CN111327247B - Control method and control system of motor - Google Patents
Control method and control system of motor Download PDFInfo
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- CN111327247B CN111327247B CN202010069681.2A CN202010069681A CN111327247B CN 111327247 B CN111327247 B CN 111327247B CN 202010069681 A CN202010069681 A CN 202010069681A CN 111327247 B CN111327247 B CN 111327247B
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- electromotive force
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The application discloses a control method and a control system of a motor, wherein in the process of controlling the braking of the motor, when the back electromotive force of the motor is smaller than a first electromotive force threshold value, the motor is considered to stop vibrating, and the motor is not required to be subjected to braking control; otherwise, the motor is still vibrating and needs to be subjected to braking control, at this time, a first pulse unit for braking is determined according to the reverse electromotive force, and the step of obtaining the reverse electromotive force of the motor is returned after the first pulse unit is played, so that the detection frequency of the reverse electromotive force of the motor in the motor braking control process is improved, the determined first pulse unit is related to the reverse electromotive force of the motor in near real time, the probability of excessive braking problem caused by excessive (overlarge amplitude and/or overlarge width) braking control of the motor by the first pulse unit is reduced, and the control precision of the motor braking process is improved.
Description
Technical Field
The application relates to the technical field of motors, in particular to a motor control method and a motor control system.
Background
Haptic feedback techniques reproduce the tactile sensation for the user through a series of movements of force, vibration, etc. The haptic feedback technology can generate different haptic experiences according to different application scenes, and can enable a user to interact with the electronic equipment more deeply, so that the haptic feedback technology has become an important upgrading direction of the intelligent terminal in the future.
At present, the haptic feedback technology is mainly implemented by providing vibration by means of a motor (motorr), and the motor in general electronic equipment is mainly divided into a rotor motor and a linear motor, and compared with the rotor motor, the linear motor has the advantages of small size, quick starting, clear shock feeling and the like, so that the haptic feedback technology is widely applied.
In an actual application process, after the motor receives a drive, the motor vibrates according to an input vibration waveform of a requirement (also called playing the vibration waveform of the requirement), and after the drive is closed, the motor is required to stop vibration (also called aftervibration) caused by inertia as soon as possible, and a process of stopping aftervibration is called a motor braking process.
In the prior art, the problem that the motor restarts reverse vibration (namely 'excessive braking') after stopping residual vibration is possibly caused in the control process of the motor braking, so that the control process of the motor braking in the prior art is difficult to meet the requirement of accurately controlling the motor braking.
Disclosure of Invention
In order to solve the technical problems, the application provides a control method and a control system for a motor, so as to achieve the purposes of reducing the probability of excessive braking in the braking control process of the motor and improving the control precision of the braking process of the motor.
In order to achieve the technical purpose, the embodiment of the application provides the following technical scheme:
a control method of a motor, the control method of the motor comprising:
acquiring a reverse electromotive force of the motor;
judging whether the reverse electromotive force is smaller than a first electromotive force threshold value, if so, stopping braking process control of a motor, and if not, determining a first pulse unit for braking according to the reverse electromotive force of the motor;
and playing the first pulse unit, and returning to the step of acquiring the reverse electromotive force of the motor after the first pulse unit is played.
Optionally, the amplitude of the first pulse unit is positively correlated with the back electromotive force, and the width of the first pulse unit is a first preset width;
the first preset width satisfies a first preset formula:wherein W is 1 Representing the width of the first pulse unit, F 0 Representing the natural frequency of the motor, +.>Representing the self-oscillation period of the motor.
Optionally, the acquiring the back electromotive force of the motor includes:
detecting a current flowing through the motor, detecting an electromotive force at both ends of the motor when the current flowing through the motor is zero, and taking the electromotive force at both ends of the motor obtained by the detection as a counter electromotive force of the motor.
Optionally, after the obtaining the back electromotive force of the motor, before determining whether the back electromotive force is greater than the first electromotive force threshold, the method further includes:
judging whether the reverse electromotive force of the motor is smaller than a second electromotive force threshold value, if so, entering a step of judging whether the reverse electromotive force is smaller than a first electromotive force threshold value, if not, determining a second pulse unit for braking according to the reverse electromotive force of the motor, playing the second pulse unit, and returning to the step of acquiring the reverse electromotive force of the motor after the second pulse unit is played;
the second electromotive force threshold is greater than the first electromotive force threshold.
