CN113938082A - Control method, control device, apparatus and medium for linear motor - Google Patents

Control method, control device, apparatus and medium for linear motor Download PDF

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Publication number
CN113938082A
CN113938082A CN202111290967.4A CN202111290967A CN113938082A CN 113938082 A CN113938082 A CN 113938082A CN 202111290967 A CN202111290967 A CN 202111290967A CN 113938082 A CN113938082 A CN 113938082A
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linear motor
voltage
current
obtaining
damping
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CN113938082B (en
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刘兵
刘钰佳
杨鑫峰
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Goertek Inc
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Goertek Inc
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • 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
    • H02P23/20—Controlling the acceleration or deceleration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors

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Abstract

The invention discloses a control method, a control device, equipment and a medium of a linear motor, belonging to the technical field of linear motors, wherein the method comprises the following steps: acquiring the current speed, the driving voltage and the response time of a target acceleration of a vibrator of the linear motor; obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor; obtaining a target compensation voltage based on the current speed of the oscillator and the damping adjustment coefficient; obtaining an actual driving voltage based on the driving voltage and the target compensation voltage; controlling the linear motor to vibrate based on the actual driving voltage. By adopting the control method, the accurate adjustment of the response time of the linear motor acceleration can be realized.

Description

Control method, control device, apparatus and medium for linear motor
Technical Field
The present invention relates to the field of linear motors, and in particular, to a method, an apparatus, a device, and a medium for controlling a linear motor.
Background
Linear motors (LRAs) have been widely used in various vibration applications of electronic devices due to their advantages of strong, rich, crisp, and low energy consumption. For the application of electronic equipment, a linear motor can realize very rich and real vibration feedback by constructing diversified broadband vibration waveforms (acceleration waveforms).
The vibration sense of the linear motor is mainly realized by driving the vibrator to generate acceleration, and the faster the acceleration response is, the more crisp the vibration sense is; the larger the acceleration amplitude, the stronger the vibration sensation. In the actual control process, the acceleration response time is generally required to be adjusted as required under the condition of setting a certain acceleration amplitude, and the shorter the acceleration response time is, the better the acceleration response time is. And the acceleration response time can be reduced by increasing the magnitude of the driving voltage.
However, the related art generally uses manual adjustment of the voltage amplitude and the action time to obtain the expected response time, which is not only complicated in adjustment but also difficult in precise control of the response time of the acceleration, and in particular, difficult in precise dynamic adjustment of the response time in the control process.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a control method, a control device, equipment and a medium of a linear motor, aiming at solving the problem that the response time of acceleration is difficult to accurately control by the linear motor.
To achieve the above object, in a first aspect, the present invention provides a method of controlling a linear motor, the method including:
acquiring the current speed, the driving voltage and the response time of a target acceleration of a vibrator of the linear motor;
obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor;
obtaining a target compensation voltage based on the current speed of the oscillator and the damping adjustment coefficient;
obtaining an actual driving voltage based on the driving voltage and the target compensation voltage;
controlling the linear motor to vibrate based on the actual driving voltage.
In an embodiment, after obtaining the damping adjustment coefficient based on the response time and the hardware parameter of the linear motor, the method further includes:
if a steady-state amplitude input by a user is received, obtaining an equivalent voltage based on the steady-state amplitude, the damping adjustment coefficient and the hardware parameter;
and updating the driving voltage by using the equivalent voltage.
In an embodiment, the obtaining an equivalent voltage based on the steady-state amplitude and the damping adjustment coefficient includes:
obtaining an equivalent voltage amplitude value based on the steady-state amplitude value, the damping adjustment coefficient and a first preset formula; the first predetermined formula is:
Figure BDA0003329306300000021
wherein u'mIs the equivalent voltage amplitude, arefFor the purpose of the steady-state amplitude values,
Figure BDA0003329306300000022
kξfor the damping adjustment coefficient, ξ is the intrinsic damping coefficient of the linear motor, and
Figure BDA0003329306300000023
Figure BDA0003329306300000024
m is the vibrator mass of the linear motor, Bl is the magnetic field intensity, R is the damping coefficient, and R is the direct-current resistance of the coil;
obtaining an equivalent voltage based on the equivalent voltage amplitude and a second preset formula; the second predetermined formula is:
u′1(t)＝u′mcos(ωct)；
wherein u'1(t) is the equivalent voltage, and t is time.
