CN111030547A - Motor excitation signal processing method and device - Google Patents

Motor excitation signal processing method and device Download PDF

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CN111030547A
CN111030547A CN201911201293.9A CN201911201293A CN111030547A CN 111030547 A CN111030547 A CN 111030547A CN 201911201293 A CN201911201293 A CN 201911201293A CN 111030547 A CN111030547 A CN 111030547A
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displacement
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excitation signal
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CN111030547B (en
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李涛
向征
郭璇
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AAC Technologies Pte Ltd
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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
    • H02P25/032—Reciprocating, oscillating or vibrating motors
    • 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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Abstract

The invention relates to the technical field of automatic control, and provides a motor excitation signal processing method and a motor excitation signal processing device, wherein the method comprises the following steps: performing displacement prediction according to the original excitation signal output to the motor to obtain an original displacement signal of the motor; acquiring a maximum displacement threshold of a motor, and calculating an equilibrium displacement signal according to the maximum displacement threshold and an original displacement signal; and processing the equalized displacement signal through a second-order equalizer to obtain an equalized excitation signal of the driving motor. The invention can make the displacement of the motor within the maximum displacement threshold, and solves the problems of motor part damage and touch effect reduction caused by overlarge motor displacement.

Description

Motor excitation signal processing method and device
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of automatic control, in particular to a motor excitation signal processing method and device.
[ background of the invention ]
With the development and popularization of various consumer electronic devices such as smart phones and smart wearing devices, the requirement of people on touch experience is increasing day by day. Currently, the main haptic feedback technology is achieved by providing a rich vibration sensation through a linear motor (LRA), so the vibration performance of the motor has a direct and large impact on the haptic experience.
However, the excitation signal of the motor is usually the excitation signal that is preset to be set uniformly, so when the motor is driven by using the excitation signal, the situation of excessive displacement may occur, that is, the situation of excessive position change when the motor shaft rotates, and when the problem of excessive displacement occurs, the parts of the motor are easily damaged, and the final tactile experience is affected.
[ summary of the invention ]
The invention aims to provide a motor excitation signal processing method and a motor excitation signal processing device, which are used for solving the problems that the existing motor has poor vibration performance, and the displacement is overlarge in the using process, so that the motor part is damaged and the touch effect is reduced.
The technical scheme of the invention is as follows:
the invention provides a motor excitation signal processing method in a first aspect, which comprises the following steps:
performing displacement prediction according to an original excitation signal output to a motor to obtain an original displacement signal of the motor;
acquiring a maximum displacement threshold of the motor, and calculating an equilibrium displacement signal according to the maximum displacement threshold and the original displacement signal;
and processing the equalized displacement signal through a second-order equalizer to obtain an equalized excitation signal for driving the motor.
Optionally, the displacement prediction is performed according to the original excitation signal output to the motor, and the formula for obtaining the original displacement signal of the motor is as follows:
xd[n]＝b1vc[n-1]-a1xd[n-1]-a2xd[n-2]；
wherein, b1vc[n-1]-a1xd[n-1]-a2xd[n-2]Representing the transfer function, n representing the index of the sample point of the signal, a1And a2Is the filter coefficient of the motor, vcIs the linear velocity of the motor vibrator;
wherein, b1The calculation method of (2) is as follows:
Figure BDA0002295941720000021
wherein the content of the first and second substances,fs3representing the signal sampling rate, mdRepresenting the mass of the oscillator, RebRepresents the resistance phi0Representing the electromagnetic coefficient, kdDenotes the spring stiffness coefficient, Ω0The initial resonant frequency of the motor.
Optionally, the obtaining a maximum displacement threshold of the motor, and calculating an equalized displacement signal according to the maximum displacement threshold and the original displacement signal includes:
calculating an original noise signal according to the maximum displacement threshold and the original displacement signal;
performing bidirectional low-pass filtering processing on the original noise signal to obtain a vibration noise signal;
and calculating an equalized displacement signal according to the vibration noise signal and the original displacement signal.
Optionally, the calculating an original noise signal according to the maximum displacement threshold and the original displacement signal is performed by the following formula:
Figure BDA0002295941720000031
wherein, noise [ n ]]For the original noise signal, xd[n]Is the original displacement signal, th is the maximum displacement threshold.
Optionally, the two-way low-pass filtering is performed on the original noise signal, and an obtained formula of the vibration noise signal is as follows:
noiseshape＝filtfilt(hnoise,1,noise)
wherein filtfiltfiltfilt denotes a bidirectional low-pass filter, noiseshapeRepresenting vibration noise signal, hnoiseRepresenting the low pass filter coefficients and noise representing the original noise signal.
