CN112667077A - Motor model parameter detection method and device, electronic equipment and medium - Google Patents
Motor model parameter detection method and device, electronic equipment and medium Download PDFInfo
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Abstract
The invention provides a motor model parameter detection method, a motor model parameter detection device, electronic equipment and a medium, wherein the method comprises the following steps: acquiring a voltage signal and a current signal of a motor in a working state, wherein a vibrator of the motor generates vibration in two directions; acquiring a spectrum impedance expression of a preset motor model, wherein the spectrum impedance expression is determined according to a mapping relation of dynamic parameters of the motor in two directions and a mapping relation of voltage and current of the motor; respectively substituting the voltage signal and the current signal into the spectrum impedance expression, and calculating to obtain a plurality of spectrum impedance values of the motor; and according to the plurality of spectral impedance values of the motor, fitting calculation is carried out on the spectral impedance values of the motor by adopting a least square method, and a target spectral impedance parameter of the motor model is obtained.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of touch perception, in particular to a motor model parameter detection method, a motor model parameter detection device, electronic equipment and a medium.
[ background of the invention ]
With the development of the haptic perception technology, in electronic devices such as smart phones, smart watches, tablet computers and the like, a haptic actuator using a motor as a carrier can obtain customized haptic experience by designing a specific signal waveform of the haptic actuator. At present, more motors are used and are linear motor models based on motion in a certain direction, but along with the improvement of experience requirements, the bandwidth and the vibration direction of a unidirectional motor limit the richness of perception, the design and the application of a single-vibrator bidirectional linear motor appear, namely, vibrators of the motors can generate vibration in two directions, and a vibration system of motion in two directions can be generated.
The accuracy and the completeness of technical parameters of the motor are critical to the accuracy of model establishment, the performance of the motor is directly determined, and the motor model based on unidirectional vibration is adopted to control larger errors, so that the expected effect cannot be achieved.
[ summary of the invention ]
In view of the above, it is necessary to provide a method, an apparatus and a medium for detecting parameters of a motor model, which are used to solve the problem of how to detect parameters of a bidirectional vibration motor model, and improve the control accuracy and application performance of the motor.
The technical scheme of the invention is as follows:
in one aspect, a method for detecting parameters of a motor model is provided, which includes:
acquiring a voltage signal and a current signal of a motor in a working state, wherein a vibrator of the motor generates vibration in two directions;
acquiring a spectrum impedance expression of a preset motor model, wherein the spectrum impedance expression is determined according to a mapping relation of dynamic parameters of the motor in two directions and a mapping relation of voltage and current of the motor;
respectively substituting the voltage signal and the current signal into the spectrum impedance expression, and calculating to obtain a plurality of spectrum impedance values of the motor;
and according to the plurality of spectral impedance values of the motor, fitting calculation is carried out on the spectral impedance values of the motor by adopting a least square method, and a target spectral impedance parameter of the motor model is obtained.
On the other hand, a motor model parameter detection device is provided, including collection module, acquisition module, calculation module and fitting module, wherein:
the acquisition module is used for acquiring a voltage signal and a current signal of the motor in a working state, and the vibrator of the motor generates vibration in two directions;
the acquisition module is used for acquiring a preset spectrum impedance expression of a motor model, and the spectrum impedance expression is determined according to the mapping relation of dynamic parameters of the motor in two directions and the mapping relation of voltage and current of the motor;
the calculation module is used for substituting the voltage signal and the current signal into the spectrum impedance expression respectively to calculate and obtain a plurality of spectrum impedance values of the motor;
and the fitting module is used for fitting and calculating the frequency spectrum impedance value of the motor by adopting a least square method according to the plurality of frequency spectrum impedance values of the motor to obtain a target frequency spectrum impedance parameter of the motor model.