In an embodiment, before obtaining the current speed of the vibrator of the linear motor, the method further includes:
acquiring the current voltage and the current of the linear motor;
obtaining the current speed of the oscillator based on the current voltage, the current and a third preset formula;
wherein the third preset formula is as follows:
Figure BDA0003329306300000031
wherein v (t) is the current speed of the vibrator, Bl is the magnetic field strength, ufdb(t) is the voltage ifdb(t) is the present current, t is time.
In one embodiment, the obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor includes:
obtaining a damping adjustment coefficient based on the response time, the hardware parameter of the linear motor and a fourth preset formula; the fourth preset formula is as follows:
Figure BDA0003329306300000032
wherein k isξFor the damping adjustment coefficient, trdFor the response time ξ is the intrinsic damping coefficient of the linear motor, and
Figure BDA0003329306300000033
m is the vibrator mass of the linear motor, Bl is the magnetic field intensity, k is the spring stiffness coefficient, R is the damping coefficient, and R is the coil direct current resistance.
In an embodiment, the obtaining a target compensation voltage based on the current velocity of the vibrator and the damping adjustment coefficient includes:
obtaining a target compensation voltage based on the current speed of the oscillator, the damping adjustment coefficient and a fifth preset formula; the fifth preset formula is:
Figure BDA0003329306300000034
wherein u isc(t) is the target compensation voltage, kξAnd b, taking Bl as the magnetic field intensity, R as the damping coefficient, R as the direct-current resistance of the coil, and v (t) as the current speed of the vibrator.
In a second aspect, the present invention also provides a control apparatus for a linear motor, including:
the parameter acquisition module is used for acquiring the current speed, the driving voltage, the steady-state amplitude and the response time of the vibrator of the linear motor;
a coefficient adjustment module for obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor;
the compensation voltage determining module is used for obtaining a target compensation voltage based on the current speed of the oscillator and the damping adjustment coefficient;
a voltage determination module for obtaining an actual driving voltage based on the driving voltage and the target compensation voltage;
and the vibration control module is used for controlling the linear motor to vibrate based on the actual driving voltage.
In a third aspect, the present invention further provides an electronic device, including:
a linear motor;
the driving module is connected with the linear motor and used for providing driving voltage for the linear motor so as to drive the vibration unit to vibrate; and
the processing module is used for acquiring the current speed, the driving voltage, the steady-state amplitude and the response time of the vibrator of the linear motor; obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor; obtaining a target compensation voltage based on the current speed of the oscillator and the damping adjustment coefficient; obtaining an actual driving voltage based on the driving voltage and the target compensation voltage; controlling the linear motor to vibrate based on the actual driving voltage.
In one embodiment, the method further comprises:
the voltage and current detection module is used for being connected with the linear motor so as to detect the current and the current voltage of the linear motor and send the current and the current voltage to the processing module;
the processing module is used for acquiring the current voltage and the current of the linear motor;
obtaining the current speed of the vibrator based on the current voltage, the current and a first preset formula;
wherein the first preset formula is as follows:
Figure BDA0003329306300000041
wherein v (t) is the current speed of the vibrator, Bl is the magnetic field strength, ufdb(t) is the voltage ifdb(t) is the present current, t is time.
In a fourth aspect, the present invention also provides a computer-readable storage medium having stored thereon a control program of a linear motor, which when executed by a processor, implements the control method of the linear motor as described above.
The invention provides a control method, a control device, equipment and a medium for a linear motor. The method comprises the steps of obtaining the current speed and the driving voltage of a vibrator of the linear motor and the target acceleration response time required to be reached; obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor; obtaining a target compensation voltage based on the current speed of the oscillator and the damping adjustment coefficient; obtaining an actual driving voltage based on the driving voltage and the target compensation voltage; controlling the linear motor to vibrate based on the actual driving voltage.