Optionally, the calculating an equalized displacement signal according to the vibration noise signal and the original displacement signal is performed by the following formula:
xcfr＝xd-noiseshape；
wherein x iscfrTo equalize the displacement signal, xdIs the original bitShift signal, noiseshapeRepresenting a vibration noise signal.
Optionally, the equation for obtaining the equalized excitation signal for driving the motor by processing the equalized displacement signal through a second-order equalizer is as follows:
Figure BDA0002295941720000032
wherein Hc(z) is the equilibrium excitation signal, σcIn order to be the gain factor,
Figure BDA0002295941720000041
Figure BDA0002295941720000042
Figure BDA0002295941720000043
Figure BDA0002295941720000044
Figure BDA0002295941720000045
wherein Hc(z)Representing the equalized excitation signal, H(z)Representing the equalized displacement signal, ωdRepresenting desired angular frequency, fs3Representing the signal sampling rate, ζdRepresenting a desired damping coefficient, ωnRepresents angular frequency, ζtRepresenting the total damping coefficient, QdRepresents the displacement-equalized expected Q value, ΩdIndicating the desired resonant frequency of the motor.
Optionally, after the processing the equalized displacement signal by the second-order equalizer to obtain an equalized excitation signal for driving the motor, the method includes:
acquiring a gain coefficient of the balanced excitation signal;
and adjusting the gain of the balanced excitation signal by using the gain coefficient.
Optionally, the gain coefficient is used to adjust the gain of the equalized excitation signal, and the formula is:
Figure BDA0002295941720000046
wherein σcIn order to be the gain factor,
Figure BDA0002295941720000047
Rebrepresents the resistance phi0Representing the electromagnetic coefficient, kdRepresenting the spring stiffness coefficient.
A second aspect of the present invention provides a motor excitation signal processing apparatus comprising:
the displacement prediction module is used for predicting displacement according to an original excitation signal output to the motor to obtain an original displacement signal of the motor;
the balanced displacement signal calculation module is used for acquiring a maximum displacement threshold of the motor and calculating a balanced displacement signal according to the maximum displacement threshold and the original displacement signal;
and the balanced excitation signal acquisition module is used for processing the balanced displacement signal through a second-order equalizer to acquire a balanced excitation signal for driving the motor. .
The invention has the beneficial effects that: the method comprises the steps of firstly obtaining an original displacement signal generated by a motor according to the original excitation signal of the motor, then balancing according to a maximum displacement threshold of the motor and the original displacement signal to obtain an equalized displacement signal, wherein the equalized displacement signal represents that the displacement of the motor is within the maximum displacement threshold, and then converting the equalized displacement signal into an equalized excitation signal for driving the motor through a second-order equalizer, so that the displacement of the equalized excitation signal is equalized.
[ description of the drawings ]
Fig. 1 is a schematic flow chart illustrating an implementation of a motor excitation signal processing method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a motor excitation signal processing apparatus according to a second embodiment of the present invention;
FIG. 3 is a graph comparing the displacement of the original displacement signal and the equalized displacement signal according to the third embodiment of the present invention;
FIG. 4 is a schematic voltage curve diagram of an original excitation signal according to a third embodiment of the present invention;
fig. 5 is a schematic voltage curve diagram of the equalizing excitation signal according to the third embodiment of the present invention.
[ detailed description ] embodiments
The invention is further described with reference to the following figures and embodiments.
Example one
As shown in fig. 1, an embodiment of the present invention provides a method for processing a motor excitation signal, including, but not limited to, the following steps:
s101, displacement prediction is carried out according to an original excitation signal output to the motor, and an original displacement signal of the motor is obtained.
In step S101, the original excitation signal is a preset excitation signal, and after the motor is driven by the original excitation signal, the displacement of the motor is recorded, so that the original displacement signal can be obtained.
In a specific application, the displacement of the motor has a functional relationship with the original excitation signal, so that the original displacement signal can also be predicted from the original excitation signal.
