CN111044290B - Detection method and detection system of linear motor - Google Patents
Detection method and detection system of linear motor Download PDFInfo
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- CN111044290B CN111044290B CN201911386536.0A CN201911386536A CN111044290B CN 111044290 B CN111044290 B CN 111044290B CN 201911386536 A CN201911386536 A CN 201911386536A CN 111044290 B CN111044290 B CN 111044290B
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Abstract
The invention discloses a detection method and a detection system of a linear motor, wherein the method comprises the following steps: after hardware of the linear motor is determined to be communicated, the inertia measurement unit is utilized to respectively obtain displacement amplitudes of the linear motor during vibration and during non-vibration, and whether the displacement amplitude during non-vibration is smaller than the displacement amplitude during vibration is judged, so that the qualification of the linear motor is obtained; the inertia measurement unit and the linear motor are arranged in the same product; controlling a preset number of qualified linear motors to vibrate in the same state, acquiring the displacement amplitude of each linear motor, and taking an interval formed by the maximum value and the minimum value of the displacement amplitudes of the preset number as a calibration range; and controlling the motor to be calibrated to vibrate in the same state, acquiring the displacement amplitude of the motor to be calibrated, and judging whether the displacement amplitude is in a calibration range so as to obtain whether the motor to be calibrated reaches the standard. This application can carry out linear motor's detection on current structure basis, avoids increasing the detection cost simultaneously.
Description
Technical Field
The invention relates to the technical field of electronic product detection, in particular to a detection method and a detection system of a linear motor.
Background
At present, linear motor has extensive application on digital electronic product, and products such as cell-phone, PAD, game paddle have all set up linear motor, and it has multiple vibration state, can let the user experience multiple different vibration modes, especially in the VR handle, linear motor's performance has decided the vibration effect of product, lets the user really experience VR panorama game personally on the spot, and its effect directly influences user's experience. How to quickly identify the problematic linear motor during factory assembly is particularly important, and defective products are eliminated, which requires a detection method for the linear motor.
In summary, how to provide a detection method for a linear motor is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method for detecting a linear motor, which can realize measurement of the linear motor without adding additional equipment and can control the detection cost. It is another object of the present invention to provide a detection system for a linear motor.
In order to achieve the above purpose, the invention provides the following technical scheme:
a method of detecting a linear motor, comprising:
s1, after the hardware of the linear motor is determined to be communicated, respectively obtaining displacement amplitudes of the linear motor during vibration and during non-vibration by using an inertia measurement unit, and judging whether the displacement amplitude during non-vibration is smaller than the displacement amplitude during vibration, wherein if yes, the linear motor is qualified, and if not, the linear motor is unqualified; the inertial measurement unit and the linear motor are installed in the same product;
s2, controlling a preset number of qualified linear motors to vibrate in the same state, acquiring vibration displacement amplitude of each corresponding qualified linear motor by using the inertia measurement unit, and taking an interval formed by the maximum value and the minimum value of the vibration displacement amplitude of the preset number as a calibration range;
s3, controlling the motor to be calibrated to vibrate in the same state, acquiring the displacement amplitude of the motor to be calibrated by using the inertia measurement unit corresponding to the motor to be calibrated connected in the same product, and judging whether the displacement amplitude is in the calibration range, wherein if the displacement amplitude is in the calibration range, the motor to be calibrated reaches the standard, and if the displacement amplitude is not in the calibration range, the motor to be calibrated does not reach the standard.
Preferably, the determining hardware communication of the linear motor comprises:
and S11, reading the drive chip ID of the linear motor, and if the drive chip ID can be read, the hardware of the linear motor is in a connection state.
Preferably, the obtaining, by an inertia measurement unit, displacement amplitudes of the linear motor when vibrating and when not vibrating respectively, and determining whether the displacement amplitude when not vibrating is smaller than the displacement amplitude when vibrating includes:
s12, when the linear motor does not vibrate, using an inertia measuring unitRespectively obtaining i output values on an X axis, a Y axis and a Z axis, and obtaining root mean square values X on each axisrms、Y rms、Zrms；
S13, when the linear motor vibrates, the inertia measuring unit respectively obtains i output values on the X axis, the Y axis and the Z axis, and obtains root mean square value X 'on each axis'rms、Y’rms、Z’rms；
S14, judgment S1＜S2Whether the linear motor is established or not, if so, the linear motor is qualified, and if not, the linear motor is unqualified; wherein S is1＝Xrms+Yrms+Zrms，S2＝Xr'ms+Yr'ms+Zr'ms。
Preferably, the controlling of the qualified linear motors of the preset number to vibrate in the same state comprises:
and acquiring n qualified linear motors, controlling the qualified linear motors to vibrate at the same position, and keeping the same vibration frequency.