Optionally, the amplitude of the second pulse unit is positively correlated with the back electromotive force, and the width of the second pulse unit is greater than the first preset width.
Optionally, the width of the second pulse unit meets a third preset formula;
the third preset formula is:wherein W is 2 Representing the width of the second pulse unit.
Optionally, the first preset width satisfies a second preset formula;
the second preset formula is:45≤n 0 ≤55。
a control system for a motor, the control system comprising:
an electromotive force acquisition module for acquiring a reverse electromotive force of the motor;
the braking control module is used for judging whether the reverse electromotive force is smaller than a first electromotive force threshold value, stopping braking process control of the motor if the reverse electromotive force is smaller than the first electromotive force threshold value, and determining a first pulse unit for braking according to the reverse electromotive force of the motor if the reverse electromotive force is not smaller than the first electromotive force threshold value;
the waveform playing module is used for playing the first pulse unit, and triggering the electromotive force acquisition module after the first pulse unit is played.
Optionally, the amplitude of the first pulse unit is positively correlated with the back electromotive force, and the width of the first pulse unit is a first preset width;
the first preset width satisfies a first preset formula:wherein W is 1 Representing the width of the first pulse unit, F 0 Representing the natural frequency of the motor, +.>Representing the self-oscillation period of the motor.
Optionally, the brake control module is further configured to determine whether a reverse electromotive force of the motor is less than a second electromotive force threshold, if yes, trigger the waveform playing module, if no, determine a second pulse unit for braking according to the reverse electromotive force of the motor, and transmit the second pulse unit to the waveform playing module;
the waveform playing module is further used for playing the received second pulse unit, and triggering the electromotive force obtaining module after the second pulse unit is played;
the amplitude of the second pulse unit is positively correlated with the reverse electromotive force, and the width of the second pulse unit is larger than the first preset width;
the second electromotive force threshold is greater than the first electromotive force threshold.
A motor driving device comprising a play control module, a gate and a control system of the motor according to any one of the above; wherein, the liquid crystal display device comprises a liquid crystal display device,
the control system of the motor includes: the system comprises an electromotive force acquisition module, a brake control module and a waveform playing module;
the play control module is used for receiving play demand data, generating a first vibration waveform according to the play demand data, and transmitting the first vibration waveform to the gating device;
the gating device is used for receiving the first vibration waveform and the first pulse unit transmitted by the brake control module, transmitting the first vibration waveform to the waveform playing module when the motor is in a playing stage, and transmitting the first pulse unit to the waveform playing module when the motor is in a braking stage.
Optionally, the gate is further configured to transmit the second pulse unit to the waveform playing module when the motor is in a braking stage and the second pulse unit is received.
As can be seen from the above technical solution, the embodiments of the present application provide a method and a system for controlling a motor, where in the method for controlling a motor, when a reverse electromotive force of the motor is smaller than a first electromotive force threshold value in a braking control process of the motor, the motor is considered to have stopped vibrating, and braking control is not required; when the back electromotive force of the motor is larger than a first electromotive force threshold value, the motor is considered to vibrate and braking control is needed, at the moment, a first pulse unit for braking is determined according to the back electromotive force, the first pulse unit is played and then returns to the step of acquiring the back electromotive force of the motor again, the detection frequency of the back electromotive force of the motor in the motor braking control process is improved, the determined back electromotive force of the first pulse unit and the motor can be related in near real time according to the needs, the probability of excessive braking problem caused by excessive (overlarge amplitude and/or overlarge width) braking control of the motor by the excessive braking waveform is reduced, and the control precision of the motor braking process is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a motor control method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a back electromotive force of a motor and a first vibration waveform and a braking waveform formed by a plurality of first pulse units during a complete motor playing process and a braking process according to an embodiment of the present application;
FIG. 3 is an enlarged schematic view of a dashed box X1 in FIG. 2;
FIG. 4 is a schematic diagram of motor short vibration effects corresponding to the waveforms of FIGS. 2 and 3;
fig. 5 is a schematic flow chart of a motor control method according to another embodiment of the present application;
FIG. 6 is a schematic diagram of a reverse electromotive force of a motor and a first vibration waveform and a braking waveform composed of a plurality of first pulse units and a plurality of second pulse units during a complete motor play process and a braking process according to another embodiment of the present application;
fig. 7 is a schematic structural diagram of a driving device of a motor according to an embodiment of the present application.