On the other hand, a motor model parameter detection system is provided, which is characterized by comprising a motor to be detected, a voltage and current acquisition device, a driving device and a motor model parameter detection device, wherein:
the voltage and current acquisition device is connected with the motor to be detected, the motor model parameter detection device is connected with the driving device, and the driving device is connected with the motor to be detected;
the voltage and current acquisition device is used for acquiring a working voltage value and a working current value of the motor to be detected and feeding back the working voltage value and the working current value to the motor model parameter detection device; the driving device is used for outputting a preset frequency sweeping signal to drive the motor to be detected under the control of the motor model parameter detection device; the motor model parameter detection device is configured to perform the steps of the first aspect and any possible implementation manner thereof.
In another aspect, an electronic device is provided, comprising a memory and a processor, the memory storing a computer program, which when executed by the processor, causes the processor to perform the steps of the first aspect and any possible implementation thereof.
In another aspect, there is provided a storage medium storing a computer program of instructions which, when executed by a processor, causes the processor to perform the steps of the first aspect and any one of its possible implementations as described above.
The invention has the beneficial effects that: the method comprises the steps of obtaining a voltage signal and a current signal of a motor in a working state, enabling a vibrator of the motor to vibrate in two directions, obtaining a preset frequency spectrum impedance expression of a motor model, determining the frequency spectrum impedance expression according to the mapping relation of dynamic parameters of the motor in the two directions and the mapping relation of voltage and current of the motor, respectively substituting the voltage signal and the current signal into the frequency spectrum impedance expression, calculating to obtain a plurality of frequency spectrum impedance values of the motor, and then performing fitting calculation on the frequency spectrum impedance values of the motor by adopting a least square method according to the plurality of frequency spectrum impedance values of the motor to obtain a target frequency spectrum impedance parameter of the motor model. Aiming at the bidirectional motor, a spectrum impedance expression of the bidirectional motor can be accurately deduced according to the mapping relation of the dynamic parameters of the bidirectional motor in two directions and the mapping relation of the voltage and the current of the motor, so that the parameters of a motor model are determined by means of data acquisition and curve fitting, a complete and accurate model suitable for the bidirectional motor is established, and the control precision and the application effect of the motor are improved.
[ description of the drawings ]
FIG. 1 is a schematic flow chart of a method for detecting motor model parameters according to the present invention;
FIG. 2 is a schematic diagram of a frequency sweep signal according to the present invention;
FIG. 3 is a schematic diagram of an impedance spectrum provided by the present invention;
FIG. 4 is a schematic structural diagram of a motor model parameter detection apparatus according to the present invention;
fig. 5 is a schematic structural diagram of a motor model parameter detection system provided in the present invention.
[ detailed description ] embodiments
In order to make the technical solutions of the present invention better understood, 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 terms "first," "second," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The motor is an electric motor or an engine, the working principle is that a starter rotor is driven to rotate by the forced rotation of an electrified coil in a magnetic field, and a pinion on the rotor drives an engine flywheel to rotate. With the development of haptic technology, in electronic devices such as smart phones, smart watches, and tablet computers, haptic actuators using motors as carriers can achieve customized haptic experience by designing their specific waveforms. The current use of more motors is based on a linear motor model with unidirectional motion.
The embodiments of the present invention will be described below with reference to the drawings.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for detecting parameters of a motor model according to an embodiment of the present invention. The method can comprise the following steps:
101. the method comprises the steps of obtaining a voltage signal and a current signal of a motor in a working state, wherein a vibrator of the motor generates vibration in two directions.
The execution subject of the embodiment of the invention can be a motor model parameter detection device which can detect the model parameters of the motor. The motor in the embodiment of the invention can be a single-vibrator bidirectional motor, namely, the vibrator of the motor can generate vibration in two directions, so that a vibration system with movement in two directions can be generated.
Under the condition that the motor is in a normal working state, the motor model parameter detection device can acquire the working voltage and the corresponding working current of the motor, and specifically can acquire a voltage signal and a current signal output by the motor in the working state.
In one embodiment, the step 101 may specifically include:
and under the condition that the motor is connected with a preset frequency sweeping signal for driving, acquiring a voltage signal and a current signal of the motor.
