CN113824386A - Motor nonlinear compensation method and related equipment thereof - Google Patents

Motor nonlinear compensation method and related equipment thereof Download PDF

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Publication number
CN113824386A
CN113824386A CN202111092130.9A CN202111092130A CN113824386A CN 113824386 A CN113824386 A CN 113824386A CN 202111092130 A CN202111092130 A CN 202111092130A CN 113824386 A CN113824386 A CN 113824386A
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motor
nonlinear
compensation
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calculating
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郭璇
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Ruisheng Kaitai Acoustic Technology Shanghai Co ltd
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Ruisheng Kaitai Acoustic Technology Shanghai Co ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control

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Abstract

The invention provides a motor nonlinear compensation method and related equipment thereof. For ensuring that the motor vibration effect is closer to the desired effect. The method provided by the embodiment of the invention comprises the following steps: acquiring an original signal and a motor nonlinear model; calculating a compensation signal corresponding to the original signal based on the motor nonlinear model; loading the compensation signal to a motor to excite the motor to vibrate. According to the technical scheme, the embodiment of the invention has the following advantages: according to the invention, the compensation processing is carried out on the original signal through the nonlinear model followed by the motor to obtain the compensation signal corresponding to the original signal, and the compensation signal is used for exciting the motor, so that the vibration effect of the motor is closer to the expected effect, and the actual application requirements of users are better met. The invention also correspondingly provides related equipment for realizing the method, and the related equipment has the same beneficial effects as the method.

Description

Motor nonlinear compensation method and related equipment thereof
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of motor detection, in particular to a motor nonlinear compensation method and related equipment thereof.
[ background of the invention ]
With the development of science and technology, people have higher and higher requirements on intellectualization and diversification of electronic products, and richer human perception and human-computer interaction experience are required. The tactile sensation is an important part of human perception, and a Linear Resonance exciter (LRA) is a key element for representing the tactile sensation. Therefore, the linear motor is increasingly applied to electronic devices such as smart phones, smart watches, and tablet computers.
During the vibration process of the motor, some characteristic parameters of the motor can change along with the change of the displacement, which can be called as non-linear parameters, and the change can cause the difference between the actual vibration effect of the motor and the expected effect when the signal is designed, thereby affecting the tactile experience.
At present, a functional device for realizing the tactile feedback is mainly a motor, and the motor has a large difference between the actual vibration effect and the expected effect due to the influence of nonlinear parameters, so that the user experience is poor.
[ summary of the invention ]
The invention aims to provide a motor nonlinear compensation method, which aims to solve the problem that the existing motor generates larger distortion due to the influence of nonlinear parameters, and comprises the following steps:
acquiring an original signal and a motor nonlinear model;
calculating a compensation signal corresponding to the original signal based on the motor nonlinear model;
loading the compensation signal to a motor to excite the motor to vibrate.
Based on the motor nonlinearity compensation method provided in the first aspect of the embodiment of the present invention, optionally, the expression of the motor nonlinearity model includes:
u＝Rei+Bl(x)v；
Bl(x)i＝ma+Rm(x)v+Km(x)x；
wherein: u is the voltage across the motor; the i is motor current, and the x is motor oscillator displacement; v is the motor vibrator speed; the a is the acceleration of the motor vibrator; the R iseIs a motor resistance; the Bl is the electromagnetic force coefficient of the motor; the m is the mass of the motor oscillator; said KmIs the motor spring stiffness coefficient; the R ismDamping the motor;
non-linearities involved in the non-linear model of the motorThe parameters include: motor electromagnetic force coefficient Bl and spring stiffness coefficient KmAnd motor damping RmThe function of the nonlinear parameter with respect to the vibrator displacement x is expressed as follows:
Bl(x)＝Bl0+Bl1x+Bl2x2+…+Blnxn；
Km(x)＝Km0+Km1x+Km2x2+…+Kmnxn；
Rm(x)＝Rm0+Rm1x+Rm2x2+…Rmnxn；
wherein n is any positive integer, Bl0～Bln，Km0～Kmn，Rm0～RmnAre nonlinear parameter coefficients.
