CN112798954B - Detection method and device for vibration motor - Google Patents
Detection method and device for vibration motor Download PDFInfo
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- CN112798954B CN112798954B CN202011610215.7A CN202011610215A CN112798954B CN 112798954 B CN112798954 B CN 112798954B CN 202011610215 A CN202011610215 A CN 202011610215A CN 112798954 B CN112798954 B CN 112798954B
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Abstract
The invention discloses a method and a device for detecting a vibration motor, wherein the method for detecting the vibration motor comprises the following steps: inputting a voltage driving signal to the vibration motor; acquiring a per-unit value when a current signal of the vibration motor reaches a steady state, wherein the per-unit value is the ratio of the current peak value change rate to a reference peak value change rate, the current peak value change rate is the ratio of adjacent peak value change values, and the peak value change value is the difference value of the adjacent current peak values; and determining whether the resonance frequency of the vibration motor is consistent according to the per unit value and a preset threshold value. The method does not need to construct a complex algorithm model, simplifies the consistency detection process of the vibration motor and saves the cost.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to a detection method and a detection device for a vibration motor.
Background
The vibration motor is usually arranged in the terminal equipment to drive the terminal equipment to prompt a user, the vibration motor is generally driven by preset vibration waves when the vibration motor is controlled, and because the characteristics of each motor are different, the vibration frequency generated by the vibration motor according to the vibration waves is not uniform finally, so that the vibration waves cannot be well restored, and the consistency of the vibration motor needs to be detected; in the consistency detection of the vibration motor in the prior art, a parameter test mode needs to be constructed according to the characteristics of the vibration motor, and fitting is performed according to the parameter test mode and an actual measurement value to obtain a final result, so that the algorithm is complex, the performance requirement on a detection device is high, and the detection cost is high.
Disclosure of Invention
The invention mainly aims to provide a method and a device for detecting a vibration motor, aiming at reducing the consistency detection cost of the vibration motor.
In order to achieve the above object, the present invention provides a method for detecting a vibration motor, including:
inputting a voltage driving signal to the vibration motor;
acquiring a per unit value when a current signal of the vibration motor reaches a steady state, wherein the per unit value is a ratio of a current peak value change rate to a reference peak value change rate, the current peak value change rate is a ratio of adjacent peak value change values, and the peak value change value is a difference value of adjacent current peak values;
and determining whether the resonant frequency of the vibration motor is consistent or not according to the per unit value and a preset threshold value.
Optionally, the step of obtaining a per unit value when the current signal of the vibration motor reaches a steady state includes:
collecting a current peak value of a current signal of the vibration motor in real time;
acquiring the peak value deviation between the current peak value acquired currently and the current peak value acquired last time;
when the peak value deviation is smaller than a preset threshold value, acquiring a current peak value change rate corresponding to a current peak value acquired currently;
and acquiring the ratio of the current peak value change rate to the reference peak value change rate, and taking the ratio as the per unit value.
Optionally, the step of obtaining a per unit value when the current signal of the vibration motor reaches a steady state includes:
collecting a current peak value of a current signal of the vibration motor in real time;
and when the collection number of the current peak values reaches a preset number, acquiring a ratio of a current peak value change rate corresponding to the current peak value with the latest collection time to a reference peak value change rate, and taking the ratio as the per unit value.
Optionally, when the collection number of the current peak values reaches a preset number, obtaining a ratio of a current peak value change rate corresponding to the current peak value with the latest collection time to a reference peak value change rate, and taking the ratio as the per unit value includes:
when the collection number of the current peak values reaches a preset number, calculating difference values in pairs according to the collection time points of the current peak values to obtain a peak value change value array;
calculating the ratio of every two peak value change values in the peak value change value array in sequence to obtain a current peak value change rate array;
and acquiring the ratio of the last current peak change rate in the current peak change rate array and the reference peak change rate, and taking the ratio as the per unit value.
Optionally, the reference peak change rate is an initial peak change rate of a current signal of the vibration motor.
Optionally, the step of obtaining a per unit value when the current signal of the vibration motor reaches a steady state includes:
carrying out low-pass filtering on a current signal of the vibration motor;
and acquiring a per unit value when the current signal after the low-pass filtering reaches a steady state.
Optionally, the step of inputting a voltage driving signal to the vibration motor includes:
amplifying the voltage driving signal;
and inputting the amplified voltage driving signal into the vibration motor.
Optionally, after the step of inputting the voltage driving signal to the vibration motor, the method further includes:
and when the current signal of the vibration motor reaches a steady state, stopping inputting the voltage driving signal into the vibration motor.