Preferably, the obtaining, by an inertial measurement unit, a vibration displacement amplitude of each corresponding qualified linear motor, and taking an interval formed by a maximum value and a minimum value of the vibration displacement amplitudes of the preset number as a calibration range includes:
respectively acquiring n qualified vibration displacement amplitudes X of the linear motor on the X axis by using an inertia measurement unit1rms、X2rms、…、XnrmsAmplitude of vibration displacement Y on the Y axis1rms、Y2rms、…、YnrmsAnd amplitude of vibration displacement Z of Z axis1rms、Z2rms、…、Znrms(ii) a And obtaining the range [ X ] of the vibration displacement amplitude of the X axisminrms,Xmaxrms]As the calibration range of the X axis, the range [ Y ] of the vibration displacement amplitude of the Y axisminrms,Ymaxrms]As a Y-axis calibration range, the vibration displacement amplitude range [ Z ] of the Z axisminrms,Zmaxrms]As the Z-axis calibration range.
Preferably, obtaining vibration displacement amplitude X of n qualified linear motors on X axis1rms、X2rms、…、XnrmsAmplitude of vibration displacement Y on the Y axis1rms、Y2rms、…、YnrmsAnd amplitude of vibration displacement Z of Z axis1rms、Z2rms、…、Znrms(ii) a The method comprises the following steps:
acquiring j output values of each linear motor on an X axis, and calculating the root mean square value of the j output values on the X axis as the vibration displacement amplitude of the corresponding linear motor on the X axis;
acquiring j output values of each linear motor on a Y axis, and calculating the root mean square value of the j output values on the Y axis as the vibration displacement amplitude of the corresponding linear motor on the Y axis;
and acquiring j output values of each linear motor on the Z axis, and calculating the root mean square value of the j output values on the Z axis as the vibration displacement amplitude of the corresponding linear motor on the Z axis.
Preferably, the controlling the motor to be calibrated to vibrate in the same state, and using the inertial measurement unit to obtain the displacement amplitude of the motor to be calibrated and determine whether the displacement amplitude is within the calibration range includes:
s31, controlling the motor to be calibrated to vibrate at the same position, keeping the same vibration frequency, and acquiring the displacement amplitude X of three coordinates by using an inertia measurement unitm、Ym、Zm；
S32, judgment Condition Xm∈[Xminrms,Xmaxrms]、Ym∈[Yminrms,Ymaxrms]、Zm∈[Zminrms,Zmaxrms]Whether the two are true at the same time;
if so, the motor to be calibrated reaches the standard under the vibration frequency, and if not, the motor to be calibrated does not reach the standard under the vibration frequency.
Preferably, the same vibration frequency is 150Hz-200 Hz.
A detection system for a linear motor, comprising:
the single linear motor detection module is used for respectively acquiring displacement amplitudes of the linear motor during vibration and during non-vibration by using an inertia measurement unit in a product in which the linear motor is positioned after hardware communication of the linear motor is determined, judging whether the displacement amplitude during non-vibration is smaller than the displacement amplitude during vibration, if so, determining that the linear motor is qualified, and if not, determining that the linear motor is unqualified;
the calibration range determining module is used for controlling a preset number of qualified linear motors to vibrate in the same state, acquiring the displacement amplitude of each corresponding qualified linear motor by using the inertia measuring unit, and taking an interval formed by the maximum value and the minimum value of the displacement amplitude of the preset number as a calibration range;
the calibration module is used for controlling the motor to be calibrated to vibrate in the same state, acquiring the displacement amplitude of the motor to be calibrated by using an inertia measurement unit corresponding to the motor to be calibrated, which is connected to the same product, and judging whether the displacement amplitude of the motor to be calibrated is within the calibration range, if so, the motor to be calibrated reaches the standard, otherwise, the motor to be calibrated does not reach the standard;
the single linear motor detection module, the calibration range determination module and the calibration module are all connected with the corresponding inertia measurement unit.
Preferably, the single linear motor detection module is connected with a driving chip of the linear motor;
or the calibration module is connected with a display device of a product where the linear motor is located and used for displaying the calibration result.
The inertia measurement unit arranged in the same product with the linear motor is adopted in the application, existing equipment can be utilized for detection, the increase of measurement cost is avoided, in addition, the qualified linear motor is detected and calibrated in the same state, the calibration range of the qualified linear motor is formed, and the method can be used for judging the qualification of the motor to be calibrated. The method provided by the application can realize the detection of the linear motor, and the existing inertia measurement unit is used for detecting, so that the increase of the detection cost can be avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a detection method of a linear motor provided in the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a detection method of a linear motor, which can realize the measurement of the linear motor, does not need to add extra equipment and can control the detection cost. Another core of the present invention is to provide a detection system for a linear motor.