In an embodiment of the invention, the original displacement signal may be predicted from the transfer function of the original excitation signal in the motor. The displacement prediction according to the original excitation signal output to the motor in step S101 above may be obtained by the following formula:
xd[n]＝b1vc[n-1]-a1xd[n-1]-a2xd[n-2]；
wherein, b1vc[n-1]-a1xd[n-1]-a2xd[n-2]Representing the transfer function, n representing the index of the sample point of the signal, a1And a2Is the filter coefficient of the motor, vcIs the linear velocity of the motor vibrator;
wherein, b1The calculation method of (2) is as follows:
Figure BDA0002295941720000061
wherein f iss3Representing the signal sampling rate, mdRepresenting the mass of the oscillator, RebRepresents the resistance phi0Representing the electromagnetic coefficient, kdDenotes the spring stiffness coefficient, Ω0The initial resonant frequency of the motor.
S102, obtaining a maximum displacement threshold of the motor, and calculating an equilibrium displacement signal according to the maximum displacement threshold and the original displacement signal.
In the above step S102, the maximum displacement threshold of the motor represents a threshold value of the displacement of the motor. For example, assuming a maximum displacement threshold of 5 for the motor, the threshold for the motor displacement is 0-5.
In a specific application, since vibration noise is generated in the vibration process of the motor, an error exists in the directly acquired maximum displacement threshold.
In the embodiment of the present invention, one implementation manner of the step S102 may be:
and S1021, calculating an original noise signal according to the maximum displacement threshold and the original displacement signal.
S1022, performing bidirectional low-pass filtering processing on the original noise signal to obtain a vibration noise signal;
and S1023, calculating an equalized displacement signal according to the vibration noise signal and the original displacement signal.
In the above steps S1021 to S1023, the original noise signal mainly includes the vibration noise signal, and the vibration noise signal will affect the maximum displacement threshold, so that the vibration noise signal needs to be excluded when calculating the maximum displacement threshold.
In a specific application, the bidirectional low-pass filtering is also called zero-phase digital filtering: filtering the input sequence in sequence, inverting the obtained result, reversely passing through a filter, inverting the obtained result and outputting to obtain the accurate zero-phase distortion output sequence. Therefore, in the embodiment of the invention, the bidirectional low-pass filtering is added, so that the vibration noise caused by the high-frequency component of the waveform can be improved, and the calculation of the vibration noise signal is more accurate.
In step S1021, the calculating a raw noise signal according to the maximum displacement threshold and the raw displacement signal has a formula:
Figure BDA0002295941720000081
wherein, noise [ n ]]For the original noise signal, xd[n]Is the original displacement signal, th is the maximum displacement threshold.
In step S1022, the bidirectional low-pass filtering is performed on the original noise signal, and an equation of the obtained vibration noise signal is as follows:
noiseshape＝filtfilt(hnoise,1,noise)
wherein filtfiltfiltfilt denotes a bidirectional low-pass filter, noiseshapeRepresenting vibration noise signal, hnoiseRepresenting the low pass filter coefficients and noise representing the original noise signal.
In step S1023, the equalized displacement signal is calculated according to the vibration noise signal and the original displacement signal, and the formula is as follows:
xcfr＝xd-noiseshape；
wherein x iscfrTo equalize the displacement signal, xdFor the original displacement signal, noiseshapeRepresenting a vibration noise signal.
And S103, processing the equalized displacement signal through a second-order equalizer to obtain an equalized excitation signal for driving the motor.
In the step S103, the second-order equalizer is configured to equalize an arbitrary delay curve, so as to convert the equalized displacement signal into the equalized excitation signal, wherein the equalized displacement signal itself makes the displacement of the motor within the maximum displacement threshold, so that after the equalized displacement signal is converted into the equalized excitation signal for driving the motor by the second-order equalizer, not only is the displacement of the equalized excitation signal equalized, but also the displacement of the motor is within the maximum displacement threshold when the motor is driven by the equalized excitation signal, thereby playing a role in displacement protection.
In one embodiment, the processing of the equalized displacement signal by the second-order equalizer in step S103 above to obtain an equalized excitation signal for driving the motor may be represented by the following formula:
Figure BDA0002295941720000091
wherein Hc(z) is the equilibrium excitation signal, σcIn order to be the gain factor,
Figure BDA0002295941720000092
Figure BDA0002295941720000093
Figure BDA0002295941720000094
Figure BDA0002295941720000095
Figure BDA0002295941720000096
wherein, Hc(z)Representing the equalized excitation signal, H(z)Representing the equalized displacement signal, ωdRepresenting desired angular frequency, fs3Representing the signal sampling rate, ζdRepresenting a desired damping coefficient, ωnRepresents angular frequency, ζtRepresenting the total damping coefficient, QdRepresents the displacement-equalized expected Q value, ΩdIndicating the desired resonant frequency of the motor.
