CN111490712B - Method, apparatus and storage medium for controlling vibration frequency of linear motor - Google Patents
Method, apparatus and storage medium for controlling vibration frequency of linear motor Download PDFInfo
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- CN111490712B CN111490712B CN201911347488.4A CN201911347488A CN111490712B CN 111490712 B CN111490712 B CN 111490712B CN 201911347488 A CN201911347488 A CN 201911347488A CN 111490712 B CN111490712 B CN 111490712B
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- 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
- H02P25/06—Linear motors
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Abstract
The invention provides a method, a device and a storage medium for controlling the vibration frequency of a linear motor. The method for controlling the vibration frequency of the linear motor comprises the following steps: defining basic vibration waveform, driving voltage waveform and waveform splicing mode of vibration frequency of the linear motor; calculating the duration of the specified basic vibration waveform; calculating a first coefficient of the drive voltage waveform; calculating to obtain a second coefficient of the driving voltage waveform; calculating a calculated voltage value of the drive voltage waveform according to the first coefficient and the second coefficient; comparing the calculated voltage value with a maximum output voltage value to obtain a driving voltage value for driving the linear motor to vibrate and a driving voltage waveform composed of a plurality of driving voltage values; and splicing the drive voltage waveform, and outputting the drive voltage waveform of the basic vibration waveform. The invention realizes the accurate control of the vibration frequency of the linear motor, improves the vibration effect of the linear motor and provides richer vibration experience for users.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of touch perception, in particular to a method and a device for controlling the vibration frequency of a linear motor and a storage medium.
[ background of the invention ]
The linear motor is widely applied to industrial production and daily application as an electromagnetic induction transducer. With the improvement of science and technology, the quality of life of people is improved, so that the application of a linear motor in portable equipment plays an increasingly important role. The linear motor can provide a rich vibration experience, and is generally very small and exquisite due to the limitation of size of the linear motor in the portable device. How to precisely control the linear motor so that the linear motor can generate abundant vibration effect is an important problem for signal design engineers.
It is well known that a good seismic effect depends mainly on the amplitude and frequency of the vibration waveform. Often under the circumstances of guaranteeing big amplitude, through control vibration frequency, can realize abundant and high-quality vibration effect. Aiming at the linear motor commonly used by us, the working principle is as follows: the electrified coil generates driving force in a vertical magnetic field, and the vibrator generates acceleration under the action of the driving force, so that displacement is generated, and the spring is compressed to generate spring force; in the subsequent process, the vector sum of the spring force, the resistance and the driving force forms a vibrator combined external force, and the motion state of the vibrator can be calculated according to a Newton third law F-ma.
Along with the improvement of the demand of people for vibration experience, the linear motor is required to have more accurate and abundant vibration effects, and how to more accurately control the vibration frequency of the linear motor is very necessary.
[ summary of the invention ]
The invention provides a method, a device and a storage medium for controlling the vibration frequency of a linear motor, which can more accurately control the vibration frequency of the linear motor, improve the vibration effect of the linear motor and improve the vibration experience of the linear motor.
The method for controlling the vibration frequency of the linear motor comprises the following steps:
step S10: defining basic vibration waveform, driving voltage waveform and waveform splicing mode of vibration frequency of the linear motor; the basic vibration waveform is a calculation relation of speed and time of a vibrator of the linear motor, the vibrator is a unit for driving vibration of the linear motor, the driving voltage waveform is a driving voltage waveform for driving the linear motor to vibrate, which is obtained by calculation according to the basic vibration waveform, and the waveform splicing mode is that adjacent basic vibration waveforms with opposite monotonicity are spliced to form a complete vibration waveform;
step S20: calculating the duration of the specified basic vibration waveform;
step S30: calculating a first coefficient of a driving voltage waveform according to the basic vibration waveform, the driving voltage waveform and the duration of the basic vibration waveform;
step S40: calculating a second coefficient of the drive voltage waveform according to the displacement of the appointed basic vibration waveform at the end and the displacement of the preset basic vibration waveform at the beginning;
step S50: calculating a calculated voltage value of the drive voltage waveform according to the first coefficient and the second coefficient;
step S60: comparing the calculated voltage value with a maximum output voltage value to obtain a driving voltage value for driving the linear motor to vibrate and a driving voltage waveform composed of a plurality of driving voltage values;
step S70: and splicing the basic vibration waveform according to the waveform splicing mode, and outputting the spliced driving voltage waveform.