The application provides a detection method of a linear motor, which is used for detecting the performance of the linear motor in the assembling process and avoids the following steps:
step S1, after the hardware of the linear motor is determined to be communicated, the inertia measurement unit is used for respectively obtaining the displacement amplitude of the linear motor during vibration and during non-vibration, and whether the displacement amplitude during non-vibration is smaller than the displacement amplitude during vibration is judged, if yes, the linear motor is qualified, and if not, the linear motor is unqualified; the inertia measurement unit and the linear motor are arranged in the same product;
step S2, controlling a preset number of qualified linear motors to vibrate in the same state, acquiring the vibration displacement amplitude of each corresponding qualified linear motor by using an inertia measurement unit, and taking an interval formed by the maximum value and the minimum value of the vibration displacement amplitude of the preset number as a calibration range;
and step S3, controlling the motor to be calibrated to vibrate in the same state, acquiring the displacement amplitude of the motor to be calibrated by using the inertia measurement unit corresponding to the motor to be calibrated connected in the same product, and judging whether the displacement amplitude is in a calibration range, wherein if the displacement amplitude is in the calibration range, the motor to be calibrated reaches the standard, and if the displacement amplitude is not in the calibration range, the motor to be calibrated does not reach the standard.
In step S1, the hardware connectivity of the linear motor needs to be determined first, and in the following step, for the detection of the use of the linear motor, it is necessary to ensure that the electrical connection inside the linear motor is stable. For the detection of the hardware connectivity, the linear motor may be powered on to check whether the linear motor outputs, or a command may be sent to a chip of the linear motor to check feedback or execution of the command by the linear motor.
After the linear motor is ensured to be in a hardware communication state, the displacement amplitudes of the output of the linear motor in a vibration state and a non-vibration state are respectively obtained by using the inertia measurement unit. The displacement amplitude of the output of the linear motor in this application refers to the amount of change in the displacement of the output end of the linear motor.
It should be noted that an Inertial Measurement Unit (IMU) is a device for measuring three-axis attitude angles (or angular velocities) and acceleration of an object. Generally, an inertial measurement unit includes an accelerometer and a gyroscope, the accelerometer detects acceleration signals of an object in three axes, and the gyroscope measures angular velocity and acceleration of the object in a three-dimensional space, and calculates the attitude or displacement of the object according to the angular velocity and acceleration signals.
In products such as VR handles or mobile phones, an inertial measurement unit is usually provided, and the inertial measurement unit is used for sensing the current state and movement of the product, so that both a linear motor and an inertial measurement unit IMU exist at the same time. The inertial measurement unit installed in the same product as the linear motor is referred to as a corresponding inertial measurement unit in the present application.
Displacement amplitude and vibration displacement amplitude in this application all are the numerical value that is used for weighing the displacement level for embody the difference of linear motor on the displacement when vibration and non-vibration, displacement amplitude can be single displacement volume numerical value, displacement volume numerical value is the concrete displacement in a certain period of time, or the average value of displacement volume numerical value many times, the state of reality is more pressed close to the average value of displacement volume numerical value many times under the comparison, can avoid the data inaccuracy of certain single detection, or can not represent actual level. The type of displacement amplitude described above is not limited in this embodiment.
In general, the output of the linear motor is smaller when the linear motor does not vibrate than when the linear motor vibrates, and when the vibration is equal to the output when the linear motor does not vibrate, the linear motor is highly likely to be a defective product. Therefore, the qualification of the single linear motor can be obtained in step S1.
In step S2, a predetermined number of qualified linear motors are selected, and qualified samples are selected because the predetermined number of linear motors are determined to be qualified. The method comprises the steps of setting all linear motors in a sample to be in the same state, controlling all the linear motors to vibrate, measuring the output of the linear motors again through an inertia measuring unit corresponding to the linear motors to obtain a set of displacement amplitudes of the output of all the linear motors, wherein the maximum value and the minimum value in the set can be used for forming an interval, the interval can be used as a calibration range and can be used for evaluating the qualification of other linear motors outside the sample, and if the maximum value and the minimum value are met, the sample is qualified.
Specifically, in step S3, the motor to be calibrated is controlled to vibrate in the same state in step S2, the motor to be calibrated is a linear motor outside the sample, and the motor to be calibrated is also a linear motor.
The inertia measurement unit in the step 3 is an inertia measurement unit which is arranged in the same product with the motor to be calibrated.