The frequency sweep signal related in the embodiment of the invention refers to a constant amplitude signal with periodically changing frequency in a certain range. The frequency sweep is designed for testing, so the frequency sweep signal is for testing and is mainly used for testing the frequency characteristics of components and devices and the whole machine.
Specifically, the preset frequency sweep signal may be a logarithmic frequency sweep signal x (t), wherein the voltage signal value u varies periodically with time t, and may be specifically set as required. The preset sweep signal can be generated by a sweep generator or other devices and input into the motor.
Let the voltage amplitude V, the initial frequency f0Frequency of termination f1Time t of frequency sweep1And generating a corresponding sweep signal, where the above parameters may be set according to needs, and the embodiment of the present invention is not limited to this. For example, refer to a schematic diagram of a frequency sweep signal shown in fig. 2, as shown in fig. 2, wherein the voltage amplitude of the frequency sweep signal is 0.4V, and the frequency varies periodically within a certain range according to the setting.
The motor model parameter detection device can acquire the output voltage signal u (t) and the current signal i (t) of the motor through a data acquisition card.
102. And acquiring a spectral impedance expression of a preset motor model, wherein the spectral impedance expression is determined according to the mapping relation of dynamic parameters of the motor in two directions and the mapping relation of the voltage and the current of the motor.
The preset spectral impedance expression of the motor model may be determined according to a dynamic model and an electrical model of the motor. When the motor is a bidirectional motor, the dynamic model comprises the mapping relation of the dynamic parameters in the two directions.
In one embodiment, the method for obtaining the spectral impedance expression of the preset motor model includes:
21. acquiring a mapping relation of dynamic parameters of the motor model in two directions and a mapping relation of voltage and current of the motor;
22. and determining a spectral impedance expression of the preset motor model according to the mapping relation of the dynamic parameters in the two directions of the motor model and the mapping relation of the voltage and the current.
The mapping relationship of the dynamic parameters of the motor model in two directions and the mapping relationship of the voltage and the current of the motor can be manually predetermined according to the specific structure of the motor model, and can be specifically expressed as a corresponding dynamic equation and an electrical equation. Furthermore, the spectral impedance expression of the motor, namely the spectral impedance expression of the preset motor model, can be deduced through the mapping relation of the dynamic parameters of the motor in two directions and the mapping relation of the voltage and the current. The expression obtained at this time has unknown parameters.
In an alternative embodiment, the two directions mentioned in the above steps 21 and 22 may include a first direction x and a second direction y; the mapping relationship between the voltage and the current of the motor specifically includes:
a mapping relationship between a voltage u passing through the motor unit, a resistance Re of the motor unit, the motor coil inductance Le, an electromagnetic force coefficient function Bl (x, y) of the motor unit in the first direction x and the second direction y, a speed function v (x, y) of the motor unit in the first direction x and the second direction y, and a current i passing through the motor unit.
Specifically, the mapping relationship between the voltage and the current of the motor can be expressed as the following electrical equation:
wherein u is the voltage across the motor cell and i is the current across the motor cell; re is the resistance of the motor monomer, Le is the inductance of the motor coil, Bl (x, y) is the function of the electromagnetic force coefficient of the motor monomer in a first direction x and a second direction y, and v (x, y) is the function of the speed of the motor monomer in the first direction x and the second direction y.
Further optionally, the mapping relationship of the dynamic parameters in the first direction x includes:
a mass m of a vibrator of the motor, and a speed v of the motor unit in the first direction xxAcceleration a in the first direction xxDamping c in the first direction xxAnd an electromagnetic force coefficient Bl in the first direction xxAnd a mapping relation of a current i passing through the motor unit;
the mapping relationship of the kinetic parameters in the second direction y includes:
a mass m of a vibrator of the motor, and a velocity v of the motor alone in the second direction yyAcceleration a in the second direction yyDamping c in the second direction yyCoefficient of electromagnetic force Bl in the second direction yyAnd the current i passing through the motor unit.