Based on the motor nonlinearity compensation method provided in the first aspect of the embodiment of the present invention, optionally, the calculating a compensation signal corresponding to the original signal based on the motor nonlinearity model includes:
calculating the compensation signal corresponding to the original signal according to the motor nonlinear model and a compensation formula, wherein the compensation formula comprises:
Figure BDA0003267925760000021
Figure BDA0003267925760000022
Figure BDA0003267925760000023
Figure BDA0003267925760000031
Figure BDA0003267925760000032
where w is the original signal, u is the compensation signal, x1Is the displacement value, x, of the oscillator at the current moment2Is the speed value Bl (x) of the oscillator at the current time0+Bl1x+Bl2x2+…+Blnxn；Km(x)＝Km0+Km1x+Km2x2+…+Kmnxn；Rm(x)＝Rm0+Rm1x+Rm2x2+…Rmnxn(ii) a Re is resistance, Le is inductance, and m is oscillator mass.
Based on the motor nonlinearity compensation method provided in the first aspect of the embodiment of the present invention, optionally, the calculation method of X (n +1) includes:
performing state space conversion on the nonlinear model to obtain a nonlinear state space model;
and calculating the value of X (n +1) based on the nonlinear state space model.
Based on the motor nonlinearity compensation method provided in the first aspect of the embodiment of the present invention, optionally, the method is characterized in that the nonlinear state space model includes:
Figure BDA0003267925760000033
y＝h(X)；
wherein:
Figure BDA0003267925760000034
Figure BDA0003267925760000035
Figure BDA0003267925760000036
h(X)＝x1。
based on the motor nonlinearity compensation method provided in the first aspect of the embodiment of the present invention, optionally, the obtaining X (n +1) by calculation based on the nonlinear state space model includes:
performing linear multi-step discretization processing on the nonlinear state space model, and calculating to obtain X (n +1) based on the obtained discretization equation;
the calculation formula obtained by the linear multi-step discretization comprises:
when n ═ 2, X (n +1) ═ 1/fs f (X) +1/fs g (X) + u (n) + X (n);
when n > 2, X (n +1) ═ X (n) +1/fs/12 × (23 × (n) -16 × (n-1) +5 × (n-2));
ff(n)＝f(X)+g(X)*u(n)；
wherein fs is the sampling rate and n represents the number of signal sampling points.
A second aspect of embodiments of the present invention provides a motor nonlinearity compensation apparatus, including:
the acquisition unit is used for acquiring an original signal and a motor nonlinear model;
the calculating unit is used for calculating a compensation signal corresponding to the original signal based on the motor nonlinear model;
and the excitation unit is used for loading the compensation signal to the motor so as to excite the motor to vibrate.
Based on the motor nonlinearity compensation device provided in the second aspect of the embodiment of the present invention, optionally, the expression of the motor nonlinearity model includes:
u＝Rei+Bl(x)v；
Bl(x)i＝ma+Rm(x)v+Km(x)x；
wherein: u is the voltage across the motor; the i is motor current, and the x is motor oscillator displacement; v is the motor vibrator speed; the a is the acceleration of the motor vibrator; the R iseIs a motor resistance; the Bl is the electromagnetic force coefficient of the motor; the m is the mass of the motor oscillator; said KmIs a horseThe spring stiffness coefficient is achieved; the R ismDamping the motor;
the nonlinear parameters included in the motor nonlinear model include: motor electromagnetic force coefficient Bl and spring stiffness coefficient KmAnd motor damping RmThe function of the nonlinear parameter with respect to the vibrator displacement x is expressed as follows:
Bl(x)＝Bl0+Bl1x+Bl2x2+…+Blnxn；
Km(x)＝Km0+Km1+Km2x2+…+Kmnxn；
Rm(x)＝Rm0+Rm1x+Rm2x2+…Rmnxn；
wherein n is any positive integer, Bl0～Bln，Km0～Kmn，Rm0～RmnAre nonlinear parameter coefficients. Based on the motor nonlinearity compensation device provided in the second aspect of the embodiment of the present invention, optionally, the calculation unit is specifically configured to:
calculating the compensation signal corresponding to the original signal according to the motor nonlinear model and a compensation formula, wherein the compensation formula comprises:
Figure BDA0003267925760000051
Figure BDA0003267925760000052
Figure BDA0003267925760000053
Figure BDA0003267925760000054
Figure BDA0003267925760000055
where w is the original signal, u is the compensation signal, x1Is the displacement value, x, of the oscillator at the current moment2For the speed value of the oscillator at the current time, Bl (x) ═ Bl0+Bl1x+Bl2x2+…+Blnxn；Km(x)＝Km0+Km1x+Km2x2+…+Kmnxn；Rm(x)＝Rm0+Rm1x+Rm2x2+…Rmnxn(ii) a Re is resistance, Le is inductance, and m is oscillator mass.