If the measured output displacement amplitude of the motor to be calibrated meets the calibration range, the motor to be calibrated has the same performance as the linear motor in the sample under the same state, and the performance reaches the standard, namely the motor to be calibrated is judged to be in a qualified state; if the calibration range cannot be met, on the contrary, the state of not reaching the standard is judged.
In addition, the linear motor which is confirmed to be qualified is detected and calibrated in the same state, so that the calibration range of the qualified linear motor is formed, and the method can be used for judging the qualification of the motor to be calibrated. The method provided by the application can realize the detection of the linear motor, and the existing inertia measurement unit is used for detecting, so that the increase of the detection cost can be avoided.
On the basis of the foregoing embodiment, the step of determining the hardware communication of the linear motor in step S1 specifically includes the following steps:
in step S11, the driver chip ID of the linear motor is read, and if the driver chip ID can be read, the hardware of the linear motor is in a connected state.
The operation can be directly realized by a controller in a product, for example, the controller of the VR handle directly sends information to the linear motor for acquiring the ID of the driver chip, and when the ID value sent by the driver chip is received, the hardware of the linear motor is in a connected state, and the linear motor can normally receive the signal and output the signal.
Optionally, the operation may be directly reading the chip of the linear motor in an IIC/SPI manner, and obtaining the chip ID of the linear motor, that is, it may be determined that the hardware connectivity of the linear motor is reliable, otherwise, the hardware is in a connected state. The reading can be performed by software control in the product in which the linear motor is located, such as a controller of the VR handle.
On the basis of the above embodiment, the method for obtaining the displacement amplitudes of the linear motor when vibrating and when not vibrating by using the inertia measurement unit and determining whether the displacement amplitude when not vibrating is smaller than the displacement amplitude when vibrating in step S1 specifically includes the following steps:
step S12, when the linear motor does not vibrate, the inertia measurement unit is used for respectively obtaining i output values on the X axis, the Y axis and the Z axis, and obtaining root mean square value X on each axisrms、Yrms、Zrms；
Step S13, when the linear motor vibrates, the inertia measuring unit obtains i output values on the X axis, the Y axis and the Z axis respectively, and obtains root mean square value X 'on each axis'rms、Y’rms、Z’rms；
Step S14, judgment S1＜S2Whether the motor is established or not, if so, the linear motor is qualified, and if not, the linear motor is unqualified; wherein:
S1＝Xrms+Yrms+Zrms，S2＝X'rms+Y'rms+Z'rms。
in steps S12 to S14, the basic performance of the linear motor itself is detected by detecting only one linear motor.
In step S12, when the linear motor does not vibrate, i output values on the X axis, i output values on the Y axis, and i output values on the Z axis are obtained, and root mean square values on the axes, that is, root mean square value X of i output values on the X axis, are obtained respectivelyrmsRoot mean square value Y of i output values on Y axisrmsRoot mean square value Z of i output values on Z axisrms(ii) a Where i is a predetermined value.
In step S13, when the linear motor vibrates, i output values on the X axis, i output values on the Y axis, and i output values are acquiredThe output values on the Z axis are obtained, and the root mean square values on each axis, namely the root mean square values X 'of the i output values on the X axis are obtained respectively'rmsAnd root mean square value Y 'of i output values on Y axis'rmsZ-axis root mean square value Z 'of i output values'rms(ii) a Where i is a predetermined value.
In step S14, S is calculated from the root mean square value of the output values on the axes of the vibration and non-vibration states obtained1＝Xrms+Yrms+Zrms，S2＝X'rms+Y'rms+Z'rms(ii) a If S1＜S2If yes, the linear motor is qualified, otherwise, the linear motor is unqualified, mainly in S1＝S2If so, the product is judged to be unqualified, and S is not generated in the normal condition1Greater than S2。
Wherein, with XrmsAnd X'rmsFor example, the following steps are carried out:
wherein x isi、yi、zi、x’i、y’i、z’iThe output values are respectively corresponding to the axes.
Taking the number i of output values on the selected coordinate axis as 100 as an example, the manner of calculating the root mean square value is as follows:
in this embodiment, the displacement amplitude is obtained by calculating a root mean square value, it should be noted that the root mean square value is a calculation method that only considers the displacement amount and does not consider the displacement direction, and the method of calculating the root mean square value is only one of reliable implementation methods, and in addition, the root mean square value can be calculated by an average value or the like.
On the basis of any one of the above embodiments, the step of controlling the qualified linear motors in the preset number to vibrate in the same state in step S2 specifically includes the following steps:
and step S21, acquiring n qualified linear motors, controlling the qualified linear motors to vibrate at the same position, and keeping the same vibration frequency.