In addition, in order to achieve the above object, the present invention further provides a detection apparatus for a vibration motor, including:
a memory for storing a detection program of the vibration motor;
a processor, the detection program of the vibration motor in the memory being executed by the processor to implement the detection method of the vibration motor as described above;
the signal output module is used for outputting a voltage driving signal to the vibration motor;
and the current detection module is connected with the processor and used for detecting a current signal on a winding of the vibration motor.
Optionally, the output end of the signal output module is connected with a power amplifier.
According to the method and the device for detecting the vibration motor, the voltage driving signal is input into the vibration motor, the per unit value when the current signal of the vibration motor reaches the steady state is obtained, the per unit value is the ratio of the current peak value change rate to the reference peak value change rate, the per unit value can be calculated according to the current peak value, a complex algorithm model does not need to be constructed, the consistency detection process of the vibration motor is simplified, and the cost is saved.
Drawings
Fig. 1 is a schematic diagram of a hardware architecture of an apparatus involved in a detection method of a vibration motor according to the present invention;
fig. 2 is a schematic flowchart of a first exemplary embodiment of a detection method of a vibration motor according to the present invention;
fig. 3 is a flowchart illustrating a second exemplary embodiment of a detection method of a vibration motor according to the present invention;
fig. 4 is a schematic flowchart of a third exemplary embodiment of a detection method of a vibration motor of the present invention;
fig. 5 is a flowchart illustrating a fourth exemplary embodiment of a detection method of a vibration motor according to the present invention.
The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware architecture of an apparatus related to a detection method of a vibration motor according to the present invention.
As shown in fig. 1, the detecting device according to the present embodiment may be a PC computer or other device capable of performing data processing and detection, and it is understood that the detecting device needs to include a current detecting module 130.
The detection device in this embodiment may include a memory 120, a processor, a signal output module 140, and a current detection module 130, wherein the memory 120 is used for storing a detection program of the vibration motor; a processor for executing a detection program of the vibration motor in the memory 120; a signal output module 140 for outputting a voltage driving signal to the vibration motor; and a current detection module 130 connected to the processor for detecting a current signal on the winding of the vibration motor.
The signal output module 140 may be a separate hardware such as a voltage signal generator, or the signal output module 140 may be integrated into the processor as a virtual module in the processor; the current detection module 130 in this embodiment is connected to the winding of the vibration motor, and is configured to detect a current on the winding of the vibration motor; the mass block can be arranged to simulate the terminal equipment where the vibration motor is located for accurately restoring the working scene of the vibration motor, the weight of the mass block can simulate the terminal equipment, the vibration motor can be fixed at the gravity center position of the mass block, and the mass block is arranged on the preset tooling part to be fixed, so that the vibration direction of the vibration motor is consistent with the vibration direction of the vibration motor in the terminal equipment, and the detection accuracy is improved.
In the technical solution disclosed in this embodiment, a power amplifier may be connected to the output end of the signal output module 140 to amplify the voltage driving signal.
The detection program of the vibration motor in the memory 120, when executed by the processor 110, implements the steps of:
inputting a voltage driving signal to the vibration motor;
acquiring a per-unit value when a current signal of the vibration motor reaches a steady state, wherein the per-unit value is a ratio of a current peak value change rate to a reference peak value change rate, the current peak value change rate is a ratio of adjacent peak value change values, and the peak value change value is a difference value of the adjacent current peak values;
and determining whether the resonant frequency of the vibration motor is consistent or not according to the per unit value and a preset threshold value.
Referring to fig. 2, fig. 2 is a schematic flowchart of a first exemplary embodiment of a detection method for a vibration motor according to the present invention, in this embodiment, the detection method for a vibration motor includes:
step S10, inputting a voltage driving signal to the vibration motor;
the voltage driving signal in this embodiment is a sine/cosine voltage signal with a constant amplitude and a constant frequency, and the voltage driving signal may be generated in real time by a signal generator, or the waveform of the voltage driving signal may be stored in a memory, and the stored waveform may be output to the vibration motor. In this embodiment, the amplitude of the voltage driving signal is less than or equal to the rated voltage of the vibration motor, the frequency of the voltage driving signal is the same as the designed resonant frequency of the vibration motor, and the duration of the voltage driving signal is greater than or equal to the duration of the current of the vibration motor required to reach the steady state, for example, 4 cycles are required to reach the steady state, and then the number of cycles of the voltage driving signal is greater than or equal to 4 cycles.
Before the voltage driving signal is input to the vibration motor, the voltage driving signal may be amplified, that is, step S10 includes: amplifying the voltage driving signal; and inputting the amplified voltage driving signal into the vibration motor.