Further, the step S10 includes: defining a basic vibration waveform; wherein the fundamental vibration waveform is defined by a first formula expressed as:
where x denotes a monotonous displacement curve, T denotes a time, T-0 denotes a start time, and T-T denotes an elapsed period of time T, x'(t＝0)The slope at the start time T, that is, the velocity of the transducer is zero is represented by 0, and the slope at the end time is zero after a lapse of time T is represented by x' (T is T).
Further, the step S10 further includes:
defining a drive voltage waveform; wherein the driving voltage waveform is defined by a second formula expressed as:
u＝αx+β
wherein u is voltage, and alpha and beta are undetermined coefficients; wherein α is a first coefficient of the drive voltage waveform and β is a second coefficient of the drive voltage waveform;
an electromechanical equation of the linear motor defining a drive voltage waveform; wherein an electromechanical equation of the linear motor is defined by a third formula expressed as:
wherein m is the mass of the vibrator, c is the damping coefficient, k is the elastic coefficient of the spring, ReIs a static resistance, LeIs inductance, bL is the electromagnetic coefficient; x is the displacement of the vibrator,
is the speed of the vibrator, and the speed of the vibrator,
the vibrator acceleration is shown, i is current, u is voltage, and t is time;
solving a displacement curve x (n) for the specified driving voltage waveform; wherein the solution displacement curve x (n) is calculated using a fourth formula expressed as:
solving a second order differential equation to obtain a displacement curve x (t), wherein the fifth formula is represented as:
wherein, C1、C2In order to determine the coefficient to be determined,
wherein the influence of inductance, i.e. L, is not taken into accounte＝0。
Further, the waveform splicing mode is defined, and the waveform splicing mode is to splice adjacent basic vibration waveforms with opposite monotonicity to form a complete vibration waveform.
Further, the step S20 is to determine the frequency F according to the designated vibration signalnCalculating the time length T of the basic vibration waveform; wherein the time length T of the basic vibration waveform is calculated using a sixth formula expressed as:
the seventh formula is represented as:
Wherein, for a monotonic curve, N is 1.
Further, calculating a first coefficient α of the drive voltage waveform; wherein the first coefficient α is calculated using an eighth formula, which is expressed as:
further, the step S40 includes:
step S410: setting the maximum termination time displacement as x according to the displacement of the specified basic vibration waveform at the end and the displacement of the preset basic vibration waveform at the beginningmaxCalculating a basic vibration waveform; wherein the base vibration waveform is calculated using a ninth formula expressed as:
step S420: calculating a second coefficient beta of the drive voltage waveform according to the maximum displacement limit at the termination time; wherein the second coefficient β of the drive voltage waveform is calculated using a tenth formula expressed as:
further, the step S60 includes:
step S610: judging the calculated voltage value umaxAnd a maximum output voltage value VmaxWhen said calculated voltage value u is greater than or equal tomaxGreater than the maximum output voltage value VmaxIf so, go to step S620; otherwise, executing step S630;
step S620: outputting the calculated voltage value as a driving voltage value;
step S630: and performing self-correction, and resetting the displacement at the beginning of the basic vibration waveform.
Furthermore, the present invention provides an apparatus for controlling a vibration frequency of a linear motor, the apparatus comprising a memory and a processor, the memory storing a program for controlling the vibration frequency of the linear motor, the program being executable on the processor, the program for controlling the vibration frequency of the linear motor being executed by the processor to implement the steps of the method for controlling the vibration frequency of the linear motor as described above.
Meanwhile, the present invention provides a storage medium which is a computer-readable storage medium having a program for controlling a vibration frequency of a linear motor stored thereon, the program being executable by one or more processors to implement the steps of the method for controlling a vibration frequency of a linear motor as described above.
