CN113325311B - Method and device for obtaining characteristic parameters of vibration motor and storage medium - Google Patents
Method and device for obtaining characteristic parameters of vibration motor and storage medium Download PDFInfo
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Abstract
The invention discloses a method, equipment and a storage medium for acquiring characteristic parameters of a vibration motor, wherein the method comprises the following steps: generating an impedance curve of the vibration motor according to the voltage driving signal and the vibration feedback signal of the vibration motor; fitting the impedance curve by adopting a quadratic parabola, and acquiring the spring stiffness coefficient of the vibration motor according to the fitted impedance curve; acquiring deviation information between a first frequency domain response amplitude corresponding to each quality factor in a preset quality factor interval and a second frequency domain response amplitude of the impedance curve; and acquiring the damping coefficient and the electromagnetic force coefficient of the vibration motor according to the quality factor of which the deviation information meets the preset condition. The method improves the accuracy of the characteristic parameter calculation of the vibration motor.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a method and equipment for acquiring characteristic parameters of a vibration motor and a storage medium.
Background
In recent years, along with popularization of intelligent products, users have higher requirements on human-computer interaction experience of the intelligent products, suppliers successively improve touch vibration experience of the intelligent products by adding vibration motors in intelligent products such as VR, AR and game handles according to use requirements of the users, and therefore the use requirements of the users on the products are met.
In order to improve the vibration effect of the vibration motor in the intelligent product, a technician needs to calculate the precise characteristic parameters of the vibration motor. In the prior art, patent of application No. 201910330264.6, a method and an apparatus for determining test parameters of a linear motor, which implement the calculation of characteristic parameters of a vibrating motor by using a method of directly fitting an output signal by using a least square method, because the least square method needs to calculate an autocorrelation inverse matrix of sample data, an inverse matrix cannot be guaranteed to exist in actual work, and thus the calculation of the characteristic parameters of the vibrating motor is inaccurate.
Disclosure of Invention
The embodiment of the application aims to solve the technical problem that in the prior art, the characteristic parameter of the vibration motor is calculated inaccurately by providing a method, equipment and a storage medium for acquiring the characteristic parameter of the vibration motor.
The embodiment of the application provides a method for acquiring characteristic parameters of a vibration motor, which comprises the following steps:
generating an impedance curve of the vibration motor according to a voltage driving signal and a vibration feedback signal of the vibration motor, wherein the vibration feedback signal comprises at least one of a feedback voltage and a feedback current;
fitting the impedance curve by adopting a quadratic parabola, and acquiring a spring stiffness coefficient of the vibration motor according to the fitted impedance curve;
acquiring deviation information between a first frequency domain response amplitude corresponding to each quality factor in a preset quality factor interval and a second frequency domain response amplitude of the impedance curve;
and acquiring the damping coefficient and the electromagnetic force coefficient of the vibration motor according to the quality factor of which the deviation information meets the preset condition.
In one embodiment, the step of fitting the impedance curve according to a quadratic parabola includes:
acquiring a peak coordinate point, a first coordinate point and a second coordinate point on the impedance curve;
and obtaining the fitted impedance curve according to a standard quadratic parabolic equation, the first coordinate point, the second coordinate point and the peak coordinate point.
In an embodiment, the step of obtaining a spring stiffness coefficient of the vibration motor according to the fitted impedance curve includes:
obtaining the resonance peak frequency on the fitted impedance curve;
and determining the spring stiffness coefficient according to the resonance peak frequency and the vibrator mass of the vibration motor.
In an embodiment, the step of obtaining deviation information between a first frequency domain response amplitude corresponding to each quality factor in a preset quality factor interval and a second frequency domain response amplitude of the impedance curve includes:
traversing the preset quality factor interval to obtain a first frequency domain response amplitude corresponding to each quality factor in the preset quality factor interval;
detecting a second frequency domain response amplitude corresponding to each quality factor;
and determining the deviation information corresponding to each quality factor according to the variance between the first frequency domain response amplitude corresponding to each quality factor and the second frequency domain response amplitude corresponding to each quality factor.
In an embodiment, the step of traversing the preset quality factor interval to obtain the first frequency domain response amplitude corresponding to each quality factor in the preset quality factor interval includes:
acquiring each angular frequency in a preset angular frequency interval;
determining a damping coefficient corresponding to each quality factor according to the vibrator quality, each angular frequency and each quality factor;
acquiring an electromagnetic force coefficient corresponding to each quality factor according to the vibration feedback signal, an impedance peak value corresponding to the peak value coordinate point and a damping coefficient corresponding to each quality factor;
and obtaining the first frequency domain response amplitude corresponding to each quality factor according to the damping coefficient and the electromagnetic force coefficient corresponding to each quality factor.
In an embodiment, the step of obtaining a damping coefficient and an electromagnetic force coefficient of the vibration motor according to the quality factor of which the deviation information satisfies a preset condition includes:
comparing the deviation information between the first frequency domain response amplitude and the second frequency domain response amplitude corresponding to each quality factor;
and acquiring the damping coefficient and the electromagnetic force coefficient according to the quality factor corresponding to the minimum deviation information.