Step S20, obtaining a per unit value when the current signal of the vibration motor reaches a steady state, where the per unit value is a ratio of a current peak value change rate to a reference peak value change rate, the current peak value change rate is a ratio of adjacent peak value change values, and the peak value change value is a difference value of adjacent current peak values;
in this embodiment, a current derivative may be obtained by deriving the detected current signal, when the current derivative is 0 or signs of two adjacent current derivatives are opposite, a current value corresponding to the current derivative is a current peak value, or current values are sampled at regular time, 3 sampled continuous current values are compared, and when there is a case where the middle current value is greater than the other two current values, the second current value is the current peak value. The reference peak value change rate in this embodiment may be a preset value or an initial peak value change rate of the current signal of the vibration motor, and the initial peak value change rate is obtained according to the first 3 collected current peak values.
For example, after a voltage driving signal is input to the vibration motor, the current signal of the vibration motor starts to be acquired synchronously, and the current peak value array acquired according to the time sequence is (I)1、I2…In-1、In) In which InCalculating multiple current peaks for the current peak value of the vibration motor when the current signal reaches steady stateThe current peak rate of change, i.e.
SiCalculating the current peak change rate array (S)1、S2…Sn-2) The current peak change rate when the current signal of the vibration motor reaches a steady state is Sn-2Then the per unit value of each current peak change rate and the reference peak change rate is ki＝Si/Sc，ScIs referred to as peak rate of change (S)cCan be S1Or a preset value) is (k)1、k2…kn-2) The per unit value of the current peak change rate when the current signal of the vibration motor reaches the steady state and the peak change rate when the current signal is initially collected is kn-2It is to be understood that the reference peak change rate may be a preset value.
And step S30, determining whether the resonant frequency of the vibration motor is consistent according to the current peak value change rate and a preset threshold value.
When the current signal reaches the steady state, if the outputs of the vibration motors are consistent, the deviation between the current peak value change values corresponding to the adjacent current peak values is relatively small, and no large deviation exists, and whether the outputs of the vibration motors are consistent can be determined through the current peak value change rate when the current signal reaches the steady state.
In this embodiment, when the current peak value change rate is less than or equal to the preset threshold, the output of the vibration motor is considered to be consistent, and when the current peak value change rate is greater than the preset threshold, the output of the vibration motor is considered to be inconsistent; the preset threshold in this embodiment may be 1.05, and it is understood that the preset threshold may be set according to a requirement for detection accuracy of the vibration motor.
The vibration motor in the present embodiment may be a linear resonance motor. To improve the accuracy of the detection, step S20 includes: carrying out low-pass filtering on a current signal of the vibration motor; and acquiring a per unit value when the current signal after the low-pass filtering reaches a steady state. Can filter the burr signal of high frequency through low-pass filtering process in this embodiment, improve the degree of accuracy that detects.
In the technical scheme disclosed in the embodiment, a voltage driving signal is input to the vibration motor, the current peak value change rate when the current signal of the vibration motor reaches a steady state is obtained, whether the resonance frequency of the vibration motor is consistent or not is determined according to the current peak value change rate and a preset threshold value, whether the resonance frequency of the vibration motor is consistent or not can be determined directly through comparison of current peak values, a complex algorithm model is not required to be constructed, the consistency detection process of the vibration motor is simplified, and the cost is saved.
Referring to fig. 3, a second embodiment of the detection method for a vibration motor according to the first embodiment of the present invention is provided, in which the step S20 includes:
step S21, collecting the current peak value of the current signal of the vibration motor in real time;
step S22, obtaining the peak value deviation between the current peak value collected at present and the current peak value collected at last time;
step S23, when the peak value deviation is smaller than a preset threshold value, acquiring a current peak value change rate corresponding to a current peak value acquired currently;
step S24, obtaining a ratio of the current peak change rate to the reference peak change rate, and taking the ratio as the per unit value.
The current peak value deviation in this embodiment may be a ratio of a difference value of current peak values to a current peak value, for example, a current peak value array (I) acquired according to a time sequence is1、I2…In-1、In) Then, InCorresponding peak deviation of pn＝(In-In-1)/InWherein p isnFor the peak deviation, it is understood that the preset peak deviation may be set to 0.05; e.g. p when less than a preset thresholdnWhen the steady state is reached, the current peak value currently collected is InThen the corresponding peak rate of change
Sn-2Is the peak rate of change; the corresponding per unit value may be kn-2＝Sn-2/Sc，ScFor reference to the peak rate of change, it is understood that ScThe current peak value obtained by collecting the first three peak currents can be directly calculated in the scheme according to the first embodiment, or the current peak value obtained by collecting the current peak values can be stored in a preset array according to the sequence of the collecting time points until the current signal reaches a steady state, for example, the current peak value array is (I) the current peak value array1、I2…In-1、In) Wherein, InObtaining S according to the current peak value array when the current signal reaches the steady state1And Sn-2，S1May be used as a reference peak rate of change.