Compared with the prior art, the method, the device and the storage medium for controlling the vibration frequency of the linear motor provided by the invention have the advantages that the vibration frequency of the linear motor is accurately controlled by defining the calculation of the basic vibration waveform and the driving voltage waveform, the vibration effect of the linear motor is improved, and richer vibration experience is provided for users.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic flow chart according to a first embodiment of the present invention;
FIG. 2 is a schematic flow chart of step S40 in FIG. 1;
FIG. 3 is a schematic flow chart of step S60 in FIG. 1;
FIG. 4 is an exemplary illustration of an effect graph of basic vibration waveform stitching according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an internal structure of an apparatus for controlling a vibration frequency of a linear motor according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a program module for controlling the vibration frequency of the linear motor in the apparatus for controlling the vibration frequency of the linear motor according to an embodiment of the present invention.
[ detailed description ] embodiments
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.
Referring to fig. 1, the present invention provides a method for controlling a vibration frequency of a linear motor, including:
step S10: defining basic vibration waveform, driving voltage waveform and waveform splicing mode of vibration frequency of the linear motor; the basic vibration waveform is a calculation relation of speed and time of a vibrator of the linear motor, the vibrator is a unit for driving vibration of the linear motor, the driving voltage waveform is a driving voltage waveform for driving the linear motor to vibrate, which is obtained by calculation according to the basic vibration waveform, and the waveform splicing mode is that adjacent basic vibration waveforms with opposite monotonicity are spliced to form a complete vibration waveform;
step S20: calculating the duration of the specified basic vibration waveform;
step S30: calculating a first coefficient of a driving voltage waveform according to the definition of the basic vibration waveform and the driving voltage waveform and the basic vibration waveform duration;
step S40: calculating a second coefficient of the drive voltage waveform according to the displacement of the appointed basic vibration waveform at the end and the displacement of the preset basic vibration waveform at the beginning;
step S50: calculating a calculated voltage value of the drive voltage waveform according to the first coefficient and the second coefficient;
step S60: comparing the calculated voltage value with a maximum output voltage value to obtain a driving voltage value for driving the linear motor to vibrate and a driving voltage waveform composed of a plurality of driving voltage values;
step S70: and splicing the basic vibration waveform according to the waveform splicing mode, and outputting the spliced driving voltage waveform.
Specifically, the step S10 includes:
defining a basic vibration waveform; wherein the fundamental vibration waveform is defined by a first formula expressed as:
where x denotes a monotonous displacement curve, T denotes a time, T-0 denotes a start time, and T-T denotes an elapsed period of time T, x'(t＝0)The slope at the start time T, that is, the velocity of the transducer is zero is represented by 0, and the slope at the end time is zero after a lapse of time T is represented by x' (T is T).
Defining a drive voltage waveform; wherein the driving voltage waveform is defined by a second formula expressed as:
u＝αx+β
wherein u is voltage, and alpha and beta are undetermined coefficients; wherein α is a first coefficient of the drive voltage waveform and β is a second coefficient of the drive voltage waveform;
an electromechanical equation of the linear motor defining a drive voltage waveform; wherein an electromechanical equation of the linear motor is defined by a third formula expressed as:
wherein m is the mass of the vibrator, c is the damping coefficient, k is the elastic coefficient of the spring, ReIs a static resistance, LeIs inductance, BL is the electromagnetic coefficient; x is the displacement of the vibrator,
is the speed of the vibrator, and the speed of the vibrator,
the vibrator acceleration is shown, i is current, u is voltage, and t is time;
solving a displacement curve x (n) for the specified driving voltage waveform; wherein the solution displacement curve x (n) is calculated using a fourth formula expressed as:
solving a second order differential equation to obtain a displacement curve x (t), wherein the fifth formula is represented as:
wherein, C1、C2In order to determine the coefficient to be determined,
wherein the influence of inductance, i.e. L, is not taken into accounte＝0。
And defining the waveform splicing mode, wherein the waveform splicing mode is to splice adjacent basic vibration waveforms with opposite monotonicity to form a complete vibration waveform.
The definition of the basic vibration waveform follows the spatial continuity of the vibration motion of the linear motor, and a reasonable and reliable mathematical basis is provided for the subsequent waveform splicing. The definition of the driving voltage waveform follows the electromechanical coupling characteristic of the linear motor motion, and provides a core physical basis for realizing accurate control of the vibration frequency. Specifically, in an embodiment, the displacement of the vibrator is used for calculation, and the physical quantities of the speed and the acceleration of the vibrator can be obtained by derivation of the displacement, which all belong to the protection scope of the present invention.