Specifically, the mapping relationship of the dynamic parameters of the motor in the first direction x can be expressed as the following dynamic equation:
m*ax+cx*vx+kx*x＝Blx*i，
wherein m is the mass of the motor oscillator, vx、ax、cx、BlxThe speed of the motor monomer in the first direction x, the acceleration in the first direction x, the damping in the first direction x and the electromagnetic force coefficient in the first direction x are respectively; i is the current through the motor cell.
Specifically, the mapping relationship of the dynamic parameters of the motor in the second direction y can be expressed as the following dynamic equation:
m*ay+cy*vy+ky*y＝Bly*i，
wherein m is the mass of the motor oscillator, vy、ay、cy、BlyThe speed of the motor monomer in the second direction y, the acceleration in the second direction y, the damping in the second direction y and the electromagnetic force coefficient in the second direction y are respectively; i is the current through the motor cell.
Optionally, before obtaining the mapping relationship between the voltage and the current of the motor, the method further includes:
and obtaining the mapping relation of the voltage and the current of the motor according to the preset expression of the frequency sweep signal and the mapping relation of the voltage, the current and the frequency spectrum impedance.
Specifically, it can be understood that the preset frequency sweep signal provides a voltage for the motor in the test system, so that the motor voltage in the mapping relationship can be determined according to an expression of the preset frequency sweep signal, and a formula is substituted to obtain a specific mapping relationship between the voltage and the current of the motor.
Through the above electrical equation and kinetic equation, the impedance Laplace transformation parameter model can be obtained:
that is, the mapping relationship between the voltage, the current and the spectral impedance can be expressed as a formula of the impedance Laplace transformation parameter model, and a specific spectral impedance expression can be obtained by substituting the formula.
103. And substituting the voltage signal and the current signal into the spectrum impedance expression respectively, and calculating to obtain a plurality of spectrum impedance values of the motor.
Specifically, the collected voltage signal and current signal may be substituted into the spectrum impedance expression to perform calculation, so as to obtain a plurality of corresponding spectrum impedance values.
104. And fitting and calculating the frequency spectrum impedance value of the motor by adopting a least square method according to the plurality of frequency spectrum impedance values of the motor to obtain a target frequency spectrum impedance parameter of the motor model.
The least square method (also called a least square method) related to the embodiment of the invention is a mathematical tool which is widely applied in the fields of various subjects of data processing such as error estimation, uncertainty, system identification and prediction, forecast and the like, and is a mathematical optimization technology. It finds the best functional match of the data by minimizing the sum of the squares of the errors.
According to the embodiment of the invention, unknown motor spectral impedance can be simply obtained by using a least square method, and the sum of squares of errors between the obtained spectral impedance value and an actual spectral impedance value is minimum. Specifically, the error corresponding to each spectral impedance value Z can be calculated: and err (k) ═ R-Z, where R is a preset parameter representing the actual spectral impedance value, and R is the final spectral impedance representation after fitting.
The plurality of spectral impedance values are regarded as a plurality of points in a coordinate system, a spectral impedance value curve can be obtained by fitting through a least square method, and a target spectral impedance parameter of the motor model is also obtained, wherein the target spectral impedance parameter can be a spectral impedance expression and can be a mapping relation between the frequency and the impedance of the motor.
In summary, in the embodiment of the present invention, the frequency sweep is performed according to the frequency sweep signal, so that a corresponding impedance curve can be obtained. Specifically, reference may be made to an impedance spectrum diagram shown in fig. 3, wherein, as shown in fig. 3-1, the abscissa represents frequency and the ordinate represents impedance magnitude | r (k) |. As shown in fig. 3-2, wherein the abscissa represents frequency and the ordinate represents impedance phase (r (k)).
In the embodiment of the invention, a sweep frequency signal x (t) can be generated and fed back to the motor, a voltage signal u (t) and a current signal i (t) output by the motor are collected to obtain a complex expression of a frequency spectrum impedance curve, the impedance curve and an actual physical parameter limit range are calculated according to the sweep frequency signal x (t), an initial value of motor model parameter fitting is set, model impedance is solved, an error is calculated, and a least square method is adopted to calculate fitting to obtain a linear parameter target value of the bidirectional motor.