In the technical scheme disclosed in this embodiment, only the peak change rate in the steady state is calculated, and the per unit value is determined according to the peak change rate in the steady state and the reference peak change rate, so that the calculation process is simplified, and the efficiency of consistency detection of the vibration motor is improved.
Referring to fig. 4, a third embodiment of the detection method for a vibration motor according to the present invention is provided based on the first embodiment, where step S20 includes:
step S25, collecting the current peak value of the current signal of the vibration motor in real time;
step S26, when the collection number of the current peak values reaches a preset number, obtaining a ratio of a current peak value change rate corresponding to the current peak value with the latest collection time to a reference peak value change rate, and taking the ratio as the per unit value.
In the technical scheme disclosed in this embodiment, the number of current peaks of the vibration motor before reaching a steady state may be first tested, for example, if the number of current peaks before reaching the steady state is 8, the preset number is 8; correspondingly, the counter counts once after the collected current peak value, and the collection of the current peak value is stopped when the count of the counter reaches the preset number.
It can be understood that, in this scheme, only the per unit value at the steady state is considered, and then only the per unit value at the steady state may be calculated, or the last per unit value may be sequentially calculated as the per unit value at the steady state, that is, step S26 includes:
when the collection number of the current peak values reaches a preset number, calculating difference values in pairs in sequence according to the collection time points of the current peak values to obtain a peak value change value array;
calculating the ratio of every two peak value change values in the peak value change value array in sequence to obtain a current peak value change rate array;
and acquiring the ratio of the last current peak change rate in the current peak change rate array and the reference peak change rate, and taking the ratio as the per unit value.
For example, the rate of change of the current peak value of a plurality of current peak values may be sequentially calculated in order, i.e.
SiCalculating the current peak change rate array (S)1、S2…Sn-2) The current peak value change rate arrays are sorted according to the time sequence, and the current peak value change rate when the current signal of the vibration motor reaches the steady state is Sn-2Then the per unit value of each current peak change rate and the reference peak change rate is ki＝Si/ScThe corresponding per unit value array is (k)1、k2…kn-2) Then take the last per unit value kn-2S in this embodiment is a per unit value when the current signal of the vibration motor reaches a steady statecCan be preset value or S1。
In other variant embodiments, in obtaining (I)1、I2…In-1、In) Then, only S can be calculatedn-2Then the per unit value of the steady state, i.e. k, can be directly obtainedn-2＝Sn-2/ScAt ScIs at time S1It is also possible to calculate S alone1And Sn-2Directly obtain the per unit value k at steady staten-2The calculation process can be set as required, as long as the per unit value in the steady state is obtained, and is not described herein again.
In the technical scheme disclosed by the embodiment, the number of current peak values required for reaching the steady state can be determined in advance, and when consistency detection is carried out, whether the current signals reach the steady state or not is not required to be judged, and the current peak values of the preset number are directly collected for calculation, so that the whole calculation process is simplified, and the consistency detection efficiency is improved.
Referring to fig. 5, a fourth embodiment of the detection method for a vibration motor according to the present invention is provided based on any one of the first to third embodiments, where after step S10, the method includes:
and a step S40 of stopping the input of the voltage driving signal to the vibration motor when the current signal of the vibration motor reaches a steady state.
In the technical scheme disclosed in this embodiment, the signal output module may be controlled to stop inputting the voltage driving signal to the vibration motor by sending a low-level pulse signal to the signal output module, for example, sending a high-level pulse signal to the signal output module, so that the signal output module inputs the voltage driving signal to the vibration motor, and sending a low-level pulse signal to the signal output module, so that the signal output module stops inputting the voltage driving signal to the vibration motor.
In the technical scheme disclosed in this embodiment, when the current signal reaches a steady state, the input of the voltage driving signal to the vibration motor is stopped, so that resource waste caused by continuous input of the voltage driving signal is avoided.
The invention also provides a detection device of the vibration motor, which comprises the following components:
a memory for storing a detection program of the vibration motor;
a processor, wherein the detection program of the vibration motor in the memory is executed by the processor to realize the detection method of the vibration motor according to any one of the above embodiments;
the signal output module is used for outputting a voltage driving signal to the vibration motor;
and the current detection module is connected with the processor and is used for detecting a current signal on a winding of the vibration motor.