Based on the motor nonlinearity compensation device provided in the second aspect of the embodiment of the present invention, optionally, the calculation manner of X (n +1) includes:
performing state space conversion on the nonlinear model to obtain a nonlinear state space model;
and calculating the value of X (n +1) based on the nonlinear state space model.
According to the motor nonlinearity compensation device provided by the second aspect of the embodiment of the present invention, optionally, the nonlinear state space model includes
Figure BDA0003267925760000056
y＝h(X)；
Wherein:
Figure BDA0003267925760000057
Figure BDA0003267925760000061
Figure BDA0003267925760000062
h(X)＝x1。
the motor nonlinearity compensation apparatus provided according to the second aspect of the embodiment of the present invention may, alternatively,
the calculating the X (n +1) based on the nonlinear state space model comprises:
performing linear multi-step discretization processing on the nonlinear state space model, and calculating to obtain X (n +1) based on the obtained discretization equation;
the calculation formula obtained by the linear multi-step discretization comprises:
when n ═ 2, X (n +1) ═ 1/fs f (X) +1/fs g (X) + u (n) + X (n);
when n > 2, X (n +1) ═ X (n) +1/fs/12 × (23 × (n) -16 × (n-1) +5 × (n-2));
ff(n)＝f(X)+g(X)*u(n)；
wherein fs is the sampling rate and n represents the number of signal sampling points.
There is provided, in accordance with a third aspect of embodiments of the present invention, a motor nonlinearity compensation apparatus, including:
the system comprises a central processing unit, a memory, an input/output interface, a wired or wireless network interface and a power supply;
the memory is a transient memory or a persistent memory;
the central processor is configured to communicate with the memory, and to execute instructions in the memory on the device to perform the method of any one of the first aspect of the embodiments of the present invention.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium, comprising instructions, which, when executed on a computer, cause the computer to perform the method according to any one of the first aspects of embodiments of the present invention.
A fifth aspect of embodiments of the present invention provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method according to any one of the first aspect of embodiments of the present invention.
According to the technical scheme, the embodiment of the invention has the following advantages: the invention provides a motor nonlinearity compensation method, which comprises the following steps: acquiring an original signal and a motor nonlinear model; calculating a compensation signal corresponding to the original signal based on the motor nonlinear model; loading the compensation signal to a motor to excite the motor to vibrate. The compensation signal corresponding to the original signal is obtained by performing compensation processing on the original signal through a nonlinear model followed by the motor, and the compensation signal is used for exciting the motor, so that the vibration effect of the motor is closer to the expected effect and more conforms to the actual application requirement of a user.
[ description of the drawings ]
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart of an embodiment of a method for compensating for non-linearity of a motor according to the present invention;
FIG. 2 is a schematic flow chart illustrating an embodiment of a method for compensating for non-linearity of a motor according to the present invention;
FIG. 3 is a schematic structural diagram of an embodiment of a non-linearity compensation apparatus for a motor according to the present invention;
fig. 4 is another schematic structural diagram of an embodiment of a non-linearity compensation apparatus for a motor according to the present invention.
[ detailed description ] embodiments
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
During the vibration process of the linear motor, some characteristic parameters of the linear motor change along with the change of the displacement, which may be called as non-linear parameters, and the change may cause the difference between the actual vibration effect of the linear motor and the expected effect when the signal is designed, thereby affecting the haptic experience. At present, the functional device for realizing the tactile feedback is mainly a linear motor, and the linear motor generates large distortion due to the influence of nonlinear parameters, so that the lack or disorder of low-frequency experience is caused.
To solve the above problems, the present invention provides a method for compensating for non-linearity of a motor, and referring to fig. 1, an embodiment of the method for compensating for non-linearity of a motor according to the present invention includes: step 101-step 103.