Therefore, the invention calculates the damping adjustment coefficient between the virtual damping required by the target acceleration and response time to be reached and the original damping of the linear motor, constructs proper compensation voltage according to the vibrator speed and the damping adjustment coefficient, and controls the linear motor to vibrate based on the compensated actual voltage, thereby changing the original damping characteristic of the motor, namely virtual damping control, realizing accurate adjustment of the response time of the acceleration of the linear motor, reaching the response time of the target acceleration, being used for accelerating the response time of the acceleration of the motor and realizing crisp and tailing-free vibration feedback.
Drawings
FIG. 1 is a schematic flow chart illustrating a first embodiment of a method for controlling a linear motor according to the present invention;
FIG. 2 is a schematic flow chart illustrating a second embodiment of a method for controlling a linear motor according to the present application;
fig. 3 is a waveform diagram of an acceleration response according to embodiments 1 to 3 of the present application;
fig. 4 is a graph of actual control voltage waveforms of embodiments 1 to 3 of the present application;
FIG. 5 is a schematic flow chart of a control apparatus for a linear motor according to the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to the present application.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Linear motors (LRAs) have been widely used in various vibration applications of various consumer electronics devices due to their advantages of strong, rich, crisp, and low energy consumption. By constructing a wide-frequency vibration waveform (acceleration waveform), the motor can realize very rich and real vibration feedback.
The vibration generator is subjected to certain damping in the motion process, the damping characteristic is an important factor influencing the acceleration response speed and the amplitude, the larger the damping is, the shorter the rising time and the falling time of the acceleration response of the motor are, but the smaller the steady-state amplitude is; the smaller the damping, the longer the rise and fall times of the motor acceleration response, but the larger the steady state amplitude. The motor needs to integrate the requirements of the motor and the motor in actual design, and the inherent damping coefficient is designed in a compromise mode. Once the motor design is complete, its inherent damping characteristics are determined, and thus the acceleration response time and steady state amplitude are also determined. The vibration sense of the linear motor is mainly realized by driving the vibrator to generate acceleration, and the faster the acceleration response is, the more crisp the vibration sense is; the larger the acceleration amplitude, the stronger the vibration sensation. In the actual control process, the acceleration response time is generally required to be adjusted as required under the condition of setting a certain acceleration amplitude, and the shorter the acceleration response time is, the better the acceleration response time is. And the acceleration response time can be reduced by increasing the magnitude of the driving voltage.
However, the related art generally uses manual adjustment of the voltage amplitude and the action time to obtain the expected response time, which is not only complicated in adjustment but also difficult in precise control of the response time of the acceleration, and in particular, difficult in precise dynamic adjustment of the response time in the control process.
Therefore, the embodiment of the application provides a control method of a linear motor, which includes calculating a damping adjustment coefficient between a virtual damping required by a target acceleration and a response time to be achieved and an original damping of the linear motor, constructing an appropriate compensation voltage according to a vibrator speed and the damping adjustment coefficient, and controlling the linear motor to vibrate based on the compensated actual voltage, so as to change the original damping characteristic of the motor, namely virtual damping control, thereby accurately adjusting the response time of the linear motor acceleration to achieve the response time of the target acceleration, being capable of accelerating the response time of the motor acceleration and achieving crisp and tailing-free vibration feedback.
The inventive concept of the present application is further illustrated below with reference to some specific embodiments.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a control method of a linear motor according to a first embodiment of the present invention.
In this embodiment, the method includes:
and S101, acquiring the current speed, the driving voltage and the response time of the target acceleration of the vibrator of the linear motor.
In this embodiment, the main executing body of the method is a processing module in a hardware circuit of a linear motor in the electronic device. The processing module is connected with the driving module, the driving module is connected with the linear motor through the power amplifier, so that the processing module can send a driving signal to the driving module, and the driving module provides voltage for the linear motor.
