CN103731080A - Electric motor sound production method - Google Patents
Electric motor sound production method Download PDFInfo
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- CN103731080A CN103731080A CN201410022580.4A CN201410022580A CN103731080A CN 103731080 A CN103731080 A CN 103731080A CN 201410022580 A CN201410022580 A CN 201410022580A CN 103731080 A CN103731080 A CN 103731080A
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Abstract
The invention discloses an electric motor sound production method. The electric motor sound production method comprises the following steps: 1 a motor drive controller invokes a pre-stored high-frequency current instruction when receiving a sound production instruction; 2 the motor drive controller superposes the high-frequency current instruction on a current instruction for controlling electromagnetic torque production of an electric motor and drives the electric motor to work according to a superposed instruction. The electric motor sound production method enables the electric motor to produce electromagnetic torque during normal operation and a torque signal directly proportional with the high-frequency current instruction by superposing the high-frequency current instruction with a frequency band ears are sensitive to in the current instruction according to a sound production principle, enables a motor rotor to produce high-frequency vibration through the high-frequency torque and produces sound different in tone through the vibration.
Description
Technical field
The present invention relates to a kind of motor vocal technique.
Background technology
Self-balancing electronic two wheeler is a kind of Personal Transporter of environmental protection, adopts storage battery power supply, and its center of gravity is inverted in the top of wheel shaft, two parallel coaxial placements of wheel, and respectively have a servo motor driven, the structure of balanced car with two wheels is as shown in Figure 1.Under uncontrolled state, this system is a time-dependent system.When system is normally worked, controller is accepted the information of body gesture transducer, and according to the operation principle of reversible pendulum system, controls servomotor action, thereby make vehicle body maintain a dynamic balance state.When the overall center of gravity top rake of driver and vehicle, the built-in servo-electric chance in vehicle body produces strength forward, the moment of torsion that balance people and car are toppled over forward on the one hand, and generation allows acceleration that vehicle advances to maintain car body balance on the other hand; On the contrary, when driver's center of gravity is during toward hypsokinesis, the strength that also can produce backward reaches counterbalance effect.Therefore, driver if the angle that changes own health forward or toward hypsokinesis, balanced car with two wheels will be according to the side tilting forward or backward.
Balanced car with two wheels, when vehicle operating, need to remind manipulator's vehicle in which kind of state, and therefore, the sound prompt device of vehicle is absolutely necessary.Consider the reliability of vehicle, traditional sound-producing device, as buzzer and loudspeaker need to prevent dust, the encapsulation process of waterproof, sealing is processed the outside propagation of sound is caused to very large impact, the input power that must improve sound-producing device, increases system power dissipation, and affects the quality of sound.Motor and speed reducer, as the power take-off of vehicle, is exposed to outside the can of vehicle conventionally, if any a kind of method, power take-off is sounded, and will greatly improve the reliability of system and the laser propagation effect of sound.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of method of utilizing motor sounding.
The technical solution adopted in the present invention is: a kind of motor vocal technique, comprises the following steps:
Step 1, motor drive controller, when receiving sounding instruction, calls pre-stored high-frequency current instruction;
Step 2, motor drive controller is superimposed upon this high-frequency current instruction the current-order that produces electromagnetic torque for controlling described motor, and works with this order-driven motor after stack.
The present invention is according to the generation principle of sound, by the relatively high-frequency current instruction of sensitive frequency section of people's ear that superposes in current-order, make motor remove the electromagnetic torque while producing normal operation, also produce the dtc signal being directly proportional to high-frequency current instruction, the vibration that this high frequency torque makes rotor produce high frequency, by the sound of the different tones of generation of vibration.
Accompanying drawing explanation
Fig. 1 is the structural representation of balanced car with two wheels.
Fig. 2 is the schematic flow sheet of motor vocal technique according to an embodiment of the invention.
Fig. 3 is the vector control block diagram for the permanent magnet synchronous motor of balanced car with two wheels.
Fig. 4 is motor sounding control principle drawing according to an embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is made further instructions.
As shown in Figure 2, a kind of according to an embodiment of the invention motor vocal technique is to realize by following steps:
Step 1, motor drive controller, when receiving sounding instruction, calls pre-stored high-frequency current instruction;
Step 2, motor drive controller is superimposed upon this high-frequency current instruction the current-order that produces electromagnetic torque for controlling described motor, and works with this order-driven motor after stack.
In a specific embodiment, the frequency f of above-mentioned high-frequency current instruction is 1kHz≤f≤5kHz.This high-frequency current instruction can be sine-wave current signal or square wave current signal, is stored in the memory of motor drive controller.