Detailed Description
As described in the background art, in the prior art, the excessive braking problem of the motor is easily caused in the braking control process of the motor, specifically, in the prior art, when the motor needs to be subjected to braking control, the motor is directly driven to play a braking waveform for a certain time to perform braking, the braking waveform is opposite to the amplitude variation trend of the back electromotive force of the motor, and in the later stage of the braking process of the motor, since the vibration quantity of the residual vibration of the motor is smaller, the reverse vibration (namely, the excessive braking condition) is easily caused after the vibration required by the user is stopped due to the excessive amplitude and/or the excessive duration (namely, the excessive width) of the braking waveform.
In view of this, an embodiment of the present application provides a method for controlling a motor, including:
acquiring a reverse electromotive force of the motor;
judging whether the reverse electromotive force is smaller than a first electromotive force threshold value, if so, stopping braking process control of a motor, and if not, determining a first pulse unit for braking according to the reverse electromotive force of the motor;
and playing the first pulse unit, and returning to the step of acquiring the reverse electromotive force of the motor after the first pulse unit is played.
In the control method of the motor in the embodiment, when the back electromotive force of the motor is smaller than the first electromotive force threshold value in the brake control process of the motor, the motor is considered to stop vibrating, and brake control is not needed; when the back electromotive force of the motor is larger than a first electromotive force threshold value, the motor is considered to vibrate and braking control is needed, at the moment, a first pulse unit with the amplitude positively related to the back electromotive force and the width smaller than half of the self vibration period of the motor is determined according to the back electromotive force, the first pulse unit is played and then returned to the step of obtaining the back electromotive force of the motor, the detection frequency of the back electromotive force of the motor in the motor braking control process is greatly improved, the determined back electromotive force of the first pulse unit and the motor can be related in near real time according to the requirement, the probability of excessive braking problem caused by excessive (overlarge amplitude and/or overlarge width) braking control of the motor is reduced, and the control precision of the motor braking process is improved.
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The embodiment of the application provides a motor control method, as shown in fig. 1, applied to a braking process of a motor after playing a first vibration waveform, the motor control method comprising the following steps:
s101: acquiring a reverse electromotive force of the motor;
s102: judging whether the reverse electromotive force is smaller than a first electromotive force threshold value, if so, stopping braking process control of a motor, and if not, determining a first pulse unit for braking according to the reverse electromotive force of the motor;
optionally, the amplitude of the first pulse unit is positively correlated with the back electromotive force, and the width of the first pulse unit is a first preset width; the first preset width satisfies a first preset formula:wherein W is 1 Representing the width of the first pulse unit, F 0 Representing the natural frequency of the motor;
s103: and playing the first pulse unit, and returning to the step S101 after the first pulse unit is played.
The first vibration waveform refers to a vibration waveform corresponding to a normal playing requirement of a user.
In this embodiment, the positive correlation between the amplitude of the first pulse unit and the back electromotive force means that the amplitude of the first pulse unit fluctuates with the amplitude of the back electromotive force, the amplitude of the back electromotive force increases, the amplitude of the first pulse unit increases, the amplitude of the back electromotive force decreases, the amplitude of the first pulse unit decreases, the positive correlation between the amplitude of the first pulse unit and the back electromotive force may be a proportional relationship, and a scaling factor in the proportional relationship may be obtained by calibrating different motors in advance, or may be other positive correlation, for example, an exponential relationship.
The phase of the first pulse unit is inverted from the phase of the back electromotive force so that the first pulse unit as a braking waveform has a suppressing action, i.e., a braking action, on the back electromotive force.
When the motor driving device applies the motor control method provided by the embodiment of the application, the brake waveform may be the first pulse unit.
The back electromotive force (Back Electro Motive Force, BEMF) of the motor refers to an electromotive force generated by interaction of a vibrator (or rotor) inside the motor with a magnetic field inside the motor when the vibrator (or rotor) moves. In general, the magnitude of the back electromotive force is proportional to the movement speed of the vibrator (or rotor) when the intensity of the magnetic field inside the motor is uniform, i.e., the larger the vibrator speed is, the larger the back electromotive force is.
Optionally, the acquiring the back electromotive force of the motor includes:
s1011: detecting a current flowing through the motor, detecting an electromotive force at both ends of the motor when the current flowing through the motor is zero, and taking the electromotive force at both ends of the motor obtained by the detection as a counter electromotive force of the motor.