In an embodiment, the step of obtaining the damping coefficient and the electromagnetic force coefficient of the vibration motor according to the quality factor that the deviation information satisfies the preset condition further includes:
acquiring a signal excitation equation according to the peak frequency corresponding to the peak coordinate point;
acquiring an acceleration response equation of the vibration motor according to the signal excitation equation, the vibrator mass, the acquired spring stiffness coefficient, the acquired damping coefficient and the acquired electromagnetic force coefficient;
and acquiring the acceleration response time of the vibrating motor according to the acceleration response equation, the vibrator mass, the vibration feedback signal, the acquired spring stiffness coefficient, the acquired damping coefficient and the acquired electromagnetic force coefficient, wherein the acceleration response time comprises acceleration rising time and acceleration falling time.
In an embodiment, the step of obtaining the damping coefficient and the electromagnetic force coefficient of the vibration motor according to the quality factor of which the deviation information satisfies the preset condition further includes:
inputting the obtained spring stiffness coefficient, damping coefficient and electromagnetic force coefficient into a preset driving signal model to obtain a target voltage driving signal;
and updating the voltage driving signal by adopting the target voltage driving signal.
In addition, to achieve the above object, the present invention also provides a detection apparatus comprising: the vibration motor characteristic parameter acquisition method comprises a memory, a processor and a vibration motor characteristic parameter acquisition program which is stored on the memory and can run on the processor, wherein the steps of the vibration motor characteristic parameter acquisition method are realized when the vibration motor characteristic parameter acquisition program is executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a storage medium having a vibration motor characteristic parameter acquisition program stored thereon, which when executed by a processor, realizes the steps of the vibration motor characteristic parameter acquisition method described above.
The technical scheme of the method, the equipment and the storage medium for obtaining the characteristic parameters of the vibration motor provided by the embodiment of the application at least has the following technical effects or advantages:
according to the technical scheme, after the impedance curve of the vibration motor is fitted, the spring stiffness coefficient of the vibration motor is obtained according to the fitted impedance curve, the deviation information between the first frequency domain response amplitude obtained according to each quality factor in the preset quality factor interval and the second frequency domain response amplitude detected according to each quality factor is obtained, and then the damping coefficient and the electromagnetic force coefficient of the vibration motor are obtained according to the quality factors of which the deviation information meets the preset conditions.
Drawings
Fig. 1 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a vibration motor characteristic parameter acquisition method according to a first embodiment of the present invention;
fig. 3 is a schematic flowchart of a vibration motor characteristic parameter obtaining method according to a second embodiment of the present invention;
fig. 4 is a schematic flowchart of a vibration motor characteristic parameter obtaining method according to a third embodiment of the present invention;
fig. 5 is a schematic flowchart of a vibration motor characteristic parameter acquisition method according to a fourth embodiment of the present invention;
fig. 6 is a schematic flowchart of a vibration motor characteristic parameter acquisition method according to a fifth embodiment of the present invention;
FIG. 7 is a schematic diagram showing a comparison between an impedance curve at a low resonant peak frequency and a fitted impedance curve;
FIG. 8 is a schematic diagram showing a comparison between an impedance curve at a high resonant peak frequency and a fitted impedance curve;
fig. 9 is a circuit model corresponding to the electrical and mechanical characteristics of the vibration motor.
Detailed Description
For a better understanding of the above technical solutions, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present invention.
Fig. 1 is a schematic structural diagram of a hardware operating environment of the detection apparatus.
As shown in fig. 1, the detection apparatus may include: a processor 1001, e.g. a CPU, a memory 1005, a user interface 1003, a network interface 1004, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the detection device configuration shown in FIG. 1 is not intended to be limiting of detection devices and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a vibration motor characteristic parameter acquisition program. The operating system is a program for managing and controlling hardware and software resources of the detection device, a vibration motor characteristic parameter acquisition program, and other software or program operations.
In the detection apparatus shown in fig. 1, the user interface 1003 is mainly used for connecting a terminal, and performing data communication with the terminal; the network interface 1004 is mainly used for a background server and is in data communication with the background server; the processor 1001 may be used to invoke a vibration motor characteristic parameter acquisition program stored in the memory 1005.
In this embodiment, the detection apparatus includes: a memory 1005, a processor 1001 and a vibration motor characteristic parameter acquisition program stored on the memory 1005 and executable on the processor, wherein:
when the processor 1001 calls the vibration motor characteristic parameter acquisition program stored in the memory 1005, the following operations are performed:
generating an impedance curve of a vibration motor according to a voltage driving signal and a vibration feedback signal of the vibration motor, wherein the vibration feedback signal comprises at least one of a feedback voltage and a feedback current;
fitting the impedance curve by adopting a quadratic parabola, and acquiring a spring stiffness coefficient of the vibration motor according to the fitted impedance curve;
acquiring deviation information between a first frequency domain response amplitude corresponding to each quality factor in a preset quality factor interval and a second frequency domain response amplitude of the impedance curve;
and acquiring a damping coefficient and an electromagnetic force coefficient of the vibration motor according to the quality factor of which the deviation information meets a preset condition.