In this embodiment of the present invention, after the step S103, a gain coefficient of the excitation signal is further obtained, and the gain of the excitation signal is adjusted by using the gain coefficient, so that the gain of the equalized signal is also 0 in the vicinity of the frequency 0.
In one embodiment, the gain factor is used to adjust the gain of the equalized excitation signal, and the formula is:
Figure BDA0002295941720000097
wherein σcIn order to be the gain factor,
Figure BDA0002295941720000101
Rebrepresents the resistance phi0Representing the electromagnetic coefficient, kdRepresenting the spring stiffness coefficient.
According to the motor excitation signal processing method provided by the embodiment of the invention, the original displacement signal generated by the motor according to the original excitation signal of the motor is obtained firstly, then the balance is carried out according to the maximum displacement threshold of the motor and the original displacement signal to obtain the balanced displacement signal, the balanced displacement signal indicates that the displacement of the motor is within the maximum displacement threshold, then the balanced displacement signal is converted into the balanced excitation signal for driving the motor through the second-order equalizer, the displacement of the balanced excitation signal is balanced, the motor is driven through the balanced excitation signal to enable the displacement of the motor to be within the maximum displacement threshold, the displacement protection effect is achieved, and the problems that the motor part is damaged and the touch effect is reduced due to overlarge displacement are solved.
Example two
An embodiment of the present invention provides a motor excitation signal processing apparatus 20, including:
the displacement prediction module 21 is configured to perform displacement prediction according to the original excitation signal output to the motor, so as to obtain an original displacement signal of the motor;
the balanced displacement signal calculation module 22 is configured to obtain a maximum displacement threshold of the motor, and calculate a balanced displacement signal according to the maximum displacement threshold and the original displacement signal;
and the balanced excitation signal acquisition module 23 is configured to process the balanced displacement signal through a second-order equalizer to obtain a balanced excitation signal of the drive motor.
In the embodiment of the invention, the displacement of the motor is controlled within the maximum displacement threshold through the balanced displacement signal calculation module, so that the displacement protection effect is realized, and the problems of damage to motor parts and reduction of touch effect caused by overlarge displacement are avoided.
EXAMPLE III
As shown in fig. 3, the embodiment of the present invention further shows a comparison between the original displacement signal and an equalized displacement signal obtained by processing the original displacement signal using the motor excitation signal processing method provided in the first embodiment.
In fig. 3, the abscissa represents time t in seconds(s), the ordinate represents motor displacement value x in meters (m), the solid line represents the equalized displacement signal, the dotted line represents the original displacement signal, and the dot-and-horizontal line represents the maximum displacement threshold of the motor. In fig. 3, the displacements of the starting points of the equalized displacement signal and the original displacement signal are both 0, but the maximum displacement of the original displacement signal is outside the maximum displacement threshold of the motor, and the maximum displacement of the equalized displacement signal is within the maximum displacement threshold of the motor.
As shown in fig. 4 and 5, embodiments of the present invention also show voltage graphs of the original stimulus signal and the equalized stimulus signal. In fig. 4, the abscissa represents time t in seconds(s), the ordinate represents voltage value U in volts (Vp), and the voltage value of the original excitation signal at time 0 is 0. In fig. 5, the abscissa indicates time t in seconds(s), the ordinate indicates voltage value U in volts (Vp), and the voltage value of the equalizing excitation signal is 0 at time 0.
It can be seen that after the maximum displacement threshold of the motor is used to limit the displacement of the original displacement signal, the voltage curve of the original excitation signal shown in fig. 4 changes to the voltage curve of the equalized excitation signal shown in fig. 5, so that the motor can be driven according to the equalized excitation signal shown in fig. 5 to protect the displacement.
While the foregoing is directed to embodiments of the present invention, it will be understood by those skilled in the art that various changes may be made without departing from the spirit and scope of the invention.

Claims (10)

1. A method of processing a motor excitation signal, comprising:
performing displacement prediction according to an original excitation signal output to a motor to obtain an original displacement signal of the motor;
acquiring a maximum displacement threshold of the motor, and calculating an equilibrium displacement signal according to the maximum displacement threshold and the original displacement signal;
and processing the equalized displacement signal through a second-order equalizer to obtain an equalized excitation signal for driving the motor.