101. And acquiring a raw signal and a motor nonlinear model.
Specifically, the original signal and a motor nonlinear model are obtained, the motor nonlinear model can be based on a motor classical second-order model, and partial parameters in the motor nonlinear model are expressed as nonlinear parameters, so that the nonlinear model of the motor is obtained, and the motor classical second-order model comprises:
Figure BDA0003267925760000081
Bli＝ma+Rmv+Kmx；
wherein: u is the voltage across the motor; i is motor current, and x is motor oscillator displacement; v is the motor vibrator speed; a is the acceleration of the motor vibrator; reIs a motor resistance; bl is the motor electromagnetic force coefficient; m is the mass of the motor oscillator; kmIs the motor spring stiffness coefficient; rmDamping the motor;
examples of non-linear parameters that can be considered include the motor electromagnetic force coefficient Bl and the spring stiffness coefficient KmAnd motor damping Rm. The non-linear form of these parameters may be expressed in a variety of ways, such as approximately as a displacement-dependent quantity or a velocity-dependent quantity. Even in engineering applications, some parameters have less influence and can be neglected. In view of the various forms and combinations of the non-linear parameters, only a typical non-linear model is presented herein for the technical description of the invention.
The nonlinear model used for nonlinear parameter estimation herein is given by:
u＝Rei+Bl(x)v；
Bl(x)i＝ma+Rm(x)v+Km(x)x；
including the non-linearity parameters:
Bl(x)＝Bl0+Bl1x+Bl2x2+…+Blnxn；
Km(x)＝Km0+Km1x+Km2x2+…+Kmnxn；
Rm(x)＝Rm0+Rm1+Rm2x2+…Rmnxn；
wherein n is any positive integer, Bl0～Bln，Km0～Kmn，Rm0～RmnAre nonlinear parameter coefficients.
102. Calculating a compensation signal corresponding to the original signal based on the motor nonlinear model;
specifically, calculating the compensation signal corresponding to the original signal based on the nonlinear motor model includes calculating the compensation signal corresponding to the original signal based on a compensation formula, and it can be understood that the compensation formula used in the compensation process may be adjusted or equivalent transformed according to the actual situation, and may be specifically determined according to the actual situation, which is not limited herein. To give an example only, a possible compensation formula includes:
Figure BDA0003267925760000091
wherein:
Figure BDA0003267925760000092
Figure BDA0003267925760000093
Figure BDA0003267925760000094
Figure BDA0003267925760000095
where w is the original signal, u is the compensation signal, x1Is the displacement value, x, of the oscillator at the current moment2For the speed value of the oscillator at the current time, Bl (x) ═ Bl0+Bl1x+Bl2x2+…+Blnxn；Km(x)＝Km0+Km1x+Km2x2+…+Kmnxn；Rm(x)＝Rm0+Rm1x+Rm2x2+…Rmnxn(ii) a Re is resistance, Le is inductance, and m is oscillator mass.
It can be understood that the motor nonlinear model can be converted into a state space form for calculation in the calculation process, and the main purpose of the calculation based on the state space form is to facilitate the analysis of the multi-input system, i.e. the motor system.
It is noted that in the process of computing using the state space form, the state space is next in
When the state variable at the sampling point moment is updated, due to the discrete characteristic calculated by the computer system, a continuous-to-discrete conversion process needs to be performed, and the specific conversion mode may be to approximately express the state vector X by using a first-order derivative of the state vector X, which may be determined specifically according to the actual situation, and is not limited herein.
103. Loading the compensation signal to a motor to excite the motor to vibrate.
The calculated compensation signal is transmitted to the motor to energize the motor. The u calculated based on the formula is a compensation signal, and the compensation signal is used for exciting the motor to vibrate, so that the vibration effect output by the motor can be more consistent with the situation. Preferably, the above-mentioned motor nonlinearity compensation method process is applied to a frequency band of the motor below the resonant frequency.
According to the technical scheme, the embodiment of the invention has the following advantages: the invention provides a motor nonlinearity compensation method, which comprises the following steps: acquiring an original signal and a motor nonlinear model; calculating a compensation signal corresponding to the original signal based on the motor nonlinear model; loading the compensation signal to a motor to excite the motor to vibrate. The compensation signal corresponding to the original signal is obtained by performing compensation processing on the original signal through a nonlinear model followed by the motor, and the compensation signal is used for exciting the motor, so that the vibration effect of the motor is closer to the expected effect and more conforms to the actual application requirement of a user.