In particular, the wireThe vibrator displacement is changed by driving the vibrator motor, vibrator vibration is generated by the change of the vibrator displacement, vibration frequency is generated by the change of the vibrator displacement, and in step S20, the frequency F according to a specified vibration signal is adjustednCalculating the time length T of the basic vibration waveform; wherein the time length T of the basic vibration waveform is calculated using a sixth formula expressed as:
the seventh formula is represented as:
Here, since the vibration of the linear motor driven vibrator is a monotone curve, N is 1 for the monotone curve.
Further, step S30: calculating a first coefficient alpha of the drive voltage waveform; wherein the first coefficient α is calculated using an eighth formula, which is expressed as:
it can be seen that the value of α is related to T, i.e., FnIn this regard, α is a key coefficient for determining the frequency of the vibration waveform.
Referring to fig. 2, the step S40: calculating a second coefficient of the drive voltage waveform according to the displacement of the appointed basic vibration waveform at the end and the displacement of the preset basic vibration waveform at the beginning; particularly, in one embodiment, due to the structural limitation of the linear motor, the motion space of the vibrator is limited, so that the displacement position of the vibrator needs to be limited when the vibrator displaces and moves. Specifically, the step S40 includes:
step S410: according to the displacement sum at the end of the specified basic vibration waveformPresetting displacement at the beginning of basic vibration waveform, and setting the maximum termination time displacement as xmaxCalculating a basic vibration waveform; wherein the base vibration waveform is calculated using a ninth formula expressed as:
step S420: calculating a second coefficient beta of the drive voltage waveform according to the maximum displacement limit at the termination time; wherein the second coefficient β of the drive voltage waveform is calculated using a tenth formula expressed as:
step S50: calculating a calculated voltage value of the drive voltage waveform according to the first coefficient and the second coefficient, namely: u ═ α x + β.
Corresponding to each time t, obtaining a driving voltage utDriving voltage u at the moment of connectiontThe drive voltage waveform is formed.
Referring to fig. 3, the step S60 includes:
step S610: judging the calculated voltage value umaxAnd a maximum output voltage value VmaxWhen said calculated voltage value u is greater than or equal tomaxLess than the maximum output voltage value VmaxIf so, go to step S620; otherwise, executing step S630;
step S620: outputting the calculated voltage value as a driving voltage value;
step S630: and performing self-correction, and resetting the displacement at the beginning of the basic vibration waveform.
Due to maximum output voltage value V of linear motormaxWhen the calculated voltage value is greater than the maximum output voltage value VmaxWhen necessary, self-correction is required, i.e. the initial displacement x of the basic vibration waveform is reset0Recalculating the output basisObtaining a first coefficient and a second coefficient according to the above steps, and calculating a driving voltage waveform u of a basic vibration waveform by combining a state (displacement x) of the vibrator at the current time, wherein the initial displacement x is adjusted0Let | x0+xmaxI is reduced, so a reasonable driving voltage u is finally obtained.
Step S70: and splicing the basic vibration waveform according to the waveform splicing mode, and outputting the spliced driving voltage waveform.
Calculating the drive voltage u of the multi-segment fundamental vibration waveform by the above method1、u2、u3…, and then splicing the basic vibration waveforms according to the multiple sections to obtain a waveform U ═ U1，u2，u3，...]. Referring to fig. 4, in an embodiment, the waveform U obtained by the above-mentioned splicing method includes U1 ', U2', U3 ', and U1', U2 'and U3' in fig. 4 are the effect of splicing multiple basic vibration waveforms, and are not complete vibration waveforms.
Compared with the prior art, the method for controlling the vibration frequency of the linear motor provided by the invention realizes accurate control of the vibration frequency of the linear motor by defining the calculation of the basic vibration waveform and the driving voltage waveform, can realize various vibration effect, is suitable for various application scenes such as design of virtual key vibration effect of a mobile phone, design of ring vibration of the mobile phone, design of vibration effect of games and the like, provides richer and perfect touch experience for users, provides a convenient and efficient design method for vibration effect designers, and has extremely high application value.