The embodiment of the invention aims at the bidirectional motor, and can accurately deduce the spectrum impedance expression of the bidirectional motor according to the mapping relation of the dynamic parameters of the bidirectional motor in two directions and the mapping relation of the voltage and the current of the motor, further determine the parameters of a motor model by means of data acquisition and curve fitting, establish a complete and accurate model suitable for the bidirectional motor, be applied to the control and configuration of the motor, and improve the control precision and the application effect of the motor.
Based on the description of the embodiment of the motor model parameter detection method, the embodiment of the invention also discloses a motor model parameter detection device. Referring to fig. 4, the motor model parameter detecting apparatus 400 includes an acquiring module 410, an obtaining module 420, a calculating module 430, and a fitting module 440, wherein:
the acquisition module 410 is configured to acquire a voltage signal and a current signal of a motor in a working state, and a vibrator of the motor vibrates in two directions;
the obtaining module 420 is configured to obtain a preset spectral impedance expression of a motor model, where the spectral impedance expression is determined according to a mapping relationship of dynamic parameters of the motor in two directions and a mapping relationship of voltage and current of the motor;
the calculating module 430 is configured to substitute the voltage signal and the current signal into the spectrum impedance expression respectively, and calculate to obtain a plurality of spectrum impedance values of the motor;
the fitting module 440 is configured to perform fitting calculation on the spectral impedance values of the motor by using a least square method according to the plurality of spectral impedance values of the motor, so as to obtain a target spectral impedance parameter of the motor model.
According to an embodiment of the present invention, the steps involved in the method shown in fig. 1 may be performed by the modules in the motor model parameter detection apparatus 400 shown in fig. 4, and are not described herein again.
The motor model parameter detection apparatus 400 in the embodiment of the present invention may obtain a voltage signal and a current signal of a motor in an operating state, where the oscillator of the motor vibrates in two directions, and obtain a preset spectral impedance expression of a motor model, where the spectral impedance expression is determined according to a mapping relationship between dynamic parameters of the motor in two directions and a mapping relationship between voltage and current of the motor, and then substitute the voltage signal and the current signal into the spectral impedance expression respectively to obtain a plurality of spectral impedance values of the motor by calculation, and then perform fitting calculation on the spectral impedance values of the motor by using a least square method according to the plurality of spectral impedance values of the motor, so as to obtain a target spectral impedance parameter of the motor model. Aiming at the bidirectional motor, a spectrum impedance expression of the bidirectional motor can be accurately deduced according to the mapping relation of the dynamic parameters of the bidirectional motor in two directions and the mapping relation of the voltage and the current of the motor, so that the parameters of a motor model are determined by means of data acquisition and curve fitting, a complete and accurate model suitable for the bidirectional motor is established, and the control precision and the application effect of the motor are improved.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a motor model parameter detection system according to an embodiment of the present invention, and as shown in fig. 5, the motor model parameter detection system 500 may include a motor to be detected 510, a voltage and current collecting device 520, a driving device 530, and a motor model parameter detection device 540; wherein:
the voltage and current collecting device 520 is connected to the motor 510 to be tested, the motor model parameter detecting device 540 is connected to the driving device 530, and the driving device 530 is connected to the motor 510 to be tested;
the voltage and current collecting device 520 is configured to collect a working voltage value and a working current value of the motor 510 to be detected, and feed back the working voltage value and the working current value to the motor model parameter detecting device 540;
the driving device 530 is configured to output a preset frequency sweeping signal to drive the motor to be detected 510 under the control of the motor model parameter detecting device 540;
the motor model parameter detecting device 540 may be the structure of the motor model parameter detecting device 400 in the embodiment shown in fig. 4, and is used for executing the steps involved in the method shown in fig. 1, and is not described herein again.