The same state specifically includes that all the linear motors are controlled to be in the same installation position, installation angle and vibration state, so that single variable control can be realized, and that different displacement amplitudes in the same state are determined by the performances of different linear motors. Moreover, setting the control manner to the same state also facilitates the control of the detection process of the motor to be calibrated in step S3. In step S3, the motor to be calibrated is adjusted to the same state, so as to determine whether the motor to be calibrated meets the standard condition in the state.
Alternatively, the same state may include one or more of the above conditions, and of course, may not be only the setting position and the vibration frequency.
On the basis of the foregoing embodiment, the step of acquiring, by using the inertia measurement unit, the vibration displacement amplitude of each corresponding qualified linear motor in step S2, and taking an interval formed by the maximum value and the minimum value of the vibration displacement amplitudes of the preset number as a calibration range specifically includes the following steps:
step S22, respectively obtaining vibration displacement amplitude X of n qualified linear motors on the X axis by using an inertia measurement unit1rms、X2rms、…、XnrmsAmplitude of vibration displacement Y on the Y axis1rms、Y2rms、…、YnrmsAnd amplitude of vibration displacement Z of Z axis1rms、Z2rms、…、Znrms(ii) a And obtaining the range of the vibration displacement amplitude of the X axismin rms,Xmax rms]Range of vibration displacement amplitude of Y-axis as X-axis calibration rangemin rms,Ymax rms]As the calibration range of Y axis, the vibration displacement range of Z axis [ Zmin rms,Zmax rms]As the Z-axis calibration range.
It should be noted that the inertia measurement unit still only measures the connected linear motors in the same product, in this embodiment, n linear motors qualified for detection are involved, each linear motor is detected separately, n vibration displacement amplitudes need to be obtained on three coordinate axes, and after the obtained n displacement amplitudes form an interval, the maximum value and the minimum value can be obtained, because any one vibration displacement amplitude obtained separately can only represent the performance of the linear motor, for better calibrating the linear motors in the normal range, the three-axis displacement amplitudes corresponding to all the qualified linear motors can be selected and formed into a set, and the maximum value and the minimum value of the set are obtained, so that the calibrated range, that is, the range formed by the maximum value and the minimum value, is obtained. A linear motor that meets this range under the same conditions should be considered to meet the performance requirements of the sample linear motor described above. In this embodiment, n is a preset positive integer, that is, the total number of samples, and may be adjusted according to actual conditions.
In step S22 of the above embodiment, the vibration displacement amplitude X of the n qualified linear motors in the X axis is acquired1rms、X2rms、…、XnrmsAmplitude of vibration displacement Y on the Y axis1rms、Y2rms、…、YnrmsAnd amplitude of vibration displacement Z of Z axis1rms、Z2rms、…、ZnrmsThe method specifically comprises the following steps:
step S221, j output values of each linear motor on the X axis are obtained, and the root mean square value of the j output values on the X axis is calculated and used as the vibration displacement amplitude of the corresponding linear motor on the X axis;
step S222, acquiring j output values of each linear motor on the Y axis, and calculating the root mean square value of the j output values on the Y axis as the vibration displacement amplitude of the corresponding linear motor on the Y axis;
and step S223, acquiring j output values of each linear motor on the Z axis, and calculating the root mean square value of the j output values on the Z axis as the vibration displacement amplitude of the corresponding linear motor on the Z axis.
It should be noted that, a plurality of output values are selected on an individual coordinate axis for each linear motor, and a root mean square value is obtained from the plurality of output values, so that the average displacement amplitude of the linear motor on the individual coordinate axis is obtained, and the situation that the analysis is inaccurate due to deviation of the position during a certain measurement can be avoided.
The formula of the jth output value of the nth linear motor on the X axis is as follows:
the formula of the jth output value of the nth linear motor on the Y axis is as follows:
the formula of the jth output value of the nth linear motor on the Z-axis is as follows:
in a specific embodiment, the number n of the linear motors is 100, and when the number j of the output values on the single coordinate axis is 100, the partial displacement amplitudes obtained in the above steps are as follows:
the vibration displacement amplitude on a plurality of X axes, the vibration displacement amplitude on a Y axis and the vibration displacement amplitude on a Z axis are obtained in the process, three sets can be formed respectively, and the maximum value and the minimum value in each set can be used for forming a calibration range.
In the implementation, the obtaining of the displacement amplitude is mainly realized by sequentially obtaining the root mean square difference of multiple output values of each linear motor on a single coordinate axis, and besides the root mean square difference, an average value or other modes for representing the average level can be used. By adopting the mode, the average vibration displacement amplitude of the single linear motor on the independent coordinate axis can be obtained, so that the obtained calibration range is more accurate.