Optionally, the output end of the signal output module is connected with a power amplifier.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or system in which the element is included.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
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) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a controlled terminal, or a network device) to execute the method of each embodiment of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A detection method of a vibration motor is characterized by comprising the following steps:
inputting a voltage driving signal to the vibration motor;
acquiring a per-unit value when a current signal of the vibration motor reaches a steady state, wherein the per-unit value is a ratio of a current peak value change rate to a reference peak value change rate, the current peak value change rate is a ratio of adjacent peak value change values, the peak value change value is a difference value of the adjacent current peak values, and the current peak value is a positive peak value;
and determining whether the resonant frequency of the vibration motor is consistent or not according to the per unit value and a preset threshold value.
2. The method of detecting a vibration motor according to claim 1, wherein said step of obtaining a per unit value at which a current signal of the vibration motor reaches a steady state comprises:
collecting a current peak value of a current signal of the vibration motor in real time;
acquiring the peak value deviation between the current peak value acquired currently and the current peak value acquired last time;
when the peak value deviation is smaller than a preset threshold value, acquiring a current peak value change rate corresponding to a current peak value acquired currently;
and acquiring the ratio of the current peak value change rate to the reference peak value change rate, and taking the ratio as the per unit value.
3. The detection method of the vibration motor according to claim 1, wherein the step of acquiring the per unit value when the current signal of the vibration motor reaches a steady state includes:
collecting a current peak value of a current signal of the vibration motor in real time;
and when the collection number of the current peak values reaches a preset number, obtaining the ratio of the current peak value change rate corresponding to the current peak value with the latest collection time to the reference peak value change rate, and taking the ratio as the per unit value.
4. The method of detecting a vibration motor according to claim 3, wherein the step of obtaining a ratio of a current peak value change rate corresponding to the current peak value whose collection time is the latest to a reference peak value change rate when the collection number of the current peak values reaches a preset number, and taking the ratio as the per unit value comprises:
when the collection number of the current peak values reaches a preset number, calculating difference values in pairs according to the collection time points of the current peak values to obtain a peak value change value array;
calculating ratios of every two peak values in sequence according to the sequence of the peak value change values in the peak value change value array to obtain a current peak value change rate array;
and acquiring the ratio of the last current peak change rate in the current peak change rate array and the reference peak change rate, and taking the ratio as the per unit value.
5. The method of detecting a vibration motor according to claim 1, wherein the reference peak change rate is an initial peak change rate of a current signal of the vibration motor.
6. The method of detecting a vibration motor according to claim 1, wherein said step of obtaining a per unit value at which a current signal of the vibration motor reaches a steady state comprises:
carrying out low-pass filtering on a current signal of the vibration motor;
and acquiring a per unit value when the current signal after the low-pass filtering reaches a steady state.
7. The method of detecting a vibration motor according to claim 1, wherein said step of inputting a voltage driving signal to said vibration motor comprises:
amplifying the voltage driving signal;
and inputting the amplified voltage driving signal into the vibration motor.
8. The method for detecting a vibration motor of claim 1, further comprising, after said step of inputting a voltage driving signal to said vibration motor:
and when the current signal of the vibration motor reaches a steady state, stopping inputting the voltage driving signal into the vibration motor.
9. A detection apparatus of a vibration motor, characterized by comprising:
a memory for storing a detection program of the vibration motor;
a processor, the detection program of the vibration motor in the memory being executed by the processor to implement the detection method of the vibration motor according to any one of claims 1 to 8;
the signal output module is used for outputting a voltage driving signal to the vibration motor;
and the current detection module is connected with the processor and used for detecting a current signal on a winding of the vibration motor.
10. The apparatus for detecting a vibration motor of claim 9, wherein a power amplifier is connected to an output terminal of said signal output module.
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| CN102420434A (en) * | 2011-12-09 | 2012-04-18 | 华北电力大学 | Method for analyzing sub-synchronous resonance of alternating-current system |
| CN103678930A (en) * | 2013-12-23 | 2014-03-26 | 清华大学 | Turbine generator modeling method based on nonlinearity damping |
| CN108631332A (en) * | 2018-04-24 | 2018-10-09 | 华北电力科学研究院有限责任公司 | Double-fed fan motor play synchronized oscillation SVC suppressing methods and device |
| CN109103905A (en) * | 2018-10-31 | 2018-12-28 | 哈尔滨理工大学 | A kind of digital simulation method of steam turbine generator hyposynchronous resonance of power system |
| CN112362368A (en) * | 2021-01-14 | 2021-02-12 | 西门子交通技术(北京)有限公司 | Fault diagnosis method, device and system for train traction motor and readable medium |
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