Method of the present invention is applicable to DC motor, asynchronous motor, brushless DC motor and permanent magnet synchronous motor.According to the different characteristics of all kinds of motor, all kinds of motor output torques all meet:
T
e＝K
T×I (1)
Wherein T
e-electric electromechanics magnetic torque, K
tfor the moment coefficient of motor, I-armature supply
The equation of motion of motor:
In formula:
T
l-load torque
The moment of inertia of I-motor and load end thereof
D-torque damping coefficient
K-elasticity of torsion moment coefficient
θ-rotor position angle
The present invention, by the relatively high-frequency current instruction of sensitive frequency section of people's ear that superposes in current-order, makes motor remove the electromagnetic torque while producing normal operation, also produces the dtc signal being directly proportional to high-frequency current instruction.The vibration known by formula (2), this dtc signal can make motor rotor and reductor produce high frequency.According to sound, produce principle, this dither produces the voice signal of people's ear sensitivity.When this motor is arranged on and uses on vehicle, because the vibration frequency of motor rotor is much higher than the corresponding speed of vehicle, can not impact the operation of vehicle.For different travel condition of vehicle, different high-frequency current instruction frequency and amplitude are set, can produce the voice signal of different-effect, thereby remind the running status of manipulator when vehicle in front.
With balanced car with two wheels, with permanent magnet synchronous motor, describe as an example below.Permanent magnet synchronous motor adopts vector control, control direct-axis current etc. zero, i.e. I
ds,=0, control system block diagram is as shown in Figure 3.
Wherein, the motor drive controller of this permanent magnet synchronous motor adopts motor special DSP control chip
TMS320LF2407, inverter adopts three-phase bridge type converter, and power switch adopts MOSFET, and direct voltage adopts 48V powered battery.During normal operation, this motor drive controller produces q shaft current command value by balancing control algorithm
by PI control algolithm, control actual current i
q εfollow current command value changes.
Ids=0 vector control is that permanent magnet synchronous motor electromagnetic torque equation is:
T
e＝pφ
fI
qε (3)
In formula:
P-motor number of pole-pairs
φ
f-with the crosslinked rotor flux of stator
I
q εstator quadrature axis electric current after-vector
The equation of motion of permanent magnet synchronous motor is as formula (2).According to permanent magnet synchronous motor Formula of Electromagnetic, electromagnetic torque and the direct-axis current i of permanent magnet synchronous motor PMSM output
q εbe directly proportional, according to sound, produce the operation equation of principle and permanent magnet synchronous motor, motor to sound, i
q εmust have high frequency sounding electric current, high-frequency current produces high frequency torque, thus the vibration that makes motor rotor produce high frequency, and the dither in breath produces sound.In the present embodiment, be the high-frequency current instruction that superposes on the basis of q shaft current instruction producing in balancing control algorithm unit, its operation logic block diagram is as shown in Figure 4.
In the present embodiment, pre-stored high-frequency current instruction comprises all mutually different many group high-frequency currents instructions of frequency and amplitude, this many groups high-frequency current instruction corresponds respectively to different travel condition of vehicle, and with the form of form, is stored in the memory of dsp chip.When motor drive controller receives the sounding instruction of outside input, by the method call high-frequency current instruction of tabling look-up.The high-frequency current instruction corresponding due to different travel condition of vehicle has different frequencies and amplitude, thereby can change the tone of motor sounding, for different running statuses provides prompt tone.In the present embodiment, the frequency setting of high-frequency current instruction is the responsive frequency range 1kHz～5kHz to sound at people's ear.High-frequency current instruction adopts high frequency square wave sinusoidal signal.The amplitude of square wave current signal is ± 1～± 3A.
Claims (5)
1. a motor vocal technique, is characterized in that, comprises the following steps:
Step 1, motor drive controller, when receiving sounding instruction, calls pre-stored high-frequency current instruction;
Step 2, motor drive controller is superimposed upon this high-frequency current instruction the current-order that produces electromagnetic torque for controlling described motor, and works with this order-driven motor after stack.
2. motor vocal technique as claimed in claim 1, is characterized in that, the frequency f of described high-frequency current instruction is 1kHz≤f≤5kHz.
3. motor vocal technique as claimed in claim 1 or 2, is characterized in that, described high-frequency current instruction is sine-wave current signal or square wave current signal.
4. motor vocal technique as claimed in claim 1, is characterized in that, this motor is arranged on vehicle;
Described pre-stored high-frequency current instruction comprises all mutually different many group high-frequency currents instructions of frequency and amplitude, and this many groups high-frequency current instruction corresponds respectively to different travel condition of vehicle;
In described step 1, when motor drive controller is when receiving sounding instruction, this motor drive controller first judges the running status of vehicle, then calls the pre-stored high-frequency current instruction corresponding with this running status.