On the basis of the foregoing embodiment, in step S3, the step of controlling the motor to be calibrated to vibrate in the same state, and using the inertia measurement unit to obtain the displacement amplitude of the motor to be calibrated and determine whether the displacement amplitude is within the calibration range includes the following steps:
step S31, controlling the motor to be calibrated to vibrate at the same position and obtaining the displacement amplitude X of the three coordinates by using the inertial measurement unit under the condition of keeping the same vibration frequencym、Ym、Zm；
Step S32, judgment Condition Xm∈[Xmin rms,Xmax rms]、Ym∈[Ymin rms,Ymax rms]、Zm∈[Zmin rms,Zmax rms]Whether the two are true at the same time;
if so, the motor to be calibrated reaches the standard under the vibration frequency, and if not, the motor to be calibrated does not reach the standard under the vibration frequency.
It should be noted that the vibrating in the same state in step S3 specifically includes keeping the motor to be calibrated in the same state as the sample linear motor in step S2, specifically includes vibrating the linear motor at the same position and keeping the same vibration frequency. The same position refers to the setting position and the setting angle of the linear motor and the setting angle of a product set by the linear motor, so that the detection output of the motor to be calibrated can be used for being compared with the output of the linear motor in a sample, and the comparison result is meaningful.
On the basis of the above embodiment, the same vibration frequency is 150Hz-200 Hz.
In addition to the detection method of the linear motor disclosed in the above embodiments, the present invention further provides a detection system of the linear motor, which specifically includes a calibration range determining module and a calibration module of a single linear motor detection module.
The single linear motor detection module is used for implementing the step S1 in the above method, that is, after determining that the hardware of the linear motor is connected, the inertia measurement unit is used to obtain the displacement amplitudes of the linear motor during vibration and during non-vibration, and determine whether the displacement amplitude during non-vibration is smaller than the displacement amplitude during vibration, if so, the linear motor is qualified, and if not, the linear motor is unqualified;
a calibration range determining module, configured to implement step S2 in the foregoing method, that is, control a preset number of qualified linear motors to vibrate in the same state, acquire a displacement amplitude of each corresponding qualified linear motor by using an inertia measurement unit, and use an interval formed by a maximum value and a minimum value of the displacement amplitudes of the preset number as a calibration range;
the calibration module is used for realizing the step S3 in the method, namely controlling the motor to be calibrated to vibrate in the same state, acquiring the displacement amplitude of the motor to be calibrated by using the inertia measurement unit corresponding to the motor to be calibrated, which is connected to the same product, and determining whether the displacement amplitude of the motor to be calibrated is within the calibration range, if so, the motor to be calibrated reaches the standard, otherwise, the motor to be calibrated does not reach the standard;
the single linear motor detection module, the calibration range determination module and the calibration module are all connected with the inertia measurement unit because the inertia measurement unit is required to be used for controlling and judging the measurement of the linear motor.
It should be noted that the single linear motor detection module, the calibration range determination module, and the calibration module may be specific components of a controller in a product where the linear motor is disposed.
Specifically, the single linear motor detection module includes a connection test unit, and the connection test unit is configured to read a driver chip ID of the linear motor, and if the driver chip ID can be read, the hardware of the linear motor is in a connection state.
Optionally, the single linear motor detection module further includes a detection module, configured to obtain i output values on the X axis, the Y axis, and the Z axis by using the inertia measurement unit when the linear motor does not vibrate, and obtain a root mean square value X on each axisrms、Yrms、Zrms(ii) a When the linear motor vibrates, i output values are obtained on the X axis, the Y axis and the Z axis respectively by an inertia measuring unit, and root mean square value X 'on each axis is obtained'rms、Y’rms、Z’rms(ii) a Judgment S1＜S2Whether the motor is established or not, if so, the linear motor is qualified, and if not, the linear motor is unqualified; wherein S is1＝Xrms+Yrms+Zrms，S2＝X'rms+Y'rms+Z'rms. For its function, reference is made to the description of the embodiments of the method described above.
Optionally, the calibration range determining module includes an obtaining unit and a storage unit.
The acquisition unit is used for controlling the n qualified linear motors, controlling the qualified linear motors to vibrate at the same position, controlling the corresponding inertia measurement units to acquire the displacement amplitude of each linear motor under the condition of keeping the same vibration frequency, and taking an interval formed by the maximum value and the minimum value of the displacement amplitudes of the preset number as a calibration range.