In this embodiment, the processing module may acquire the target acceleration waveform data a (t) input by the user through a user interface of the electronic device, and the user may set a response time t for the target acceleration at any timerd。
The driving voltage is the voltage data when the linear motor is driven to vibrate by the original driving waveform data, and can be expressed as a cosine function: u. of1(t)＝umcos(ωct)。
The oscillator current velocity may be denoted as v (t). The current speed of the vibrator can be obtained by the processing module through detection and feedback of a speed detection element in the linear motor.
Or in an embodiment, the current speed of the vibrator may be obtained according to the current fed back by the current detection module and the current voltage fed back by the voltage detection module of the linear motor.
As such, in this case, before step S101, the method further includes:
step S10, acquiring the current voltage and current of the linear motor;
step S20, obtaining the current speed of the vibrator based on the current voltage, the current and a third preset formula;
wherein the third preset formula is as follows:
Figure BDA0003329306300000071
wherein v (t) is the current speed of the vibrator, Bl is the magnetic field strength, ufdb(t) is the voltage ifdb(t) is the present current, t is time.
At the moment, the current speed of the vibrator can be obtained through real-time calculation of the current and the current voltage fed back by the current detection module and the voltage detection module.
And S102, obtaining a damping adjustment coefficient based on the response time and the hardware parameter of the linear motor.
The hardware parameters are parameters of the drive circuit hardware of the linear motor, such as: the mass m of a vibrator of the linear motor, the intensity Bl of a magnetic field, the stiffness coefficient k of a spring, the damping coefficient R, the direct-current resistance R of a coil and the like.
It can be understood that the damping adjustment coefficient is a virtual damping coefficient which is the damping adjustment coefficient kξThe ratio therebetween.
Specifically, the voltage equation for a linear motor is:
Figure BDA0003329306300000072
wherein u (t) is a driving voltage; x (t) is the displacement; v (t) is velocity; a (t) is an acceleration.
At an amplitude umU (t) umcos(ωct) driving, the acceleration response of the linear motor is as follows:
Figure BDA0003329306300000081
in the formula,
Figure BDA0003329306300000082
the time required to define the acceleration amplitude to rise from 0 to 90% of the steady-state amplitude is the rise time tr(ii) a Defining the time required for the acceleration amplitude to drop from 100% to 10% of the steady-state amplitude as the drop time tdThen, the response time is found to be:
Figure BDA0003329306300000083
the steady state magnitude of the acceleration response is:
Figure BDA0003329306300000084
obviously, the inherent damping coefficient xi of the system is expressed by the expression
Figure BDA0003329306300000085
Determining that the larger the intrinsic damping coefficient is, the shorter the response time of the acceleration response of the system is, but the smaller the steady-state amplitude is; the smaller the damping, the longer the response time of the system acceleration response, but the larger the steady state amplitude. In general, the motor needs to combine the requirements of the motor and the motor in actual design, and the inherent damping coefficient xi is designed in a compromise mode.
In the actual control process, the response time t of the acceleration response of the motor is generally desiredrdShort enough to achieve fast, tail-free vibration feedback. Therefore, the actual damping coefficient of the system can be realized by means of virtual damping control. Specifically, the damping coefficient of the system can be adjusted in a voltage compensation mode, namely the virtual damping coefficient is adjusted as required, so that the dynamic adjustment of the acceleration response time and the steady-state amplitude of the motor can be realized. If the user pays more attention to the response time trdAdjusting the virtual damping coefficient to be larger; if the user is more concerned about the steady-state amplitude amThen the virtual damping coefficient is adjusted smaller.
Thus, the response time t can be based on the user inputrdObtaining a damping adjustment coefficient k according to the hardware parameter of the linear motorξ. I.e. the ratio between the virtual damping coefficient and the natural damping coefficient.
Specifically, step S102 specifically includes:
obtaining a damping adjustment coefficient based on the response time, the hardware parameter of the linear motor and a fourth preset formula; the fourth preset formula is as follows:
Figure BDA0003329306300000086
wherein k isξFor the damping adjustment coefficient, trdFor the response time ξ is the intrinsic damping coefficient of the linear motor, and
Figure BDA0003329306300000091
m is the vibrator mass of the linear motor, Bl is the magnetic field intensity, k is the spring stiffness coefficient, R is the damping coefficient, and R is the coil direct current resistance.