In order to achieve the above object, the present invention further provides an apparatus for controlling a vibration frequency of a linear motor, including a memory and a processor, wherein the memory stores a program for controlling the vibration frequency of the linear motor, the program being executable on the processor, and the program for controlling the vibration frequency of the linear motor is executed by the processor to implement the steps of the method for controlling the vibration frequency of the linear motor.
Furthermore, the present invention provides a storage medium which is a computer readable storage medium, wherein the storage medium stores a program for controlling the vibration frequency of a linear motor, and the program for controlling the vibration frequency of the linear motor can be executed by one or more processors to realize the steps of the method for controlling the vibration frequency of the linear motor.
Referring to fig. 5, an internal structure diagram of a device for controlling a vibration frequency of a linear motor according to an embodiment of the present invention is provided, where the device for controlling a vibration frequency of a linear motor at least includes a memory 11, a processor 12, a communication bus 13, and a network interface 14.
The memory 11 includes at least one type of readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, and the like. The memory 11 may in some embodiments be an internal storage unit of the apparatus for controlling the vibration frequency of the linear motor, for example a hard disk of the apparatus for controlling the vibration frequency of the linear motor. The memory 11 may be an external storage device of the apparatus for controlling the vibration frequency of the linear motor in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the apparatus for controlling the vibration frequency of the linear motor. Further, the memory 11 may also include both an internal storage unit of the apparatus for controlling the vibration frequency of the linear motor and an external storage device. The memory 11 may be used not only to store application software installed in the apparatus for controlling the vibration frequency of the linear motor and various kinds of data, such as codes of a program for controlling the vibration frequency of the linear motor, etc., but also to temporarily store data that has been output or will be output.
The processor 12, which in some embodiments may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor or other data Processing chip, is configured to execute program code stored in the memory 11 or process data, such as executing a program for controlling the vibration frequency of a linear motor.
The communication bus 13 is used to realize connection communication between these components.
The network interface 14 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), and is typically used to establish a communication link between the linear motor vibration frequency control device and other electronic devices.
Optionally, the apparatus for controlling vibration frequency of linear motor may further comprise a user interface, the user interface may comprise a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface may further comprise a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable for displaying information processed in the device for controlling the vibration frequency of the linear motor and for displaying a visual user interface.
While fig. 5 shows only the means for controlling the vibration frequency of the linear motor with the components 11-14 and the program for controlling the vibration frequency of the linear motor, it will be understood by those skilled in the art that the structure shown in fig. 6 does not constitute a limitation of the means for controlling the vibration frequency of the linear motor, and may include fewer or more components than shown, or some components in combination, or a different arrangement of components.
In the embodiment of the apparatus for controlling the vibration frequency of a linear motor shown in fig. 5, a program for controlling the vibration frequency of the linear motor is stored in the memory 11; the processor 12, when executing the program for controlling the vibration frequency of the linear motor stored in the memory 11, implements the following steps:
step S10: defining basic vibration waveform, driving voltage waveform and waveform splicing mode of vibration frequency of the linear motor;
step S20: calculating the duration of the specified basic vibration waveform;
step S30: calculating a first coefficient of a driving voltage waveform according to the basic vibration waveform, the driving voltage waveform and the duration of the basic vibration waveform;
step S40: calculating a second coefficient of the drive voltage waveform according to the displacement of the appointed basic vibration waveform at the end and the displacement of the preset basic vibration waveform at the beginning;
step S50: calculating a calculated voltage value of the drive voltage waveform according to the first coefficient and the second coefficient;
step S60: comparing the calculated voltage value with a maximum output voltage value to obtain a driving voltage value for driving the linear motor to vibrate and a driving voltage waveform composed of a plurality of driving voltage values;
step S70: and splicing the basic vibration waveform according to the waveform splicing mode, and outputting the spliced driving voltage waveform.