In this embodiment, when the current flowing through the motor is zero, the electromotive forces at the two ends of the motor are used as the back electromotive force, so that the influence of the internal resistance voltage or the inductance voltage of the motor on the value of the back electromotive force can be avoided, and the accuracy of obtaining the back electromotive force can be improved.
This is because when the current flowing through the motor is non-zero, the current flowing through the motor internal resistance and the inductance will generate corresponding motor internal resistance voltage and inductance voltage, which causes the measured voltage values across the motor to contain the back electromotive force, the internal resistance voltage and the inductance voltage, and only when the current is zero, the measured voltage across the motor will contain only the back electromotive force of the motor.
Referring to fig. 2 and 3, fig. 2 shows a schematic diagram of an electromotive force of a motor (a curve indicated by K4 in fig. 2) during a complete play of the motor, and a reverse electromotive force of the motor (a curve indicated by K1 in fig. 2) and a first vibration waveform (a curve indicated by K2) and a braking waveform (a curve indicated by K3) composed of a plurality of first pulse units during a braking process, fig. 3 is an enlarged schematic diagram of two first pulse units in a dashed line frame X1 in fig. 2, fig. 3, SC represents one braking link, QD represents a play process of the first pulse unit, FD represents a discharge process, and JZ represents a detection process. In fig. 2 and 3, the abscissa is time and the ordinate is electromotive force amplitude.
As can be seen from fig. 2 and fig. 3, when the motor is controlled to perform a braking process by using the control method for a motor provided by the embodiment of the present application, multiple braking links are performed in each self vibration period of the motor, the number of braking links performed in each self vibration period is related to the width of the first pulse unit, the smaller the width of the first pulse unit is, the more the number of braking links performed in one self vibration period is, and accordingly, the more the number of playing (i.e., the stage indicated by the reference numeral QD) times, the number of discharging (i.e., the stage indicated by the reference numeral FD) times, and the number of voltage detection (i.e., the stage indicated by the reference numeral JZ) times of the first pulse unit included in the braking links are. Alternatively, the first preset width is substantially smaller than the self-oscillation period of the motor, and may be, for exampleAnd so on, i.e., optionally, in one embodiment of the application, the first preset width satisfies a second preset formula;
the second preset formula is:45≤n 0 ≤55。
still referring to fig. 3, a certain time interval is left between every two adjacent first pulse units, during which a discharging process after the first pulse units are played (i.e., a process of waiting for the current flowing through the motor to drop to zero after the first pulse units are played) and a voltage detecting process for both ends of the motor after the discharging process.
As can be seen from fig. 2-4 and the above description, in the motor control method, when the back electromotive force of the motor is smaller than the first electromotive force threshold value during the brake control of the motor, the motor is considered to stop vibrating, and braking control is not needed; when the back electromotive force of the motor is larger than a first electromotive force threshold value, the motor is considered to vibrate and braking control is needed, at the moment, a first pulse unit with the amplitude positively related to the back electromotive force and the width smaller than half of the self vibration period of the motor is determined according to the back electromotive force, and the step of obtaining the back electromotive force of the motor is returned after the first pulse unit is played, so that the detection frequency of the back electromotive force of the motor in the motor braking control process is greatly improved, the determined back electromotive force of the first pulse unit and the motor are related in near real time, the probability of excessive braking problem caused by excessive (over-large amplitude and/or over-wide width) braking control of the motor by the first pulse unit is reduced, and the control precision of the motor braking process is improved.
On the basis of the above embodiment, in another embodiment of the present application, as shown in fig. 5, the control method of the motor includes:
s201: acquiring a reverse electromotive force of the motor;
s202: judging whether the back electromotive force of the motor is smaller than a second electromotive force threshold value, if yes (the back electromotive force is smaller than the second electromotive force threshold value), judging whether the back electromotive force is smaller than a first electromotive force threshold value, if yes (the back electromotive force is smaller than the first electromotive force threshold value), stopping the braking process control of the motor, if not (the back electromotive force is larger than or equal to the first electromotive force threshold value), determining a first pulse unit for braking according to the back electromotive force of the motor, playing the first pulse unit, and returning to step S201 after the first pulse unit is played;
if not (the reverse electromotive force is greater than or equal to the second electromotive force threshold value), determining a second pulse unit according to the reverse electromotive force of the motor, playing the second pulse unit, and returning to the step S201 after the second pulse unit is played;
the amplitude of the first pulse unit is positively correlated with the reverse electromotive force, and the width of the first pulse unit is a first preset width;
the amplitude of the second pulse unit is positively correlated with the reverse electromotive force, and the width of the second pulse unit is larger than the first preset width;
the second electromotive force threshold is greater than the first electromotive force threshold;
the first preset width satisfies a first preset formula:wherein W is 1 Representing the width of the first pulse unit, F 0 Representing the natural frequency of the motor, +.>Representing the self-oscillation period of the motor.