And S103, obtaining a target compensation voltage based on the current speed of the oscillator and the damping adjustment coefficient.
The target compensation voltage is the response time t of the linear motorrdThe compensation voltage required for the required virtual damping.
Specifically, a target compensation voltage may be obtained based on the current speed of the oscillator, the damping adjustment coefficient, and a fifth preset formula; the fifth preset formula is:
Figure BDA0003329306300000092
wherein u isc(t) is the target compensation voltage, kξAnd b, taking Bl as the magnetic field intensity, R as the damping coefficient, R as the direct-current resistance of the coil, and v (t) as the current speed of the vibrator.
And step S104, obtaining actual driving voltage based on the driving voltage and the target compensation voltage.
I.e. the actual drive voltage u (t) uc(t)+u1(t)。
And step S105, controlling the linear motor to vibrate based on the actual driving voltage.
It will be appreciated that if it is desired to adjust the virtual damping coefficient of the linear motor to k of the intrinsic damping coefficient ξξAnd multiplying, the adjusted voltage equation is:
Figure BDA0003329306300000093
wherein the target compensation voltage is
Figure BDA0003329306300000094
Converted to obtain a driving voltage of
Figure BDA0003329306300000095
Under the driving of the driving voltage, the response time of the acceleration of the linear motor is as follows:
Figure BDA0003329306300000096
wherein,
Figure BDA0003329306300000097
Figure BDA0003329306300000098
is a virtual damping coefficient.
Thereby, a virtual damping coefficient is adopted
Figure BDA0003329306300000099
Time of response t of acceleration of linear motorrdComprises the following steps:
Figure BDA0003329306300000101
it will be readily apparent that when k isξ Satisfy 0 < kξ< 1, the virtual damping of the system is reduced, the response time trdAnd is increased. When setting kξSatisfy kξWhen the damping is more than 1, the virtual damping of the system is increased, and the response time t is longerrdAnd decreases.
Therefore, in the present embodiment, at the response time trdWhen the value is known, the response time t required by the target acceleration can be determinedrdAnd hardness of linear motorsCalculating damping adjustment coefficient k according to the parametersξI.e. linear motors in order to achieve this response time trdThe virtual damping coefficient of the linear motor system should be k of the system's intrinsic damping coefficient ξξAnd (4) doubling. To achieve this
Figure BDA0003329306300000102
If necessary, the damping coefficient of the system is adjusted by the present embodiment through voltage compensation, i.e. the virtual damping coefficient is adjusted as required
Figure BDA0003329306300000103
Therefore, the coefficient k can be adjusted according to the vibrator speed v (t) and the dampingξBy using
Figure BDA0003329306300000104
Calculating to obtain a target compensation voltage uc(t) compensating the compensation voltage to the driving voltage to make the actual response time of the linear motor to vibrate trd。
It should be noted that, in the present embodiment, the control method provided in the present embodiment may be adopted, and t may be setrdThe value is a small value, such as 0.01s, and the effects of quick start, no tailing and crisp vibration feeling of the linear motor are realized.
As one embodiment, a second embodiment of the control method of a linear motor of the present application is proposed. Referring to fig. 2, fig. 2 is a schematic flowchart illustrating a control method of a linear motor according to a second embodiment of the present invention.
In this embodiment, the method includes the steps of:
step S201, obtaining the current speed, the driving voltage and the response time of the target acceleration of the vibrator of the linear motor.
And S202, obtaining a damping adjustment coefficient based on the response time and the hardware parameter of the linear motor.
Step S203, if a steady-state amplitude value input by a user is received, obtaining an equivalent voltage based on the steady-state amplitude value, the damping adjustment coefficient and the hardware parameter.
In this embodiment, the userThe steady-state amplitude a of the target acceleration may be input to the processing module via a user interface of the electronic devicerefOr the user can input a target acceleration waveform to the processing module through a user interface of the electronic equipment, and the processing module can analyze the acceleration waveform to obtain a steady-state amplitude value aref。
The processing module obtains the steady-state amplitude arefThen, equivalent electricity can be obtained based on the steady-state amplitude and the damping adjustment coefficient.