Based on the embodiment provided in fig. 1, optionally, the present invention further provides a more detailed embodiment that can be selectively executed in an actual implementation process, and specifically, referring to fig. 2, an embodiment of the motor nonlinearity compensation method of the present invention includes: step 201 to step 205.
201. And acquiring a raw signal and a motor nonlinear model.
Specifically, the original signal and a motor nonlinear model are obtained, the motor nonlinear model can be based on a motor classical second-order model, and partial parameters in the motor nonlinear model are expressed as nonlinear parameters, so that the nonlinear model of the motor is obtained, and the motor classical second-order model comprises:
Figure BDA0003267925760000111
Bli＝ma+Rmv+Kmx；
wherein: u is the voltage across the motor; i is motor current, and x is motor oscillator displacement; v is the motor vibrator speed; a is the acceleration of the motor vibrator; reIs a motor resistance; bl is the motor electromagnetic force coefficient; m is the mass of the motor oscillator; kmIs the motor spring stiffness coefficient; rmTo damp the motor.
Examples of non-linear parameters that can be considered include the motor electromagnetic force coefficient Bl and the spring stiffness coefficient KmAnd motor damping Rm. The non-linear form of these parameters may be expressed in a variety of ways, such as approximately as a displacement-dependent quantity or a velocity-dependent quantity. Even in engineering applications, some parameters have less influence and can be neglected. In view of the various forms and combinations of the non-linear parameters, only a typical non-linear model is presented herein for the technical description of the invention.
The nonlinear model used for nonlinear parameter estimation herein is given by:
u＝Rei+Bl(x)v；
Bl(x)i＝ma+Rm(x)v+Km(x)x；
including the non-linearity parameters:
Bl(x)＝Bl0+Bl1x+Bl2x2+…+Blnxn；
Km(x)＝Km0+Km1x+Km2x2+…+Kmnxn；
Rm(x)＝Rm0+Rm1x+Rm2x2+…Rmnxn；
wherein n is any positive integer, Bl0～Bln，Km0～Kmn，Rm0～RmnAre nonlinear parameter coefficients.
It can be understood that, in order to ensure the calculation speed, the number of the nonlinear parameter coefficients selected in the actual operation can be selected according to the actual situation, and a specific form of the selected nonlinear parameter coefficients is as follows:
Bl(x)＝Bl0+Bl1+Bl2x2+Bl3x3+Bl4x4；
Km(x)＝km0+Km1x+Km2x2+Km3x3+Km4x4；
Rm(x)＝Rm0+Rm1x+Rm2x2；
the number of the nonlinear parameter coefficients selected in the actual implementation process may be determined according to the actual situation, and is not limited herein.
202. And performing state space conversion on the nonlinear model to obtain a nonlinear state space model.
Specifically, the nonlinear model is subjected to state space conversion to obtain a nonlinear state space model, and the nonlinear state space model comprises "
Figure BDA0003267925760000121
y＝h(X)；
Wherein:
Figure BDA0003267925760000122
Figure BDA0003267925760000123
Figure BDA0003267925760000124
h(X)＝x1。
it should be noted that, in the process of performing calculation using the state space form, when the state space updates the state variable at the next sampling point, due to the discrete characteristic of the computer statistical calculation, a continuous to discrete conversion process needs to be performed, and a specific conversion manner is expressed as a first-order derivative approximation expression of the state vector X in the above formula, which may be determined according to the actual situation, and is not limited herein.
203. And performing linear multi-step discretization processing on the nonlinear state space model, and calculating to obtain X (n +1) based on a discretization equation.
Specifically, the nonlinear state space model is discretized in a linear multi-step method, and X (n +1) is obtained based on the discretization equation, that is, parameters corresponding to the next signal sampling point are updated, and a calculation formula obtained by discretizing in the linear multi-step method includes:
when n ═ 2, X (n +1) ═ 1/fs f (X) +1/fs g (X) + u (n) + X (n);
when n > 2, X (n +1) ═ X (n) +1/fs/12 × (23 × (n) -16 × (n-1) +5 × (n-2));
ff(n)＝f(X)+g(X)*u(n)；
where fs is the sampling rate and n represents the number of signal sample points, starting at 1. The calculation is carried out in a linear multi-step discretization mode, the calculation precision is guaranteed, meanwhile, the operation speed is improved as much as possible, the required calculation resources are reduced, and the feasibility of the scheme is improved. It should be understood that, in the actual implementation process, other discrete ways may also be adopted to update the state vector or perform equivalent transformation on the formula provided in the present scheme, which may be determined according to the actual situation, and is not limited herein.