When the processor 1001 calls the vibration motor characteristic parameter acquisition program stored in the memory 1005, the following operations are also performed:
acquiring a peak coordinate point, a first coordinate point and a second coordinate point on the impedance curve;
and obtaining the fitted impedance curve according to a standard quadratic parabolic equation, the first coordinate point, the second coordinate point and the peak coordinate point.
When the processor 1001 calls the vibration motor characteristic parameter acquisition program stored in the memory 1005, the following operations are also performed:
obtaining the resonance peak frequency on the fitted impedance curve;
and determining the spring stiffness coefficient according to the resonance peak frequency and the vibrator mass of the vibration motor.
When the processor 1001 calls the vibration motor characteristic parameter acquisition program stored in the memory 1005, the following operations are also performed:
traversing the preset quality factor interval to obtain a first frequency domain response amplitude corresponding to each quality factor in the preset quality factor interval;
detecting a second frequency domain response amplitude corresponding to each quality factor;
and determining the deviation information corresponding to each quality factor according to the variance between the first frequency domain response amplitude corresponding to each quality factor and the second frequency domain response amplitude corresponding to each quality factor.
When the processor 1001 calls the vibration motor characteristic parameter acquisition program stored in the memory 1005, the following operations are also performed:
acquiring each angular frequency in a preset angular frequency interval;
determining a damping coefficient corresponding to each quality factor according to the vibrator quality, each angular frequency and each quality factor;
acquiring an electromagnetic force coefficient corresponding to each quality factor according to the vibration feedback signal, an impedance peak value corresponding to the peak value coordinate point and a damping coefficient corresponding to each quality factor;
and obtaining the first frequency domain response amplitude corresponding to each quality factor according to the damping coefficient and the electromagnetic force coefficient corresponding to each quality factor.
When the processor 1001 calls the vibration motor characteristic parameter acquisition program stored in the memory 1005, the following operations are also performed:
comparing the deviation information between the first frequency domain response amplitude and the second frequency domain response amplitude corresponding to each quality factor;
and acquiring the damping coefficient and the electromagnetic force coefficient according to the quality factor corresponding to the minimum deviation information.
When the processor 1001 calls the vibration motor characteristic parameter acquisition program stored in the memory 1005, the following operations are also performed:
acquiring a signal excitation equation according to the peak frequency corresponding to the peak coordinate point;
acquiring an acceleration response equation of the vibration motor according to the signal excitation equation, the vibrator mass, the acquired spring stiffness coefficient, the acquired damping coefficient and the acquired electromagnetic force coefficient;
and acquiring the acceleration response time of the vibrating motor according to the acceleration response equation, the vibrator mass, the vibration feedback signal, the acquired spring stiffness coefficient, the acquired damping coefficient and the acquired electromagnetic force coefficient, wherein the acceleration response time comprises acceleration rising time and acceleration falling time.
When the processor 1001 calls the vibration motor characteristic parameter acquisition program stored in the memory 1005, the following operations are also performed:
inputting the obtained spring stiffness coefficient, damping coefficient and electromagnetic force coefficient into a preset driving signal model to obtain a target voltage driving signal;
and updating the voltage driving signal by adopting the target voltage driving signal.
It should be noted that, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a sequence different from that shown here, and the vibration motor characteristic parameter obtaining method is applied to the calculation of the characteristic parameters of the vibration motor, wherein the characteristic parameters of the vibration motor include at least a spring stiffness coefficient, a damping coefficient, an electromagnetic force coefficient, and a direct current resistance.
As shown in fig. 2, in a first embodiment of the present application, a method for obtaining a characteristic parameter of a vibration motor of the present application includes the steps of:
step S210: and generating an impedance curve of the vibration motor according to the voltage driving signal and the vibration feedback signal of the vibration motor.
In this embodiment, the voltage driving signal is preset, the voltage driving signal is used to drive the vibration motor to normally vibrate, and a vibration feedback signal of the vibration motor in the vibration process is collected, where the vibration feedback signal includes at least one of a feedback voltage and a feedback current. After the vibration feedback signal is collected, a data point for drawing an impedance curve is obtained according to the feedback voltage and the feedback current, the impedance curve of the vibration motor is drawn according to the data point, and the impedance curve can be understood as an impedance curve obtained by actual test, namely an actually measured impedance curve.
Step S220: and fitting the impedance curve by adopting a quadratic parabola, and acquiring the spring stiffness coefficient of the vibration motor according to the fitted impedance curve.
When the vibration motor normally vibrates, after a measured impedance curve is obtained through actual tests, because a curve (also a curve on the left side and the right side of a data point corresponding to an impedance peak value) near a data point on the measured impedance curve is close to a quadratic parabola, in the embodiment, a curve near a data point corresponding to an impedance peak value on the measured impedance curve is fitted by using the quadratic parabola to obtain a fitted impedance curve, the fitted impedance curve becomes the quadratic parabola, and it should be noted that the fitted impedance curve refers to a fitting curve of a curve near a data point corresponding to an impedance peak value on the measured impedance curve, and is not the whole measured impedance curve after fitting. And substituting the obtained data points into a parabolic equation of the quadratic parabola to realize the fitting of the impedance curve. And after the fitted impedance curve is obtained, data points on the fitted impedance curve are obtained, and the spring stiffness coefficient of the vibration motor is calculated according to the obtained data points and a preset spring stiffness coefficient calculation formula.