Referring to fig. 6, a schematic diagram of a program module of a program for controlling a vibration frequency of a linear motor in an embodiment of the apparatus for controlling a vibration frequency of a linear motor according to the present invention is shown, in which the program for controlling a vibration frequency of a linear motor can be divided into a definition module 10, a calculation module 20, a splicing module 30 and an output module 40, and exemplarily:
the defining module 10 is used for defining a basic vibration waveform, a driving voltage waveform and a waveform splicing mode of the vibration frequency of the linear motor;
a calculating module 20, configured to calculate a first coefficient of the driving voltage waveform, a second coefficient of the driving voltage waveform, a calculated voltage value of the driving voltage waveform, and the driving voltage waveform;
a splicing module 30 for splicing the drive voltage waveforms of the basic vibration waveforms;
and an output module 40 for outputting the driving voltage waveform.
The functions or operation steps implemented by the program modules such as the definition module 10, the calculation module 20, the splicing module 30, and the output module 40 when executed are substantially the same as those of the above embodiments, and are not described herein again.
Furthermore, an embodiment of the present invention further provides a storage medium, where the storage medium is a computer-readable storage medium, and the storage medium stores a program for controlling a vibration frequency of a linear motor, where the program for controlling the vibration frequency of the linear motor is executable by one or more processors to implement the following operations:
step S10: defining basic vibration waveform, driving voltage waveform and waveform splicing mode of vibration frequency of the linear motor;
step S20: calculating the duration of the specified basic vibration waveform;
step S30: calculating a first coefficient of a driving voltage waveform according to the basic vibration waveform, the driving voltage waveform and the duration of the basic vibration waveform;
step S40: calculating a second coefficient of the drive voltage waveform according to the displacement of the appointed basic vibration waveform at the end and the displacement of the preset basic vibration waveform at the beginning;
step S50: calculating a calculated voltage value of the drive voltage waveform according to the first coefficient and the second coefficient;
step S60: comparing the calculated voltage value with a maximum output voltage value to obtain a driving voltage value for driving the linear motor to vibrate and a driving voltage waveform composed of a plurality of driving voltage values;
step S70: and splicing the basic vibration waveform according to the waveform splicing mode, and outputting the spliced driving voltage waveform.
The storage medium of the present invention is substantially the same as the embodiments of the method and apparatus for controlling the vibration frequency of a linear motor, and will not be described in detail herein.
It should be noted that the above-mentioned numbers of the embodiments of the present invention are merely for description, and do not represent the merits of the embodiments. And the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. The term "comprising", without further limitation, means that the element so defined is not excluded from the group of processes, apparatuses, articles or methods that include the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above, and includes instructions for enabling a terminal device (e.g., a drone, a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. A method of controlling a vibration frequency of a linear motor, the method comprising:
step S10: defining basic vibration waveform, driving voltage waveform and waveform splicing mode of vibration frequency of the linear motor; the basic vibration waveform is a calculation relation of speed and time of a vibrator of the linear motor, the vibrator is a unit for driving vibration of the linear motor, the driving voltage waveform is a driving voltage waveform for driving the linear motor to vibrate, which is obtained by calculation according to the basic vibration waveform, and the waveform splicing mode is that adjacent basic vibration waveforms with opposite monotonicity are spliced to form a complete vibration waveform;
step S20: calculating the duration of the specified basic vibration waveform;
step S30: calculating a first coefficient of a driving voltage waveform according to the basic vibration waveform, the driving voltage waveform and the duration of the basic vibration waveform; specifically, the first coefficient α is calculated using an eighth formula, which is expressed as:
wherein k is the spring elastic coefficient, ReIs static resistance, BL is electromagnetic coefficient, m is oscillator mass, T is time length,
c is a damping coefficient, i is a current;
step S40: calculating a second coefficient of the drive voltage waveform according to the displacement of the appointed basic vibration waveform at the end and the displacement of the preset basic vibration waveform at the beginning; specifically, the second coefficient β of the drive voltage waveform is calculated using a tenth formula expressed as:
wherein R iseFor static resistance, BL is the electromagnetic coefficient, T is the time length, x0To shift initially, xmaxE is a natural constant for displacement at the termination time;
step S50: calculating a calculated voltage value of the drive voltage waveform according to the first coefficient and the second coefficient; specifically, the drive voltage waveform is defined by a second formula expressed as:
u＝αx+β
wherein u is a voltage, α is a first coefficient of a drive voltage waveform, and β is a second coefficient of the drive voltage waveform; x is vibrator displacement; step S60: comparing the calculated voltage value with a maximum output voltage value to obtain a driving voltage value for driving the linear motor to vibrate and a driving voltage waveform composed of a plurality of driving voltage values;
step S70: and splicing the basic vibration waveform according to the waveform splicing mode, and outputting the spliced driving voltage waveform.