Optionally, when detecting the parameters of the motor model, the motor 510 to be detected may be stuck to a fixing surface, so as to fix the motor 510 to be detected without moving. In a specific embodiment, the driving device 530 may be a power amplifier; the voltage and current collecting device 520 may be a data collecting card for collecting voltage signals and current signals; the motor model parameter detecting device 540 may be a terminal device, such as a computer.
Based on the description of the method embodiment and the device embodiment, the embodiment of the invention also provides electronic equipment. The electronic device includes at least a processor and a memory, the memory storing a computer storage medium.
A computer storage medium may be stored in a memory of the electronic device, the computer storage medium configured to store a computer program comprising program instructions, the processor configured to execute the program instructions stored by the computer storage medium. A processor (or CPU) is a computing core and a control core of an electronic device, and is adapted to implement one or more instructions, and in particular, is adapted to load and execute the one or more instructions so as to implement a corresponding method flow or a corresponding function; in one embodiment, the processor described above in the embodiments of the present invention may be configured to perform a series of processes, including any steps of the method in the embodiment shown in fig. 1, and so on.
An embodiment of the present invention further provides a computer storage medium (Memory), which is a Memory device in an electronic device and is used for storing programs and data. It is understood that the computer storage medium herein may include both a built-in storage medium in the electronic device and, of course, an extended storage medium supported by the electronic device. Computer storage media provide storage space that stores an operating system for an electronic device. Also stored in the memory space are one or more instructions, which may be one or more computer programs (including program code), suitable for loading and execution by the processor. The computer storage medium may be a high-speed RAM memory, or may be a non-volatile memory (non-volatile memory), such as at least one disk memory; and optionally at least one computer storage medium located remotely from the processor.
In one embodiment, one or more instructions stored in a computer storage medium may be loaded and executed by a processor to perform the corresponding steps in the above embodiments; in particular implementations, one or more instructions in the computer storage medium may be loaded by the processor and perform any steps of the method in fig. 1, which are not described herein again.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the division of the module is only one logical division, and other divisions may be possible in actual implementation, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not performed. The shown or discussed mutual coupling, direct coupling or communication connection may be an indirect coupling or communication connection of devices or modules through some interfaces, and may be in an electrical, mechanical or other form.
Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the invention are brought about in whole or in part when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on or transmitted over a computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)), or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a read-only memory (ROM), or a Random Access Memory (RAM), or a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape, a magnetic disk, or an optical medium, such as a Digital Versatile Disk (DVD), or a semiconductor medium, such as a Solid State Disk (SSD).
Claims (10)
1. A motor model parameter detection method is characterized by comprising the following steps:
acquiring a voltage signal and a current signal of a motor in a working state, wherein a vibrator of the motor generates vibration in two directions;
acquiring a spectrum impedance expression of a preset motor model, wherein the spectrum impedance expression is determined according to a mapping relation of dynamic parameters of the motor in two directions and a mapping relation of voltage and current of the motor;
respectively substituting the voltage signal and the current signal into the spectrum impedance expression, and calculating to obtain a plurality of spectrum impedance values of the motor;
and according to the plurality of spectral impedance values of the motor, fitting calculation is carried out on the spectral impedance values of the motor by adopting a least square method, and a target spectral impedance parameter of the motor model is obtained.
2. The motor model parameter detection method according to claim 1, wherein the acquiring a voltage signal and a current signal of the motor in the operating state comprises:
the method comprises the steps that under the condition that a motor is connected with a preset frequency sweeping signal to drive, a voltage signal and a current signal of the motor are collected.
3. The motor model parameter detection method according to claim 2, wherein the obtaining method of the preset spectral impedance expression of the motor model comprises:
acquiring a mapping relation of dynamic parameters of the motor model in two directions and a mapping relation of voltage and current of the motor;
and determining a spectrum impedance expression of the preset motor model according to the mapping relation of the dynamic parameters of the motor model in two directions and the mapping relation of the voltage and the current.