5. the motor vocal technique as described in claim 1 or 4, is characterized in that, described high-frequency current instruction is stored in the memory of described motor drive controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410022580.4A CN103731080A (en) | 2014-01-17 | 2014-01-17 | Electric motor sound production method |
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| CN201410022580.4A CN103731080A (en) | 2014-01-17 | 2014-01-17 | Electric motor sound production method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017152394A1 (en) * | 2016-03-09 | 2017-09-14 | 深圳市大疆创新科技有限公司 | Control method and system for motor |
| CN108027596A (en) * | 2015-09-16 | 2018-05-11 | 深圳市大疆创新科技有限公司 | For the system, apparatus and method made a sound |
| CN109039187A (en) * | 2017-06-09 | 2018-12-18 | 通用汽车环球科技运作有限责任公司 | The method and apparatus generated for audible signal |
| WO2019047539A1 (en) * | 2017-09-06 | 2019-03-14 | 深圳市道通智能航空技术有限公司 | Method and device for sounding by means of motor, electronic variator and unmanned aerial vehicle |
| CN111293951A (en) * | 2019-04-17 | 2020-06-16 | 天津深之蓝海洋设备科技有限公司 | Vibration generating device, vibration generating method, and submersible |
| CN111585487A (en) * | 2020-04-26 | 2020-08-25 | 淮安中科晶上智能网联研究院有限公司 | System for controlling motor to sound |
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| US20050231143A1 (en) * | 2004-04-14 | 2005-10-20 | Denso Corporation | Method of control of magnetic sound of alternating current rotating machine |
| CN101771381A (en) * | 2008-12-02 | 2010-07-07 | 通用汽车环球科技运作公司 | Method and system for operating a vibration in an automobile |
| CN102137770A (en) * | 2008-08-28 | 2011-07-27 | 日产自动车株式会社 | Vehicle operation sound control apparatus and control method |
| CN103378775A (en) * | 2012-04-17 | 2013-10-30 | 三菱电机株式会社 | Motor control equipment and motor control system |
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2014
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| US20050231143A1 (en) * | 2004-04-14 | 2005-10-20 | Denso Corporation | Method of control of magnetic sound of alternating current rotating machine |
| CN102137770A (en) * | 2008-08-28 | 2011-07-27 | 日产自动车株式会社 | Vehicle operation sound control apparatus and control method |
| CN101771381A (en) * | 2008-12-02 | 2010-07-07 | 通用汽车环球科技运作公司 | Method and system for operating a vibration in an automobile |
| CN103378775A (en) * | 2012-04-17 | 2013-10-30 | 三菱电机株式会社 | Motor control equipment and motor control system |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108027596A (en) * | 2015-09-16 | 2018-05-11 | 深圳市大疆创新科技有限公司 | For the system, apparatus and method made a sound |
| US10725728B2 (en) | 2015-09-16 | 2020-07-28 | SZ DJI Technology Co., Ltd. | System, apparatus and method for generating sound |
| US11347472B2 (en) | 2015-09-16 | 2022-05-31 | SZ DJI Technology Co., Ltd. | System, apparatus and method for generating sound |
| WO2017152394A1 (en) * | 2016-03-09 | 2017-09-14 | 深圳市大疆创新科技有限公司 | Control method and system for motor |
| CN107710597A (en) * | 2016-03-09 | 2018-02-16 | 深圳市大疆创新科技有限公司 | The control method and system of motor |
| CN109039187A (en) * | 2017-06-09 | 2018-12-18 | 通用汽车环球科技运作有限责任公司 | The method and apparatus generated for audible signal |
| CN109039187B (en) * | 2017-06-09 | 2022-08-02 | 通用汽车环球科技运作有限责任公司 | Method and apparatus for auditory signal generation |
| WO2019047539A1 (en) * | 2017-09-06 | 2019-03-14 | 深圳市道通智能航空技术有限公司 | Method and device for sounding by means of motor, electronic variator and unmanned aerial vehicle |
| CN111293951A (en) * | 2019-04-17 | 2020-06-16 | 天津深之蓝海洋设备科技有限公司 | Vibration generating device, vibration generating method, and submersible |
| CN111585487A (en) * | 2020-04-26 | 2020-08-25 | 淮安中科晶上智能网联研究院有限公司 | System for controlling motor to sound |
| CN111585487B (en) * | 2020-04-26 | 2021-07-13 | 淮安中科晶上智能网联研究院有限公司 | System for controlling motor to sound |
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Application publication date: 20140416 |