Similarly, the positive correlation between the amplitude of the second pulse unit and the back electromotive force means that the amplitude of the second pulse unit fluctuates with the amplitude of the back electromotive force, the amplitude of the back electromotive force increases, the amplitude of the second pulse unit increases, the amplitude of the back electromotive force decreases, the amplitude of the second pulse unit decreases, the positive correlation between the amplitude of the second pulse unit and the back electromotive force may be a proportional relationship, and the proportional coefficient in the proportional relationship may be obtained by calibrating different motors in advance, or may be other positive correlation, such as an exponential relationship.
The phase of the second pulse unit is inverted from the phase of the back electromotive force so that the second pulse unit has a suppressing effect on the back electromotive force.
In this embodiment, in order to improve the braking control efficiency of the motor control method, when the back electromotive force of the motor is greater than the second electromotive force threshold, the second pulse unit is determined to perform braking control on the motor according to the back electromotive force of the motor, and since the width of the second pulse unit is greater than the first preset width, in one self vibration period of the motor, the number of the second pulse unit is smaller than that of the first pulse unit, that is, the number of braking links in one self vibration period is reduced, and the number of time intervals between the pulse units is correspondingly reduced, so that the braking control efficiency of the motor in this stage can be improved, and the back electromotive force of the motor is reduced below the second electromotive force threshold more rapidly; and when the reverse electromotive force of the motor is smaller than the second electromotive force threshold and larger than the first electromotive force threshold, the detection frequency is increased, namely the number of braking links in the self vibration period of one motor is increased, and the accurate control of the motor braking process is realized.
Referring to fig. 6, fig. 6 shows a schematic diagram of a reverse electromotive force (curve indicated by K4 in fig. 2) of the motor and a first vibration waveform (curve indicated by K2 in fig. 6) and a braking waveform (curve indicated by K3) composed of a plurality of first pulse units and a plurality of second pulse units during a complete motor play process by applying the control method of the motor provided by the present embodiment, and as can be seen from fig. 6, when the reverse electromotive force of the motor is greater than the second electromotive force threshold, the motor is brake-controlled by the second pulse unit, and at this time, the number of times of detection in one self vibration period is small, so that the reverse electromotive force of the motor can be controlled within the second electromotive force threshold more efficiently; and when the back electromotive force of the motor is smaller than the second electromotive force threshold and larger than the first electromotive force threshold, the detection frequency is increased, namely the number of braking links in the self vibration period of one motor is increased, and the accurate control of the motor braking process is realized.
Optionally, the width of the second pulse unit meets a third preset formula;
the third presetThe formula is:wherein W is 2 Representing the width of the second pulse unit.
The width of the second pulse unit is slightly smaller than one half of the self vibration period of one motor, so that the braking link can be executed twice in the self vibration period of one motor, and the detection efficiency is improved on the basis of ensuring a certain detection frequency.
The control system of the motor provided by the embodiment of the application is described below, and the control system of the motor described below can be referred to correspondingly to the control method of the motor described above.
Accordingly, an embodiment of the present application provides a control system for a motor, including:
an electromotive force acquisition module for acquiring a reverse electromotive force of the motor;
the braking control module is used for judging whether the reverse electromotive force is smaller than a first electromotive force threshold value, stopping braking process control of the motor if the reverse electromotive force is smaller than the first electromotive force threshold value, and determining a first pulse unit for braking according to the reverse electromotive force of the motor if the reverse electromotive force is not smaller than the first electromotive force threshold value;
the waveform playing module is used for playing the first pulse unit, and triggering the electromotive force acquisition module after the first pulse unit is played.
Optionally, the amplitude of the first pulse unit is positively correlated with the back electromotive force, and the width of the first pulse unit is a first preset width;
the first preset width satisfies a first preset formula:wherein W is 1 Representing the width of the first pulse unit, F 0 Representing the natural frequency of the motor, +.>Representing the horseReaching the self-oscillation period.