Step S230: and acquiring deviation information between a first frequency domain response amplitude corresponding to each quality factor in a preset quality factor interval and a second frequency domain response amplitude of the impedance curve.
In this embodiment, the preset quality factor interval is determined according to the impedance curve and a preset multiple range of the quality factor, the quality factor is obtained through data points on the impedance curve, and the preset quality factor interval is determined according to the preset multiple range of the quality factor and the quality factor. For example, the obtained quality factor is 2, the multiple range is 0.9-1.2, and then the preset quality factor interval is [1.8, 2.4 ].
The first frequency domain response amplitude corresponding to each quality factor can be obtained through a frequency domain response amplitude expression of the impedance curve and each quality factor in a preset quality factor interval, the second frequency domain response amplitude of the impedance curve corresponding to each quality factor is obtained based on actual detection of each quality factor in the preset quality factor interval, deviation information between the first frequency domain response amplitude and the second frequency domain response amplitude corresponding to each quality factor is represented through a difference value between the first frequency domain response amplitude and the second frequency domain response amplitude corresponding to each quality factor, the deviation information is used for representing difference between the first frequency domain response amplitude and the second frequency domain response amplitude corresponding to the same quality factor, and the closer the first frequency domain response amplitude and the second frequency domain response amplitude corresponding to the same quality factor are, the smaller the difference value between the first frequency domain response amplitude and the second frequency domain response amplitude is.
Step S240: and acquiring the damping coefficient and the electromagnetic force coefficient of the vibration motor according to the quality factor of which the deviation information meets the preset condition.
In this embodiment, after each deviation information is obtained, the deviation information with the minimum difference between the first frequency domain response amplitude and the second frequency domain response amplitude, which are corresponding to the same quality factor, in all the deviation information may be used as a preset condition, then the quality factor corresponding to the minimum deviation information is obtained from all the deviation information, and then the damping coefficient and the electromagnetic force coefficient of the vibration motor are obtained according to the quality factor corresponding to the minimum deviation information.
According to the technical scheme, the impedance curve of the vibration motor is generated according to the voltage driving signal and the vibration feedback signal of the vibration motor, the impedance curve is fitted by adopting the quadratic parabola, the spring stiffness coefficient of the vibration motor is obtained according to the fitted impedance curve, the deviation information between the first frequency domain response amplitude corresponding to each quality factor in the preset quality factor interval and the second frequency domain response amplitude of the impedance curve is obtained, and the damping coefficient and the electromagnetic force coefficient of the vibration motor are obtained according to the quality factor of which the deviation information meets the preset condition, so that the accuracy of the vibration motor characteristic parameter calculation is improved.
As shown in fig. 3, in the second embodiment of the present application, the step of fitting the impedance curve with a quadratic parabola, which is described in step S220, of the method for obtaining characteristic parameters of a vibration motor of the present application includes:
step S221: and acquiring a peak coordinate point, a first coordinate point and a second coordinate point on the impedance curve.
In this embodiment, after the impedance curve is obtained, a peak coordinate point on the impedance curve is detected according to a peak detection principle, where the peak coordinate point is a resonance peak coordinate point on the impedance curve, and includes a peak frequency and an impedance peak, and the first coordinate point and the second coordinate point are both any two data points on the impedance curve obtained by an actual test.
Step S222: and obtaining the fitted impedance curve according to a standard quadratic parabolic equation, the first coordinate point, the second coordinate point and the peak coordinate point.
In this embodiment, the quadratic parabola corresponds to a standard quadratic parabola equation, that is, the standard quadratic parabola equation is:
|Z(i)|＝af(i)2+bf(i)+c
wherein a, b, c can be respectively understood as a quadratic term coefficient, a first order term coefficient and a constant term of the standard quadratic parabolic equation, and a, b, c belong to variable values in the present implementation. When impedance curve fitting is carried out, a curve near a peak value coordinate point on the impedance curve meets a standard quadratic parabolic equation, then the obtained peak value coordinate point, the first coordinate point and the second coordinate point are respectively substituted into the standard quadratic parabolic equation to obtain a quadratic parabolic equation, and a fitted impedance curve, namely a fitted curve of the curve near the peak value coordinate point, can be generated through the quadratic parabolic equation.
According to the technical scheme, the technical means of obtaining the peak coordinate point and the second coordinate point on the impedance curve and obtaining the fitted impedance curve according to the standard quadratic parabolic equation, the first coordinate point, the second coordinate point and the peak coordinate point are adopted, so that the calculation is simple, the implementation is easy, and the identification precision of the system parameters (such as characteristic parameters) of the vibration motor is improved.
As shown in fig. 4, in the third embodiment of the present application, the step of obtaining the spring stiffness coefficient of the vibration motor according to the fitted impedance curve in step S220 includes:
step S223: and acquiring the resonance peak frequency on the fitted impedance curve.
In this embodiment, the resonance peak frequency on the fitted impedance curve is represented as f0，f0The frequency corresponding to the resonance impedance peak (maximum impedance peak) on the impedance curve after fitting may also be represented as fmax. F can be obtained according to the quadratic parabolic equation corresponding to the fitted impedance curve0Or fmaxCalculating f0Or fmaxThe formula of (1) is as follows:
wherein the quadratic parabolic equation is obtained from the first coordinate point, the second coordinate point and the peak coordinate point, and the values of a and b are known.
