;

and the self-adaptive filtering unit adjusts the filtering parameters of the self-adaptive filtering unit according to the error signal and corrects the external input signal according to the filtering parameters.

5. The adaptive control micro-motor of claim 2,

the control chip is a built-in circuit or a peripheral circuit of the self-adaptive control micro motor.

6. The adaptive control micro-motor of claim 2,

the magnetic field force controllable unit comprises a moving part and a fixed part for applying acting force to the moving part; wherein,

the moving part is coupled with the mover and reciprocates together with the mover, and the fixed part is stationary with respect to the stator.

7. The adaptive control micro-motor of claim 6,

the moving part is a permanent magnet, an electromagnet or a multi-turn coil fixedly combined with the rotor.

8. The adaptive control micro-motor of claim 1,

the vibrating block comprises at least two permanent magnets which are adjacently arranged and a magnetic conduction yoke which is arranged between the two permanent magnets which are adjacently arranged, and the polarities of the adjacent ends of the two permanent magnets which are adjacently arranged are the same;

the stator comprises a coil and a magnetically permeable core disposed in the coil; and,

and the magnetizing direction of the permanent magnet is vertical to the axial direction of the coil.

9. The adaptive control micro-motor of claim 8,

the magnetic conductive yoke and the magnetic conductive core are arranged in a staggered manner; and,

the distance d in the horizontal direction between the magnetic conducting yoke and the magnetic conducting core corresponding to the magnetic conducting yoke is within the numerical range of [0.1mm, 0.3mm ].

10. The adaptive control micro-motor of claim 1 or 8,

the stator and the vibrating block are arranged in the vertical direction, and the vibrating direction of the vibrating block is parallel to the mounting plane of the stator.