Optionally, the brake control module is further configured to determine whether a reverse electromotive force of the motor is less than a second electromotive force threshold, if yes, trigger the waveform playing module, if no, determine a second pulse unit for braking according to the reverse electromotive force of the motor, and transmit the second pulse unit to the waveform playing module;
the waveform playing module is further used for playing the received second pulse unit, and triggering the electromotive force obtaining module after the second pulse unit is played;
the amplitude of the second pulse unit is positively correlated with the reverse electromotive force, and the width of the second pulse unit is larger than the first preset width;
the second electromotive force threshold is greater than the first electromotive force threshold.
Optionally, the first preset width satisfies a second preset formula;
the second preset formula is:45≤n 0 ≤55。
optionally, the width of the second pulse unit meets a third preset formula;
the third preset formula is:wherein W is 2 Representing the width of the second pulse unit.
Correspondingly, the embodiment of the application also provides a motor driving device, referring to fig. 7, which comprises a play control module 10, a gate 30 and a control system of the motor in any embodiment; wherein, the liquid crystal display device comprises a liquid crystal display device,
the control system of the motor includes: an electromotive force acquisition module 50, a brake control module 20 and a waveform playing module 40;
the play control module 10 is configured to receive play requirement data, generate a first vibration waveform according to the play requirement data, and transmit the first vibration waveform to the gate 30;
the gate 30 is configured to receive the first vibration waveform and the first pulse unit transmitted from the brake control module 20, and transmit the first vibration waveform to the waveform playing module 40 when the motor 60 is in the playing phase, and transmit the first pulse unit to the waveform playing module 40 when the motor 60 is in the braking phase.
Specifically, the waveform playing module 40 converts the received first vibration waveform or the braking waveform formed by the first pulse unit from a digital signal to a corresponding analog signal (voltage amount) and loads the analog signal onto the motor 60, so as to implement the response of the motor 60 to the playing requirement of the user or the braking control of the motor 60.
Specifically, the electromotive force acquisition module 50 is configured to detect a current or a voltage of the motor 60, for example, when the motor 60 finishes playing the first vibration waveform, the electromotive force acquisition module 50 detects a current flowing through the motor 60, and when the current meets a brake start condition, the electromotive force at two ends of the motor 60 is used as a reverse electromotive force, and the brake control module 20 generates the first pulse unit according to the reverse electromotive force and transmits the first pulse unit to the gate 30.
Optionally, the gate 30 is further configured to transmit the second pulse unit to the waveform playing module when the motor is in a braking stage and the second pulse unit is received.
In this embodiment, when the brake control module is further configured to determine whether the reverse electromotive force of the motor is less than a second electromotive force threshold, if yes, trigger the waveform playing module, if no, determine a second pulse unit for braking according to the reverse electromotive force of the motor, and transmit the second pulse unit to the waveform playing module; the waveform playing module is also used for playing the received second pulse unit, triggering the electromotive force acquisition module after the second pulse unit is played,
the gate 30 transmits only the second pulse unit to the waveform playing module 40 when the motor is in a braking stage and the second pulse unit is received, so that the waveform playing module 40 performs braking control on the motor 60 according to the second pulse unit, and transmits the first pulse unit to the waveform playing module 40 when the motor is in a braking stage and the first pulse unit is received, so that the waveform playing module 40 performs braking control on the motor 60 according to the first pulse unit.
In summary, the embodiments of the present application provide a method and a system for controlling a motor, where in the method for controlling a motor, when a reverse electromotive force of the motor is smaller than a first electromotive force threshold value in a braking control process of the motor, the motor is considered to have stopped vibrating, and braking control is not required; when the back electromotive force of the motor is larger than a first electromotive force threshold value, the motor is considered to vibrate and braking control is needed, at the moment, a first pulse unit with the amplitude positively related to the back electromotive force and the width smaller than half of the self vibration period of the motor is determined according to the back electromotive force, and the step of obtaining the back electromotive force of the motor is returned after the first pulse unit is played, so that the detection frequency of the back electromotive force of the motor in the motor braking control process is greatly improved, the determined back electromotive force of the first pulse unit and the motor are related in near real time, the probability of excessive braking problem caused by excessive (over-large amplitude and/or over-wide width) braking control of the motor by the first pulse unit is reduced, and the control precision of the motor braking process is improved.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of controlling a motor, the method comprising:
acquiring a reverse electromotive force of the motor;
judging whether the reverse electromotive force is smaller than a first electromotive force threshold value, if so, stopping braking process control of a motor, and if not, determining a first pulse unit for braking according to the reverse electromotive force of the motor;
playing the first pulse unit, and returning to the step of acquiring the reverse electromotive force of the motor after the first pulse unit is played;
the amplitude of the first pulse unit is positively correlated with the reverse electromotive force, and the width of the first pulse unit is a first preset width;
the first preset width satisfies a first preset formula:wherein W is 1 Representing the width of the first pulse unit, F 0 Representing the natural frequency of the motor, +.>Representing the self-oscillation period of the motor.