Step S224: and determining the spring stiffness coefficient according to the resonance peak frequency and the vibrator mass of the vibration motor.
In the present embodiment, the vibrator mass of the vibration motor is known, and can be obtained by inquiring production data of the vibration motor. Specifically, the spring stiffness coefficient of the vibration motor can be obtained according to a spring stiffness coefficient calculation formula, the resonance peak frequency and the vibrator quality, and the spring stiffness coefficient calculation formula is as follows:
wherein, KmsRepresents the spring stiffness coefficient, MmsIndicating the mass of the transducer.
According to the technical scheme, the technical means of obtaining the resonance peak frequency on the fitted impedance curve and determining the stiffness coefficient of the spring according to the resonance peak frequency and the mass of the vibrator of the vibration motor are adopted, so that the calculation accuracy of the stiffness coefficient of the spring of the vibration motor is improved.
As shown in fig. 5, in a fourth embodiment of the present application, a vibration motor characteristic parameter obtaining method of the present application, step S230 includes:
step S231: and traversing the preset quality factor interval to obtain a first frequency domain response amplitude corresponding to each quality factor in the preset quality factor interval.
In this embodiment, the predetermined quality factor interval is determined according to the initial quality factor obtained by the impedance curve and the multiple range of the predetermined quality factor. Specifically, a first frequency corresponding to a preset impedance value on an impedance curve is calculated by a linear interpolation method according to a peak coordinate point and a first data point on the impedance curve obtained by actual test, a second frequency corresponding to the preset impedance value on the impedance curve is calculated by the linear interpolation method according to the peak coordinate point and a second data point on the impedance curve obtained by actual test, and then an initial quality factor is obtained according to the peak frequency of the peak coordinate point, the first frequency, the second frequency and the quality factor definition, wherein the initial quality factor is the peak frequency/(second frequency — first frequency), and the second frequency is greater than the first frequency. Wherein the first frequency is the frequency between the peak coordinate point and the first data point and the second frequency is the frequency between the peak coordinate point and the second data point. The peak value coordinate point, the first data point and the second data point are all known points, a first linear interpolation formula can be correspondingly obtained according to the peak value coordinate point and the first data point, and a preset impedance value is substituted into the first linear interpolation formula to obtain a first frequency; similarly, a second linear interpolation formula can be obtained according to the peak coordinate point and the second data point, the preset impedance value is substituted into the second linear interpolation formula to obtain a second frequency, and the preset impedance value can be set according to actual requirements, for example, the preset impedance value is set to be a value of an actually measured impedance amplitude at a position of 3 dB. After the initial quality factor is obtained, a preset quality factor interval is obtained according to the multiple range of the quality factor.
Before traversing the preset quality factor interval, acquiring the total quantity of the quality factors to be traversed and the quality factor index number. And each quality factor in the preset quality factor interval is associated with a quality factor index number, corresponding quality factors in the preset quality factor interval are traversed according to the obtained quality factor index numbers and the total number of the quality factors to be traversed, and corresponding first frequency domain response amplitude values are obtained according to the quality factors traversed each time. For example, if the obtained figure of merit indexes are 1 and 2 and the total number of figures of merit to be traversed is 2, it is sufficient to traverse the figures of merit with the figure of merit indexes of 1 and 2 according to the size order of the traversal figure of merit indexes.
Further, step S231 specifically includes the following steps:
step a: and acquiring each angular frequency in the preset angular frequency interval.
Specifically, the preset angular frequency interval of the angular frequency of the vibration motor is obtained according to the peak frequency, the preset quality factor interval and the relational expression between the frequency and the angular frequency of the vibration motor. Wherein, the relation between the frequency and the angular frequency of the vibration motor is as follows: angular frequency is 2 pi × frequency.
Each angular frequency in the preset angular frequency interval has a one-to-one correspondence relationship with each quality factor in the preset quality factor interval, and each angular frequency in the preset angular frequency interval is also associated with an angular frequency index. For example, the predetermined quality factor interval is [ Q ]1,Q4]The index numbers of the quality factors are 1, 2, 3 and 4 respectively; the preset angular frequency interval is [ w ]1,w4]The angular frequency indices are 1, 2, 3, 4, respectively. Wherein Q is1And w1Corresponds to, Q2And w2Corresponds to, Q3And w3Corresponds to, Q4And w4And (7) corresponding. After the quality factor index is obtained, the angular frequency index also needs to be obtained, and if the quality factor with the quality factor index being 1 is obtained from the preset quality factor interval, the angular frequency with the angular frequency index being 1 also needs to be obtained from the preset angular frequency interval.
Step b: and determining a damping coefficient corresponding to each quality factor according to the oscillator quality, each angular frequency and each quality factor.
Specifically, each time a quality factor and an angular frequency are obtained, a damping coefficient corresponding to the current quality factor is obtained according to the obtained quality factor, angular frequency, oscillator mass and damping coefficient calculation formula, wherein the damping coefficient calculation formula is as follows:
Rmsrepresenting the damping coefficient, w0Representing angular frequency and Q representing quality factor.