The acquisition unit is connected with the storage unit and is used for obtaining displacement amplitudes on a plurality of X axes, displacement amplitudes on a Y axis and displacement amplitudes on a Z axis to respectively form three sets, and the maximum value and the minimum value in each set can be used for forming a calibration range and are sent to the storage unit for storage.
The specific steps and actions thereof are described with reference to the corresponding embodiments of the above method, i.e. the steps S21, S221, S222, and S223.
The calibration module comprises a test unit and a comparison unit.
The testing unit is used for controlling the motor to be calibrated to vibrate at the same position and acquiring the displacement amplitude X of three coordinates by using the inertial measurement unit under the condition of keeping the same vibration frequencym、Ym、Zm；
The comparison unit is connected with the test unit and used for judging whether the following condition conditions are simultaneously satisfied:
Xm∈[Xmin rms,Xmax rms]、Ym∈[Ymin rms,Ymax rms]、Zm∈[Zmin rms,Zmax rms]；
if so, the motor to be calibrated reaches the standard under the vibration frequency, and if not, the motor to be calibrated does not reach the standard under the vibration frequency.
The calibration module can also comprise an output unit for displaying the detection result, and the output unit can be selectively connected with an external display or an output module of a product where the linear motor is located so as to realize display.
Specifically, a single linear motor detection module is connected with a driving chip of a corresponding linear motor. Or the calibration module is connected with a display device of the linear motor product and used for displaying the calibration result.
In a specific embodiment provided by the present application, the method mainly includes the following steps:
reading the chip ID of the linear motor drive through the self-contained software of the product to judge the connectivity of the linear motor drive hardware;
software is used for acquiring the comparison between the vibration condition and the non-vibration condition of the linear motor to judge whether the basic function of the linear motor is qualified or not;
and selecting 100 qualified linear motors for calibration to obtain a determined calibration range, and then judging the performances of other motors to be calibrated.
The method provided by the invention can be used for detecting by depending on the inertia measuring unit carried by the product on the premise of not increasing the hardware cost, and in addition, the test result can be displayed on the display equipment.
The scheme can detect the hardware connectivity driven by the linear motor and also can detect the basic functions and performances of the linear motor, the implementation method is clear, the logic of using and operating is simple, and the method can be applied to detecting the linear motor of the VR handle and can also be used for detecting intelligent equipment such as mobile phones and tablet computers.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The detection method and system of the linear motor provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A method of detecting a linear motor, comprising:
s1, after the hardware of the linear motor is determined to be communicated, respectively obtaining displacement amplitudes of the linear motor during vibration and during non-vibration by using an inertia measurement unit, and judging whether the displacement amplitude during non-vibration is smaller than the displacement amplitude during vibration, wherein if yes, the linear motor is qualified, and if not, the linear motor is unqualified; the inertial measurement unit and the linear motor are installed in the same product;
s2, controlling a preset number of qualified linear motors to vibrate in the same state, acquiring vibration displacement amplitude of each corresponding qualified linear motor by using the inertia measurement unit, and taking an interval formed by the maximum value and the minimum value of the vibration displacement amplitude of the preset number as a calibration range;
s3, controlling the motor to be calibrated to vibrate in the same state, acquiring the displacement amplitude of the motor to be calibrated by using the inertia measurement unit corresponding to the motor to be calibrated connected in the same product, and judging whether the displacement amplitude is in the calibration range, wherein if the displacement amplitude is in the calibration range, the motor to be calibrated reaches the standard, and if the displacement amplitude is not in the calibration range, the motor to be calibrated does not reach the standard.
2. The method of claim 1, wherein the determining the hardware connectivity of the linear motor comprises:
and S11, reading the drive chip ID of the linear motor, and if the drive chip ID can be read, the hardware of the linear motor is in a connection state.
3. The method for detecting a linear motor according to claim 1, wherein the steps of obtaining displacement amplitudes of the linear motor when the linear motor vibrates and when the linear motor does not vibrate by using an inertia measurement unit, and determining whether the displacement amplitude when the linear motor does not vibrate is smaller than the displacement amplitude when the linear motor vibrates comprise:
s12, when the linear motor does not vibrate, the inertial measurement unit is used for respectively obtaining i output values on an X axis, a Y axis and a Z axis, and obtaining root mean square values X on each axisrms、Yrms、Zrms；
S13, when the linear motor vibrates, using inertia to measure the sheetAcquiring i output values on an X axis, a Y axis and a Z axis respectively to obtain root mean square values X 'on each axis'rms、Y’rms、Z’rms；
S14, judgment S1＜S2Whether the linear motor is established or not, if so, the linear motor is qualified, and if not, the linear motor is unqualified; wherein S is1＝Xrms+Yrms+Zrms，S2＝X′rms+Y′rms+Z′rms。
4. The method for detecting a linear motor according to any one of claims 1 to 3, wherein the controlling a preset number of qualified linear motors to vibrate in the same state comprises:
and acquiring n qualified linear motors, controlling the qualified linear motors to vibrate at the same position, and keeping the same vibration frequency.