204. And calculating the compensation signal corresponding to the original signal according to a motor nonlinear model and a compensation formula.
Specifically, calculating the compensation signal corresponding to the original signal based on the nonlinear motor model includes calculating the compensation signal corresponding to the original signal based on a compensation formula, and it can be understood that the compensation formula used in the compensation process may be adjusted or equivalent transformed according to the actual situation, and may be specifically determined according to the actual situation, which is not limited herein. To give an example only, a possible compensation formula includes:
Figure BDA0003267925760000131
wherein:
Figure BDA0003267925760000132
Figure BDA0003267925760000133
Figure BDA0003267925760000134
Figure BDA0003267925760000135
where w is the original signal, u is the compensation signal, x1Is the displacement value, x, of the oscillator at the current moment2For the speed value of the oscillator at the current time, Bl (x) ═ Bl0+Bl1x+Bl2x2+…+Blnxn；Km(x)＝Km0+Km1x+Km2x2+…+Kmnxn；Rm(x)＝Rm0+Rm1x+Rm2x2+…Rmnxn(ii) a Re is resistance, Le is inductance, and m is oscillator mass.The value of the compensation signal u can be calculated by substituting the compensation formula based on the results obtained from the calculation in step 202 and step 203. Based on the calculation formula adopted, the compensation effect is better in the frequency band of the motor lower than the resonant frequency.
205. Loading the compensation signal to a motor to excite the motor to vibrate.
The calculated compensation signal is transmitted to the motor to energize the motor. The u calculated based on the formula is a compensation signal, and the compensation signal is used for exciting the motor to vibrate, so that the vibration effect output by the motor can be more consistent with the situation.
According to the technical scheme, the embodiment of the invention has the following advantages: the invention provides a motor nonlinearity compensation method, which comprises the following steps: acquiring an original signal and a motor nonlinear model; calculating a compensation signal for the raw signal based on the motor nonlinear model; loading the compensation signal to a motor to excite the motor to vibrate. The method has the advantages that the original signal is compensated through the nonlinear model followed by the motor to obtain the compensation signal corresponding to the original signal, the compensation signal is used for exciting the motor, the compensation signal is expressed through the state space in the calculation process, the linear multi-step discretization processing mode is adopted to enable the obtaining process of the compensation signal to be rapid, simple and convenient, and the accuracy is sufficient, the motor nonlinear compensation implementation method capable of being achieved in an engineering mode is provided, the vibration effect of the motor is enabled to be closer to the expected effect, and the motor nonlinear compensation implementation method can better meet the practical application requirements of users.
The above embodiment describes a motor nonlinearity compensation method provided by the present invention, and a motor nonlinearity compensation apparatus provided by the present invention is described below, with reference to fig. 3, the motor nonlinearity compensation apparatus provided by the present invention includes:
an obtaining unit 301, configured to obtain an original signal and a motor nonlinear model;
a calculating unit 302, configured to calculate a compensation signal corresponding to the original signal based on the motor nonlinear model;
and an excitation unit 303, configured to apply the compensation signal to the motor to excite the motor to vibrate.
Optionally, the expression of the nonlinear motor model includes:
u＝Rei+Bl(x)v；
Bl(x)i＝ma+Rm(x)v+Km(x)x；
wherein: u is the voltage across the motor; i is motor current, and x is motor oscillator displacement; v is the motor vibrator speed; a is the acceleration of the motor vibrator; reIs a motor resistance; bl is the motor electromagnetic force coefficient; m is the mass of the motor oscillator; kmIs the motor spring stiffness coefficient; rmDamping the motor; the nonlinear parameters included in the motor nonlinear model include: a motor electromagnetic force coefficient Bl, a spring stiffness coefficient Km and a motor damping Rm, the function of the nonlinear parameter with respect to the vibrator displacement x being represented as follows:
Bl(x)＝Bl0+Bl1x+Bl2x2+…+Blnxn；
Km(x)＝Km0+Km1x+Km2x2+…+Kmnxn；
Rm(x)＝Rm0+Rm1x+Rm2x2+…Rmnxn；
wherein n is any positive integer, Bl0～Bln，Km0～Kmn，Rm0～RmnAre nonlinear parameter coefficients.