2. The method of controlling a vibration frequency of a linear motor according to claim 1, wherein the step S10 includes: defining a basic vibration waveform; wherein the fundamental vibration waveform is defined by a first formula expressed as:
where x ' represents a monotonous displacement curve, T represents time, T-0 represents start time, T-T represents elapsed time T, x ' (T-0) represents the slope of start time T, that is, the velocity of the oscillator is zero, and x ' (T-T) 0 represents the slope of end time T after the elapse of time T.
3. The method of controlling a vibration frequency of a linear motor according to claim 2, wherein the step S10 further comprises:
defining a drive voltage waveform; wherein the drive voltage waveform is defined by a second formula;
an electromechanical equation of the linear motor defining a drive voltage waveform; wherein an electromechanical equation of the linear motor is defined by a third formula expressed as:
wherein m is the mass of the vibrator, c is the damping coefficient, k is the elastic coefficient of the spring, ReIs a static resistance, LeIs inductance, BL is the electromagnetic coefficient; x is the displacement of the vibrator,
is the speed of the vibrator, and the speed of the vibrator,
the vibrator acceleration is shown, i is current, u is voltage, and t is time;
solving a displacement curve x (n) for the specified driving voltage waveform; wherein the displacement curve x (n) is calculated using a fourth formula expressed as:
solving a second order differential equation to obtain a displacement curve x (t), wherein the fifth formula is represented as:
wherein, C1、C2In order to determine the coefficient to be determined,
4. The method of controlling a vibration frequency of a linear motor according to claim 1, wherein the step S20 is performed for a frequency F according to a designated vibration signalnCalculating the basic vibrationThe time length T of the waveform; wherein the time length T of the basic vibration waveform is calculated using a sixth formula expressed as:
the seventh formula is represented as:
Wherein, for a monotonic curve, N ═ 1; lambda [ alpha ]2' calculation formula and λ1' the calculation formula is the same; i is the current.
5. The method of controlling a vibration frequency of a linear motor according to claim 1, wherein the step S40 includes:
step S410: setting the maximum termination time displacement as x according to the displacement of the specified basic vibration waveform at the end and the displacement of the preset basic vibration waveform at the beginningmaxCalculating a basic vibration waveform; wherein the base vibration waveform is calculated using a ninth formula expressed as:
step S420: calculating a second coefficient beta of the drive voltage waveform according to the maximum displacement limit at the termination time; wherein the second coefficient β of the driving voltage waveform is calculated using a tenth formula.
6. The method of controlling a vibration frequency of a linear motor according to claim 1, wherein the step S60 includes:
step S610: judging the calculated voltage value umaxAnd a maximum output voltage value VmaxWhen said calculated voltage value u is greater than or equal tomaxGreater than the maximum output voltage value VmaxIf so, go to step S620; otherwise, executing step S630;
step S620: outputting the calculated voltage value as a driving voltage value;
step S630: and performing self-correction, and resetting the displacement at the beginning of the basic vibration waveform.
7. An apparatus for controlling a vibration frequency of a linear motor, the apparatus comprising a memory and a processor, the memory having stored thereon a program for controlling a vibration frequency of a linear motor, the program for controlling a vibration frequency of a linear motor being executable on the processor, the program for controlling a vibration frequency of a linear motor realizing the steps of the method for controlling a vibration frequency of a linear motor according to any one of claims 1 to 6 when the processor executes the program.
8. A storage medium, characterized in that the storage medium is a computer-readable storage medium, on which a program for controlling a vibration frequency of a linear motor is stored, the program being executable by one or more processors to implement the steps of the method for controlling a vibration frequency of a linear motor according to any one of claims 1 to 6.
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| CN106941335A (en) * | 2017-03-10 | 2017-07-11 | 信利光电股份有限公司 | The implementation method and device of a kind of single vibration |
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