Step c: and acquiring an electromagnetic force coefficient corresponding to each quality factor according to the vibration feedback signal, an impedance peak value corresponding to the peak value coordinate point and a damping coefficient corresponding to each quality factor.
Specifically, the feedback voltage and the feedback current are subjected to filtering processing, and the direct current resistance is determined according to a ratio between a voltage effective value of the feedback voltage and a current effective value of the feedback current after the filtering processing. Further, the electromagnetic force coefficient corresponding to each quality factor is obtained according to the direct current resistance, the impedance peak value corresponding to the peak value coordinate point, the damping coefficient corresponding to each quality factor and the electromagnetic force coefficient calculation formula. The electromagnetic force coefficient calculation formula is as follows:
wherein Bl represents the electromagnetic force coefficient, ZmaxRepresenting the peak impedance.
Step d: and obtaining the first frequency domain response amplitude corresponding to each quality factor according to the damping coefficient and the electromagnetic force coefficient corresponding to each quality factor.
Specifically, before obtaining the first frequency domain response amplitude corresponding to each quality factor, a frequency domain response amplitude expression of the impedance curve needs to be obtained, referring to fig. 9, a left circuit of fig. 9 is an electrical characteristic model of the vibration motor, a right circuit of fig. 9 is a mechanical characteristic of the vibration motor in a vibration state, and a process of obtaining the frequency domain response amplitude expression of the impedance curve is as follows:
the method comprises the steps of constructing an electrical equation according to electrical characteristics of the vibration motor, constructing a mechanical equation according to mechanical characteristics of the vibration motor in a vibration state, performing pull type transformation on the electrical equation and the mechanical equation respectively, obtaining an S-domain expression of an impedance curve according to the electrical equation and the mechanical equation after the pull type transformation, and performing frequency domain conversion on the S-domain expression of the impedance curve to obtain a frequency domain response amplitude expression of the impedance curve. Wherein,
the electrical equation is: vc(t)＝i(t)Re+Blv(t)；
The mechanical equation is as follows: f (t) + Rmsv(t)+Mmsa(t)+Kmsx(t)＝0；
The S-domain expression of the impedance curve is:
the frequency domain response amplitude expression of the impedance curve is as follows:
Rmsas damping coefficient, KmsIs the spring stiffness coefficient, MmsRe is the vibrator mass, direct current resistance and the Bl electromagnetic force coefficient.
Further, after obtaining the damping coefficient and the electromagnetic force coefficient corresponding to each quality factor, substituting the damping coefficient and the electromagnetic force coefficient corresponding to each quality factor into the frequency domain response amplitude expression of the impedance curve, thereby obtaining a first frequency domain response amplitude corresponding to each quality factor. Wherein, the first frequency domain response amplitude formula is shown as follows:
|Zfit(wik) represents a first frequency domain response amplitude value corresponding to the figure of merit with the figure of merit index k, wiRepresenting angular frequencyIndex is the angular frequency of i, bl (k)' represents the electromagnetic force coefficient corresponding to the figure of merit with figure of merit k, Rms(k) ' denotes a damping coefficient corresponding to a figure of merit whose figure of merit index is k.
Step S232: and detecting a second frequency domain response amplitude corresponding to each quality factor.
In this embodiment, each time a quality factor is traversed from a preset quality factor interval, a second frequency domain response amplitude corresponding to the current quality factor is detected according to the currently traversed quality factor.
Step S233: and determining the deviation information corresponding to each quality factor according to the variance between the first frequency domain response amplitude corresponding to each quality factor and the second frequency domain response amplitude corresponding to each quality factor.
In this embodiment, each time the first frequency domain response amplitude and the second frequency domain response amplitude corresponding to one quality factor are obtained, that is, the variance between the first frequency domain response amplitude and the second frequency domain response amplitude corresponding to each quality factor is calculated by using the following variance formula, then the variance is used to determine deviation information between the first frequency domain response amplitude and the second frequency domain response amplitude, and the difference between the first frequency domain response amplitude and the second frequency domain response amplitude corresponding to each quality factor can be obtained through the variance. Wherein, the variance formula is shown as the following formula:
err (k) represents the variance between a first frequency domain response amplitude corresponding to a figure of merit with a figure of merit index k and a second frequency domain response amplitude corresponding to an angular frequency with an angular frequency index i, | Zm(wi) And | represents a second frequency domain response amplitude corresponding to the angular frequency with the angular frequency index being i, and also represents a second frequency domain response amplitude corresponding to the figure of merit with the figure of merit being k, and N represents the total number of the figures of merit to be traversed.
As shown in fig. 6, in a fifth embodiment of the present application, a method for acquiring a characteristic parameter of a vibration motor of the present application, step S240 includes:
step S241: and comparing the deviation information between the first frequency domain response amplitude and the second frequency domain response amplitude corresponding to each quality factor.
Step S242: and acquiring the damping coefficient and the electromagnetic force coefficient according to the quality factor corresponding to the minimum deviation information.