Optionally, the calculating unit 302 is specifically configured to:
calculating the compensation signal corresponding to the original signal according to the motor nonlinear model and a compensation formula, wherein the compensation formula comprises:
Figure BDA0003267925760000151
Figure BDA0003267925760000152
Figure BDA0003267925760000153
Figure BDA0003267925760000154
Figure BDA0003267925760000155
wherein w is the original signal, u is the compensation signal, x1Is the displacement value, x, of the oscillator at the current moment2For the speed value of the oscillator at the current time, Bl (x) ═ Bl0+Bl1x+Bl2x2+…+Blnxn；Km(x)＝Km0+Km1x+Km2x2+…+Kmnxn；Rm(x)＝Rm0+Rm1x+Rm2x2+…Rmnxn(ii) a Re is resistance, Le is inductance, and m is oscillator mass.
Optionally, the calculation manner of X (n +1) includes:
performing state space conversion on the nonlinear model to obtain a nonlinear state space model;
and calculating the value of X (n +1) based on the nonlinear state space model.
Optionally, the nonlinear state space model comprises
Figure BDA0003267925760000156
y＝h(X)；
Wherein:
Figure BDA0003267925760000161
Figure BDA0003267925760000162
Figure BDA0003267925760000163
h(X)＝x1。
optionally, the obtaining X (n +1) by calculation based on the nonlinear state space model includes:
performing linear multi-step discretization processing on the nonlinear state space model, and calculating to obtain X (n +1) based on the obtained discretization equation;
the calculation formula obtained by the linear multi-step discretization comprises:
when n ═ 2, X (n +1) ═ 1/fs f (X) +1/fs g (X) + u (n) + X (n);
when n > 2, X (n +1) ═ X (n) +1/fs/12 × (23 × (n) -16 × (n-1) +5 × (n-2));
ff(n)＝f(X)+g(X)*u(n)；
wherein fs is the sampling rate and n represents the number of signal sampling points.
In this embodiment, the flow executed by each unit in the motor nonlinearity compensation device is similar to the method flow described in the embodiment corresponding to fig. 1 and fig. 2, and is not described again here.
Fig. 4 is a schematic structural diagram of a motor nonlinearity compensation apparatus according to an embodiment of the present invention, where the motor nonlinearity compensation apparatus 400 may include one or more Central Processing Units (CPUs) 401 and a memory 405, and the memory 405 stores one or more application programs or data.
In this embodiment, the specific functional module division in the central processing unit 401 may be similar to the functional module division manner of each unit described in the foregoing fig. 3, and is not described here again.
Memory 405 may be volatile storage or persistent storage, among other things. The program stored in memory 405 may include one or more modules, each of which may include a sequence of instructions operating on a server. Still further, the central processor 401 may be arranged to communicate with the memory 405, and to execute a series of instruction operations in the memory 405 on the server 400.
The motor nonlinearity compensation apparatus 400 may also include one or more power supplies 402, one or more wired or wireless network interfaces 403, one or more input-output interfaces 404, and/or one or more operating systems, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
The central processing unit 401 may perform the operations performed in the embodiment shown in fig. 1, and details thereof are not described herein.
Embodiments of the present invention also provide a computer storage medium for storing computer software instructions for the motor nonlinearity compensation method, which includes a program designed for executing the motor nonlinearity compensation method.
The motor nonlinearity compensation method may be as described in the foregoing fig. 1 or fig. 2.
Embodiments of the present invention further provide a computer program product, which includes computer software instructions that can be loaded by a processor to implement the flow of the motor nonlinearity compensation method of any one of fig. 1 or fig. 2.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, equivalent circuit transformations, partitions of units, and logic functions may be merely one type of partitioning, and in actual implementation, there may be other partitioning manners, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. A method of compensating for non-linearity of a motor, comprising:
acquiring an original signal and a motor nonlinear model;
calculating a compensation signal corresponding to the original signal based on the motor nonlinear model;
loading the compensation signal to a motor to excite the motor to vibrate.