2. The method of controlling a motor according to claim 1, wherein the acquiring the back electromotive force of the motor includes:
detecting a current flowing through the motor, detecting an electromotive force at both ends of the motor when the current flowing through the motor is zero, and taking the electromotive force at both ends of the motor obtained by the detection as a counter electromotive force of the motor.
3. The method according to claim 1, wherein after the obtaining the back electromotive force of the motor, the determining whether the back electromotive force is greater than a first electromotive force threshold value further comprises:
judging whether the reverse electromotive force of the motor is smaller than a second electromotive force threshold value, if so, entering a step of judging whether the reverse electromotive force is smaller than a first electromotive force threshold value, if not, determining a second pulse unit for braking according to the reverse electromotive force of the motor, playing the second pulse unit, and returning to the step of acquiring the reverse electromotive force of the motor after the second pulse unit is played;
the second electromotive force threshold is greater than the first electromotive force threshold.
4. A control method of a motor according to claim 3, wherein the amplitude of the second pulse unit is positively correlated with the back electromotive force, and the width of the second pulse unit is larger than the first preset width.
5. The method according to claim 4, wherein the width of the second pulse unit satisfies a third preset formula;
the third preset formula is:wherein W is 2 Representing the width of the second pulse unit.
6. The method of controlling a motor according to claim 1, wherein the first preset width satisfies a second preset formula;
the second preset formula is:45≤n 0 ≤55。
7. a control system for a motor, the control system comprising:
an electromotive force acquisition module for acquiring a reverse electromotive force of the motor;
the braking control module is used for judging whether the reverse electromotive force is smaller than a first electromotive force threshold value, stopping braking process control of the motor if the reverse electromotive force is smaller than the first electromotive force threshold value, and determining a first pulse unit for braking according to the reverse electromotive force of the motor if the reverse electromotive force is not smaller than the first electromotive force threshold value;
the waveform playing module is used for playing the first pulse unit and triggering the electromotive force acquisition module after the first pulse unit is played;
the amplitude of the first pulse unit is positively correlated with the reverse electromotive force, and the width of the first pulse unit is a first preset width;
the first preset width satisfies a first preset formula:wherein W is 1 Representing the width of the first pulse unit, F 0 Representing the natural frequency of the motor, +.>Representing the self-oscillation period of the motor.
8. The motor control system of claim 7, wherein the brake control module is further configured to determine whether a counter electromotive force of the motor is less than a second electromotive force threshold, if so, trigger the waveform playing module, if not, determine a second pulse unit for braking according to the counter electromotive force of the motor, and transmit the second pulse unit to the waveform playing module;
the waveform playing module is further used for playing the received second pulse unit, and triggering the electromotive force obtaining module after the second pulse unit is played;
the amplitude of the second pulse unit is positively correlated with the reverse electromotive force, and the width of the second pulse unit is larger than the first preset width;
the second electromotive force threshold is greater than the first electromotive force threshold.
9. A motor drive comprising a play control module, a gate and a control system for a motor as claimed in any one of claims 7 to 8; wherein, the liquid crystal display device comprises a liquid crystal display device,
the control system of the motor includes: the system comprises an electromotive force acquisition module, a brake control module and a waveform playing module;
the play control module is used for receiving play demand data, generating a first vibration waveform according to the play demand data, and transmitting the first vibration waveform to the gating device;
the gating device is used for receiving the first vibration waveform and the first pulse unit transmitted by the brake control module, transmitting the first vibration waveform to the waveform playing module when the motor is in a playing stage, and transmitting the first pulse unit to the waveform playing module when the motor is in a braking stage.
10. The motor drive of claim 9, wherein the gate is further configured to transmit a second pulse unit to the waveform playing module when the motor is in a braking phase and the second pulse unit is received.
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