Specifically, step S203 includes: obtaining an equivalent voltage amplitude value based on the steady-state amplitude value, the damping adjustment coefficient and a first preset formula; the first predetermined formula is:
Figure BDA0003329306300000111
wherein u'mIs the equivalent voltage amplitude, arefFor the purpose of the steady-state amplitude values,
Figure BDA0003329306300000112
kξfor the damping adjustment coefficient, ξ is the intrinsic damping coefficient of the linear motor, and
Figure BDA0003329306300000113
Figure BDA0003329306300000114
m is the vibrator mass of the linear motor, Bl is the magnetic field intensity, R is the damping coefficient, and R is the direct-current resistance of the coil;
obtaining an equivalent voltage based on the equivalent voltage amplitude and a second preset formula; the second predetermined formula is:
u′1(t)＝u′mcos(ωct)；
wherein u'1(t) is the equivalent voltage, and t is time.
And step S204, updating the driving voltage by using the equivalent voltage.
Instantaneous driving voltage u1(t)＝u′1(t)。
Step S205, obtaining an actual driving voltage based on the driving voltage and the target compensation voltage.
And step S206, controlling the linear motor to vibrate based on the actual driving voltage.
It will be appreciated that if it is desired to adjust the virtual damping coefficient of the linear motor to k of the intrinsic damping coefficient ξξAnd multiplying, the adjusted voltage equation is:
Figure BDA0003329306300000115
wherein the target compensation voltage is
Figure BDA0003329306300000116
Converted to obtain a driving voltage of
Figure BDA0003329306300000117
Under the driving of the driving voltage, the response time of the acceleration of the linear motor is as follows:
Figure BDA0003329306300000118
wherein,
Figure BDA0003329306300000119
Figure BDA00033293063000001110
is a virtual damping coefficient.
Thereby, a virtual damping coefficient is adopted
Figure BDA0003329306300000121
Steady state amplitude a of acceleration of linear motorrefComprises the following steps:
Figure BDA0003329306300000122
it will be readily apparent that when k isξ Satisfy 0 < kξ< 1, the virtual damping of the system is reduced, the steady-state amplitude arefAnd is increased. When setting kξSatisfy kξWhen the damping is more than 1, the virtual damping of the system is increased, and the steady-state amplitude value arefAnd decreases.
Thus, in this embodiment, the steady state amplitude a is user definedrefTime, i.e. steady state amplitude arefWhen known, can be based on
Figure BDA0003329306300000123
Calculating to obtain an equivalent voltage amplitude umAnd the original driving voltage data is replaced and updated through the equivalent voltage, so that the steady-state amplitude of the vibration of the linear motor under the actual voltage control reaches aref。
User definable steady state amplitude arefFor variable values, the linear motor can dynamically adjust the response time and steady-state amplitude of the acceleration. Or the user may define the steady state amplitude arefFor a fixed value, e.g. the user may set the steady-state amplitude arefAt a constant value, and thus continuously based on the vibration of the motor
Figure BDA0003329306300000124
Adjusting the equivalent voltage amplitude umSo that the steady-state amplitude a of the linear motor when it vibratesrefIs a constant value.
In order to facilitate understanding of the above technical solutions, the following are shown:
example 1: setting the steady-state amplitude aref＝700m/s2，trdThe rise time is not defined, i.e. not set.
Example 2: setting the steady-state amplitude aref＝700m/s2，trd0.01S, i.e. the rise time is set to 0.01S.
Example 3: setting the steady-state amplitude aref＝700m/s2，trd0.12S, i.e., a rise time of 0.12S is set.
Referring to fig. 3, fig. 3 shows acceleration response waveforms of the above embodiments 1 to 3. Referring to fig. 4, fig. 4 shows actual control voltage waveforms of the above embodiments 1 to 3.
It can be seen that, especially, in embodiment 2, the response time is shortest, and compared with the linear motor characteristic before adjustment, the linear motor has the advantages of fast start, no tailing and crisp vibration feeling. It can be seen that both the magnitude and response time of the acceleration are consistent with the set magnitude and time.