4. The motor model parameter detection method according to claim 3, wherein before obtaining the voltage-to-current mapping relationship of the motor, the method further comprises:
and obtaining the mapping relation of the voltage and the current of the motor according to the preset expression of the frequency sweep signal and the mapping relation of the voltage, the current and the frequency spectrum impedance.
5. The motor model parameter detection method according to any one of claims 1 to 4, wherein the two directions include a first direction x and a second direction y; the mapping relationship between the voltage and the current of the motor specifically comprises:
the mapping relationship of the voltage u of the motor monomer, the resistance Re of the motor monomer, the motor coil inductance Le, the electromagnetic force coefficient function Bl (x, y) of the motor monomer in the first direction x and the second direction y, the speed function v (x, y) of the motor monomer in the first direction x and the second direction y, and the current i of the motor monomer is obtained.
6. The motor model parameter detection method according to claim 5, wherein the mapping relationship of the kinetic parameters in the first direction x comprises:
a mass m of the vibrator of the motor, a speed v of the motor unit in the first direction xxIn the above-mentionedAcceleration a in a first direction xxDamping in the first direction x, cxCoefficient of electromagnetic force Bl in the first direction xxAnd a mapping of the current i through the motor cell;
the mapping relationship of the dynamic parameters in the second direction y comprises:
a mass m of the vibrator of the motor, and a speed v of the motor unit in the second direction yyAcceleration a in the second direction yyDamping c in said second direction yyCoefficient of electromagnetic force Bl in the second direction yyAnd the current i passing through the motor cell.
7. The utility model provides a motor model parameter detection device which characterized in that, includes collection module, obtains module, calculation module and fitting module, wherein:
the acquisition module is used for acquiring a voltage signal and a current signal of the motor in a working state, and the vibrator of the motor generates vibration in two directions;
the acquisition module is used for acquiring a preset spectrum impedance expression of a motor model, and the spectrum impedance expression is determined according to the mapping relation of dynamic parameters of the motor in two directions and the mapping relation of voltage and current of the motor;
the calculation module is used for substituting the voltage signal and the current signal into the spectrum impedance expression respectively to calculate and obtain a plurality of spectrum impedance values of the motor;
and the fitting module is used for fitting and calculating the frequency spectrum impedance value of the motor by adopting a least square method according to the plurality of frequency spectrum impedance values of the motor to obtain a target frequency spectrum impedance parameter of the motor model.
8. The utility model provides a motor model parameter detecting system which characterized in that, includes to detect motor, voltage electric current collection system, drive arrangement and motor model parameter detection device, wherein:
the voltage and current acquisition device is connected with the motor to be detected, the motor model parameter detection device is connected with the driving device, and the driving device is connected with the motor to be detected;
the voltage and current acquisition device is used for acquiring a working voltage value and a working current value of the motor to be detected and feeding back the working voltage value and the working current value to the motor model parameter detection device; the driving device is used for outputting a preset frequency sweeping signal to drive the motor to be detected under the control of the motor model parameter detection device; the motor model parameter detection apparatus is configured to perform the steps of the motor model parameter detection method according to any one of claims 1 to 6.
9. An electronic device, comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the steps of the motor model parameter detection method according to any one of claims 1 to 6.
10. A storage medium storing a computer program of instructions which, when executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 6.
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| CN202011548932.1A CN112667077A (en) | 2020-12-24 | 2020-12-24 | Motor model parameter detection method and device, electronic equipment and medium |
| PCT/CN2021/071348 WO2022134237A1 (en) | 2020-12-24 | 2021-01-13 | Method and apparatus for measuring parameters of motor model, electronic device, and medium |
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| CN202011548932.1A CN112667077A (en) | 2020-12-24 | 2020-12-24 | Motor model parameter detection method and device, electronic equipment and medium |
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| CN113702829A (en) * | 2021-08-31 | 2021-11-26 | 歌尔股份有限公司 | Method and device for generating sweep frequency characteristic curve of vibration motor and storage medium |
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