2. The motor nonlinearity compensation method according to claim 1,
the expression of the motor nonlinear model includes:
u＝Rei+BI(x)v；
Bl(x)i＝ma+Rm(x)v+Km(x)x；
wherein: u is the voltage across the motor; the i is motor current, and the x is motor oscillator displacement; v is the motor vibrator speed; the a is the acceleration of the motor vibrator; what is needed isR iseIs a motor resistance; the Bl is the electromagnetic force coefficient of the motor; the m is the mass of the motor oscillator; said KmIs the motor spring stiffness coefficient; the R ismDamping the motor;
the nonlinear parameters included in the motor nonlinear model include: motor electromagnetic force coefficient Bl and spring stiffness coefficient KmAnd motor damping RmThe function of the nonlinear parameter with respect to the vibrator displacement x is expressed as follows:
Bl(x)＝Bl0+Bl1x+Bl2x2+…+Blnxn；
Km(x)＝Km0+Km1x+Km2x2+…+Kmnxn；
Rm(x)＝Rm0+Rm1x+Rm2x2+…Rmnxn；
wherein n is any positive integer, Bl0～Bln，Km0～Kmn，Rm0～RmnAre nonlinear parameter coefficients.
3. The method of claim 1, wherein the calculating a compensation signal corresponding to the original signal based on the nonlinear motor model comprises:
calculating the compensation signal corresponding to the original signal according to the motor nonlinear model and a compensation formula, wherein the compensation formula comprises:
Figure FDA0003267925750000021
Figure FDA0003267925750000022
Figure FDA0003267925750000023
Figure FDA0003267925750000024
Figure FDA0003267925750000025
where w is the original signal, u is the compensation signal, x1Is the displacement value, x, of the oscillator at the current moment2Is the speed value of the oscillator at the current time, Bl (x) Bl0+Bl1x+Bl2x2+…+Blnxn，Km(x)＝Km0+Km1x+Km2x2+…+Kmnxn，Rm(x)＝Rm0+Rm1x+Rm2x2+…RmnxnRe is resistance, Le is inductance, and m is oscillator mass.
4. The motor nonlinearity compensation method of claim 3, wherein said X (n +1) is calculated by:
performing state space conversion on the nonlinear model to obtain a nonlinear state space model;
and calculating the value of X (n +1) based on the nonlinear state space model.
5. The motor nonlinearity compensation method of claim 4, wherein said nonlinear state space model comprises:
Figure FDA0003267925750000026
y＝h(X)；
wherein:
Figure FDA0003267925750000031
Figure FDA0003267925750000032
Figure FDA0003267925750000033
h(X)＝x1。
6. the motor nonlinearity compensation method of claim 5, wherein said calculating the value of X (n +1) based on the nonlinear state space model comprises:
performing linear multi-step discretization processing on the nonlinear state space model, and calculating to obtain X (n +1) based on the obtained discretization equation;
the calculation formula obtained by the linear multi-step discretization comprises:
when n ═ 2, X (n +1) ═ 1/fs f (X) +1/fs g (X) + u (n) + X (n);
when n is greater than 2, the compound is,
X(n+1)＝X(n)+1/fs/12*(23*ff(n)-16*ff(n-1)+5*ff(n-2))；
ff(n)＝f(X)+g(X)*u(n)；
wherein fs is the sampling rate and n represents the number of signal sampling points.
7. A motor nonlinearity compensation apparatus, comprising:
the acquisition unit is used for acquiring an original signal and a motor nonlinear model;
the calculating unit is used for calculating a compensation signal corresponding to the original signal based on the motor nonlinear model;
and the excitation unit is used for loading the compensation signal to the motor so as to excite the motor to vibrate.
8. A motor nonlinearity compensation apparatus, comprising:
the system comprises a central processing unit, a memory, an input/output interface, a wired or wireless network interface and a power supply;
the memory is a transient memory or a persistent memory;
the central processor is configured to communicate with the memory, the instructions in the memory being executable on the central processor to perform the method of any of claims 1 to 6.
9. A computer-readable storage medium comprising instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1 to 6.
10. A computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1 to 6.
CN202111092130.9A 2021-09-17 2021-09-17 Motor nonlinear compensation method and related equipment thereof Pending CN113824386A (en)

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