5. The method for detecting a linear motor according to claim 4, wherein the step of obtaining the vibration displacement amplitude of each qualified linear motor by using an inertial measurement unit, and taking an interval formed by the maximum value and the minimum value of the vibration displacement amplitudes of the preset number as a calibration range, comprises:
respectively acquiring n qualified vibration displacement amplitudes X of the linear motor on the X axis by using an inertia measurement unit1rms、X2rms、…、XnrmsAmplitude of vibration displacement Y on the Y axis1rms、Y2rms、…、YnrmsAnd amplitude of vibration displacement Z of Z axis1rms、Z2rms、…、Znrms(ii) a And obtaining the range [ X ] of the vibration displacement amplitude of the X axismin rms,Xmax rms]As the calibration range of the X axis, the range [ Y ] of the vibration displacement amplitude of the Y axismin rms,Ymax rms]As a Y-axis calibration range, the vibration displacement amplitude range [ Z ] of the Z axismin rms,Zmax rms]As the Z-axis calibration range.
6. The method for detecting a linear motor according to claim 5, wherein n qualified vibration displacement amplitudes X of the linear motor in the X axis are obtained1rms、X2rms、…、XnrmsAmplitude of vibration displacement Y on the Y axis1rms、Y2rms、…、YnrmsAnd amplitude of vibration displacement Z of Z axis1rms、Z2rms、…、Znrms(ii) a The method comprises the following steps:
acquiring j output values of each linear motor on an X axis, and calculating the root mean square value of the j output values on the X axis as the vibration displacement amplitude of the corresponding linear motor on the X axis;
acquiring j output values of each linear motor on a Y axis, and calculating the root mean square value of the j output values on the Y axis as the vibration displacement amplitude of the corresponding linear motor on the Y axis;
and acquiring j output values of each linear motor on the Z axis, and calculating the root mean square value of the j output values on the Z axis as the vibration displacement amplitude of the corresponding linear motor on the Z axis.
7. The method for detecting the linear motor according to claim 6, wherein controlling the motor to be calibrated to vibrate in the same state, and using the inertia measurement unit to obtain the displacement amplitude of the motor to be calibrated and determine whether the displacement amplitude is within the calibration range comprises:
s31, controlling the motor to be calibrated to vibrate at the same position, keeping the same vibration frequency, and acquiring the displacement amplitude X of three coordinates by using an inertia measurement unitm、Ym、Zm；
S32, judgment Condition Xm∈[Xmin rms,Xmax rms]、Ym∈[Ymin rms,Ymax rms]、Zm∈[Zmin rms,Zmax rms]Whether the two are true at the same time;
if so, the motor to be calibrated reaches the standard under the vibration frequency, and if not, the motor to be calibrated does not reach the standard under the vibration frequency.
8. The method for detecting a linear motor according to claim 7, wherein the same vibration frequency is 150Hz to 200 Hz.
9. A detection system for a linear motor, comprising:
the single linear motor detection module is used for respectively acquiring displacement amplitudes of the linear motor during vibration and during non-vibration by using an inertia measurement unit in a product in which the linear motor is positioned after hardware communication of the linear motor is determined, judging whether the displacement amplitude during non-vibration is smaller than the displacement amplitude during vibration, if so, determining that the linear motor is qualified, and if not, determining that the linear motor is unqualified;
the calibration range determining module is used for controlling a preset number of qualified linear motors to vibrate in the same state, acquiring the displacement amplitude of each corresponding qualified linear motor by using the inertia measuring unit, and taking an interval formed by the maximum value and the minimum value of the displacement amplitude of the preset number as a calibration range;
the calibration module is used for controlling the motor to be calibrated to vibrate in the same state, acquiring the displacement amplitude of the motor to be calibrated by using an inertia measurement unit corresponding to the motor to be calibrated, which is connected to the same product, and judging whether the displacement amplitude of the motor to be calibrated is within the calibration range, if so, the motor to be calibrated reaches the standard, otherwise, the motor to be calibrated does not reach the standard;
the single linear motor detection module, the calibration range determination module and the calibration module are all connected with the corresponding inertia measurement unit.
10. The linear motor detection system of claim 9, wherein the single linear motor detection module is connected to a driving chip of the linear motor;
or the calibration module is connected with a display device of a product where the linear motor is located and used for displaying the calibration result.
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