In this example, after obtaining deviation information corresponding to all the traversed quality factors according to the total number of the quality factors to be traversed and the quality factor index numbers, comparing the deviation information between the first frequency domain response amplitude and the second frequency domain response amplitude corresponding to each quality factor, that is, comparing the variance between the first frequency domain response amplitude and the second frequency domain response amplitude corresponding to each quality factor, after determining the minimum variance, obtaining the quality factor corresponding to the minimum variance, obtaining the first frequency domain response amplitude corresponding to the currently obtained quality factor, and then performing back-stepping according to the first frequency domain response amplitude to obtain the damping coefficient and the electromagnetic force coefficient to be finally obtained. For example, the figure of merit for the minimum variance is Q1, and the first frequency domain response magnitude for Q1 is | Zfit(w1,1)|，|Zfit(w11) | is by Bl (1)', Rms(1) ' substituted into the first frequency domain response magnitude formula, then, Rms(1) 'is a damping coefficient to be obtained, i.e., a target damping coefficient, and Bl (1)' is an electromagnetic force coefficient to be obtained, i.e., a target electromagnetic force coefficient.
Further, after obtaining the spring stiffness coefficient, the damping coefficient, the electromagnetic force coefficient and the direct current resistance of the vibration motor, a final fitting curve of the impedance curve of the vibration motor, namely the whole fitted actually measured impedance curve, can be obtained according to the S-domain expression of the impedance curve and the vibrator mass of the vibration motor. As shown in fig. 7 and 8, the dotted line in fig. 7 and 8 represents the entire fitted measured impedance curve, the solid line represents the impedance curve, that is, the measured impedance curve, the horizontal axis represents frequency, and the vertical axis represents impedance amplitude. Through comparison of the fitted whole actually measured impedance curve and the actually measured impedance curve, if the two are more similar or closer, the more accurate the spring stiffness coefficient, the damping coefficient, the electromagnetic force coefficient and the direct current resistance of the vibration motor can be determined.
According to the technical scheme, the technical means of comparing the deviation information between the first frequency domain response amplitude and the second frequency domain response amplitude corresponding to each quality factor and acquiring the damping coefficient and the electromagnetic force coefficient according to the quality factor corresponding to the minimum deviation information are adopted, so that the calculation accuracy of the damping coefficient and the electromagnetic force coefficient is improved.
Further, after step S240, the following steps are also included:
step e: and acquiring a signal excitation equation according to the peak frequency corresponding to the peak coordinate point.
Step f: and acquiring an acceleration response equation of the vibration motor according to the signal excitation equation, the vibrator mass, the acquired spring stiffness coefficient, the acquired damping coefficient and the acquired electromagnetic force coefficient.
Step g: and acquiring the acceleration response time of the vibration motor according to the acceleration response equation, the vibrator mass, the vibration feedback signal, the acquired spring stiffness coefficient, the acquired damping coefficient and the acquired electromagnetic force coefficient.
In this embodiment, the obtained spring stiffness coefficient, damping coefficient and electromagnetic force coefficient are respectively referred to as a target spring stiffness coefficient, a target damping coefficient and a target electromagnetic force coefficient, and the vibration feedback signal is used to determine the dc resistance, that is, the dc resistance is determined according to the ratio between the voltage effective value of the feedback voltage and the current effective value of the feedback current after the filtering processing. Specifically, when the vibration motor is subjected to a sinusoidal signal voltage of a peak frequency as an excitation voltage, a signal excitation equation is obtained according to the peak frequency corresponding to the peak coordinate point, wherein the signal excitation equation is as follows:
u(t)＝Amsin(ω0t)，
Amrepresenting the amplitude, ω, of the excitation signal0Representing angular frequency and t time. Based on signal excitation equation, combining vibrator mass and target bombThe spring stiffness coefficient, the target damping coefficient and the target electromagnetic force coefficient are used for obtaining an acceleration response equation of the vibration motor, wherein the acceleration response equation is as follows:
Further, the steady state response is obtained from the acceleration response equation, i.e.
Wherein,
represents the steady state amplitude, | aup(t) | represents the acceleration rise magnitude.
Specifically, assuming that the acceleration amplitude rises from 0 to K times the steady-state value, the time required is called the rise time, which is denoted as tupThen, a first relation between the steady-state amplitude and the acceleration rise amplitude can be obtained, where the first relation is
And obtaining a second relational expression of K and tau according to the first relational expression, wherein the second relational expression is
Obtaining a rising time formula according to the second relational expression, wherein the rising time formula is tupτ ln (1-K). And then substituting the target spring stiffness coefficient, the target damping coefficient, the target electromagnetic force coefficient, the vibrator mass and the direct current resistance into a rise time formula to obtain the rise time.
Further, after the excitation voltage is removed, the acceleration response equation is as follows:
x0and v0Respectively, the initial displacement and velocity at time 0. A. the0Represents the initial acceleration steady-state amplitude, | ad(T) | represents the acceleration drop amplitude, T is the acceleration drop amplitude multiple, and tau is
Specifically, assume that the time elapsed from the initial steady-state acceleration amplitude to the time T times the steady-state acceleration amplitude is referred to as the fall time, which is denoted as TdThen, a third relation between the initial acceleration steady-state amplitude and the acceleration drop amplitude can be obtained, where the third relation is | ad(t)|＝TA0And a fourth relation based on the third relation T and τ, the fourth relation being
Obtaining a formula of the falling time according to the fourth relational expression, wherein the formula of the falling time is tdAnd (4) substituting the target spring stiffness coefficient, the target damping coefficient, the target electromagnetic force coefficient, the vibrator mass and the direct current resistance into a fall time formula to obtain the fall time. And obtaining the rising time and the falling time which are the performance indexes of the vibration motor.