2. The motor excitation signal processing method according to claim 1, characterized in that: displacement prediction is carried out according to an original excitation signal output to a motor, and a formula for obtaining the original displacement signal of the motor is as follows:
xd[n]＝b1vc[n-1]-a1xd[n-1]-a2xd[n-2]；
wherein, b1vc[n-1]-a1xd[n-1]-a2xd[n-2]Representing the transfer function, n representing the index of the sample point of the signal, a1And a2Is the filter coefficient of the motor, vcIs the linear velocity of the motor vibrator;
wherein, b1The calculation method of (2) is as follows:
Figure FDA0002295941710000011
wherein f iss3Representing the signal sampling rate, mdRepresenting the mass of the oscillator, RebRepresents the resistance phi0Representing the electromagnetic coefficient, kdDenotes the spring stiffness coefficient, Ω0The initial resonant frequency of the motor.
3. The motor excitation signal processing method according to claim 1, characterized in that: the obtaining a maximum displacement threshold of the motor, and calculating an equalized displacement signal according to the maximum displacement threshold and the original displacement signal includes:
calculating an original noise signal according to the maximum displacement threshold and the original displacement signal;
performing bidirectional low-pass filtering processing on the original noise signal to obtain a vibration noise signal;
and calculating an equalized displacement signal according to the vibration noise signal and the original displacement signal.
4. The motor excitation signal processing method according to claim 3, characterized in that: calculating an original noise signal according to the maximum displacement threshold and the original displacement signal, wherein the formula is as follows:
Figure FDA0002295941710000021
wherein, noise [ n ]]For the original noise signal, xd[n]Is the original displacement signal, th is the maximum displacement threshold.
5. The motor excitation signal processing method according to claim 3, characterized in that: the original noise signal is subjected to bidirectional low-pass filtering, and the formula of the obtained vibration noise signal is as follows:
noiseshape＝filtfilt(hnoise,1,noise)
wherein the content of the first and second substances,filtfiltfilt denotes a bidirectional low-pass filter, noiseshapeRepresenting vibration noise signal, hnoiseRepresenting the low pass filter coefficients and noise representing the original noise signal.
6. The motor excitation signal processing method according to claim 3, characterized in that: and calculating an equalized displacement signal according to the vibration noise signal and the original displacement signal, wherein the formula is as follows:
xcfr＝xd-noiseshape；
wherein x iscfrTo equalize the displacement signal, xdFor the original displacement signal, noiseshapeRepresenting a vibration noise signal.
7. The motor excitation signal processing method according to claim 1, characterized in that: the formula for processing the equalized displacement signal through the second-order equalizer to obtain the equalized excitation signal for driving the motor is as follows:
Figure FDA0002295941710000031
wherein Hc(z) is the equilibrium excitation signal, σcIn order to be the gain factor,
Figure FDA0002295941710000032
Figure FDA0002295941710000033
Figure FDA0002295941710000034
Figure FDA0002295941710000035
Figure FDA0002295941710000036
wherein Hc(z)Representing the equalized excitation signal, H(z)Representing the equalized displacement signal, ωdRepresenting desired angular frequency, fs3Representing the signal sampling rate, ζdRepresenting a desired damping coefficient, ωnRepresents angular frequency, ζtRepresenting the total damping coefficient, QdRepresents the displacement-equalized expected Q value, ΩdIndicating the desired resonant frequency of the motor.
8. The motor excitation signal processing method according to claim 1, characterized in that: after the processing of the equalized displacement signal by the second-order equalizer to obtain an equalized excitation signal for driving the motor, the method includes:
acquiring a gain coefficient of the balanced excitation signal;
and adjusting the gain of the balanced excitation signal by using the gain coefficient.
9. The motor excitation signal processing method according to claim 8, characterized in that: and adjusting the gain of the balanced excitation signal by using the gain coefficient, wherein the formula is as follows:
Figure FDA0002295941710000041
wherein σcIn order to be the gain factor,
Figure FDA0002295941710000042
Rebrepresents the resistance phi0Representing the electromagnetic coefficient, kdRepresenting the spring stiffness coefficient.
10. A motor excitation signal processing apparatus, comprising:
the displacement prediction module is used for predicting displacement according to an original excitation signal output to the motor to obtain an original displacement signal of the motor;
the balanced displacement signal calculation module is used for acquiring a maximum displacement threshold of the motor and calculating a balanced displacement signal according to the maximum displacement threshold and the original displacement signal;
and the balanced excitation signal acquisition module is used for processing the balanced displacement signal through a second-order equalizer to acquire a balanced excitation signal for driving the motor.
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