Further, after step S240, the following steps are also included:
step h: and inputting the acquired spring stiffness coefficient, damping coefficient and electromagnetic force coefficient into a preset driving signal model to obtain a target voltage driving signal.
Step i: and updating the voltage driving signal by adopting the target voltage driving signal.
In the present embodiment, the driving signal model is preset, and the preset driving signal model may be an acceleration voltage transfer function model, or a displacement voltage transfer function model. Different driving signal expressions can be obtained through the acceleration voltage transfer function model, the acceleration voltage transfer function model and the displacement voltage transfer function model, preset target acceleration, target voltage or target displacement, a target spring stiffness coefficient, a target damping coefficient and a target electromagnetic force coefficient are led into the three models, corresponding driving voltage signals can be led out, and the driving voltage signals drive the vibrating motor, so that the vibration sensing experience of the vibrating motor corresponding to the desired target vibration sensing is obtained.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (7)
1. A vibration motor characteristic parameter acquisition method is characterized by comprising the following steps:
generating an impedance curve of the vibration motor according to a voltage driving signal and a vibration feedback signal of the vibration motor, wherein the vibration feedback signal comprises at least one of a feedback voltage and a feedback current;
fitting the impedance curve by adopting a quadratic parabola;
obtaining the resonance peak frequency on the fitted impedance curve;
determining a spring stiffness coefficient of the vibration motor according to the resonance peak frequency and the vibrator mass of the vibration motor;
acquiring each angular frequency in a preset angular frequency interval;
determining a damping coefficient corresponding to each quality factor according to the quality of the oscillator, each angular frequency and the quality factor in a preset quality factor interval;
acquiring an electromagnetic force coefficient corresponding to each quality factor according to the vibration feedback signal, an impedance peak value corresponding to a peak value coordinate point on the impedance curve and a damping coefficient corresponding to each quality factor;
obtaining a first frequency domain response amplitude corresponding to each quality factor according to the damping coefficient and the electromagnetic force coefficient corresponding to each quality factor;
detecting a second frequency domain response amplitude corresponding to each quality factor;
determining deviation information corresponding to each quality factor according to the variance between a first frequency domain response amplitude corresponding to each quality factor and a second frequency domain response amplitude corresponding to each quality factor;
and acquiring the damping coefficient and the electromagnetic force coefficient of the vibration motor according to the quality factor of which the deviation information meets the preset condition.
2. The method of claim 1, wherein the step of fitting the impedance curve according to a quadratic parabola includes:
acquiring a first coordinate point and a second coordinate point on the impedance curve;
and obtaining the fitted impedance curve according to a standard quadratic parabolic equation, the first coordinate point, the second coordinate point and the peak coordinate point.
3. The method of claim 1, wherein the step of obtaining the damping coefficient and the electromagnetic force coefficient of the vibration motor based on the quality factor of which deviation information satisfies a preset condition comprises:
comparing the deviation information between the first frequency domain response amplitude and the second frequency domain response amplitude corresponding to each quality factor;
and acquiring the damping coefficient and the electromagnetic force coefficient according to the quality factor corresponding to the minimum deviation information.
4. The method of claim 3, wherein the step of obtaining the damping coefficient and the electromagnetic force coefficient of the vibration motor according to the quality factor of which the deviation information satisfies the preset condition is further followed by:
acquiring a signal excitation equation according to the peak frequency corresponding to the peak coordinate point;
acquiring an acceleration response equation of the vibration motor according to the signal excitation equation, the vibrator mass, the acquired spring stiffness coefficient, the acquired damping coefficient and the acquired electromagnetic force coefficient;
and acquiring the acceleration response time of the vibrating motor according to the acceleration response equation, the vibrator mass, the vibration feedback signal, the acquired spring stiffness coefficient, the acquired damping coefficient and the acquired electromagnetic force coefficient, wherein the acceleration response time comprises acceleration rising time and acceleration falling time.
5. The method of claim 3, wherein the step of obtaining the damping coefficient and the electromagnetic force coefficient of the vibration motor according to the quality factor of which the deviation information satisfies the preset condition is further followed by:
inputting the obtained spring stiffness coefficient, damping coefficient and electromagnetic force coefficient into a preset driving signal model to obtain a target voltage driving signal;
and updating the voltage driving signal by adopting the target voltage driving signal.
6. A detection apparatus, comprising: a memory, a processor and a vibration motor characteristic parameter acquisition program stored on the memory and executable on the processor, the vibration motor characteristic parameter acquisition program, when executed by the processor, implementing the steps of the vibration motor characteristic parameter acquisition method according to any one of claims 1 to 5.
7. A storage medium characterized by having a vibration motor characteristic parameter acquisition program stored thereon, which when executed by a processor, implements the steps of the vibration motor characteristic parameter acquisition method according to any one of claims 1 to 5.
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