Based on the same inventive concept, referring to fig. 5, the present invention also provides a control apparatus of a linear motor, including:
the parameter acquisition module is used for acquiring the response time of the current speed, the driving voltage and the target acceleration of the vibrator of the linear motor;
a coefficient adjustment module for obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor;
the compensation voltage determining module is used for obtaining a target compensation voltage based on the current speed of the oscillator and the damping adjustment coefficient;
a voltage determination module for obtaining an actual driving voltage based on the driving voltage and the target compensation voltage;
and the vibration control module is used for controlling the linear motor to vibrate based on the actual driving voltage.
In addition, referring to fig. 6, the present invention also provides an electronic device, including:
a linear motor 400;
the driving module 200, the driving module 200 is connected to the linear motor 400, and the driving module 200 is configured to provide a driving voltage to the linear motor 400 to drive the vibration unit to vibrate; and
the processing module 100 is configured to obtain a current speed of a vibrator of the linear motor 400, a driving voltage, and a steady-state amplitude and a response time of a target acceleration; obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor; obtaining a target compensation voltage based on the current speed of the oscillator and the damping adjustment coefficient; obtaining an actual driving voltage based on the driving voltage and the target compensation voltage; controlling the linear motor to vibrate based on the actual driving voltage.
In one embodiment, the method further comprises:
a voltage and current detection module 500, configured to be connected to the linear motor 400, detect a current and a current voltage of the linear motor, and send the current and the current voltage to the processing module 100;
the processing module 100 is configured to obtain a current voltage and a current of the linear motor;
obtaining the current speed of the oscillator based on the current voltage, the current and a third preset formula;
wherein the third preset formula is as follows:
Figure BDA0003329306300000131
wherein v (t) is the current speed of the vibrator, Bl is the magnetic field strength, ufdb(t) is the voltage ifdb(t) is the present current, t is time.
In an embodiment, the processing module is further configured to, if a steady-state amplitude value input by a user is received, obtain an equivalent voltage based on the steady-state amplitude value, the damping adjustment coefficient, and the hardware parameter; and updating the driving voltage by using the equivalent voltage.
In an embodiment, the processing module is further configured to obtain an equivalent voltage amplitude based on the steady-state amplitude, the damping adjustment coefficient, and a first preset formula; the first predetermined formula is:
Figure BDA0003329306300000141
wherein u ismIs the equivalent voltage amplitude, arefFor the purpose of the steady-state amplitude values,
Figure BDA0003329306300000142
kξfor the damping adjustment coefficient, ξ is the intrinsic damping coefficient of the linear motor, and
Figure BDA0003329306300000143
Figure BDA0003329306300000144
m is the vibrator mass of the linear motor, Bl is the magnetic field intensity, R is the damping coefficient, and R is the direct-current resistance of the coil;
obtaining an equivalent voltage based on the equivalent voltage amplitude and a second preset formula; the second predetermined formula is:
u1(t)＝umcos(ωct)；
wherein u is1(t) is the equivalent voltage, and t is time.
In an embodiment, the processing module is further configured to obtain a damping adjustment coefficient based on the response time, a hardware parameter of the linear motor, and a fourth preset formula; the fourth preset formula is as follows:
Figure BDA0003329306300000145
wherein k isξFor the damping adjustment coefficient, trdFor the response time ξ is the intrinsic damping coefficient of the linear motor, and
Figure BDA0003329306300000146
Figure BDA0003329306300000147
m is the vibrator mass of the linear motor, Bl is the magnetic field intensity, k is the spring stiffness coefficient, R is the damping coefficient, and R is the coil direct current resistance.
In an embodiment, the processing module is further configured to obtain a target compensation voltage based on the current speed of the oscillator, the damping adjustment coefficient, and a fifth preset formula; the fifth preset formula is:
Figure BDA0003329306300000148
wherein u isc(t) is the target compensation voltage, kξAnd b, taking Bl as the magnetic field intensity, R as the damping coefficient, R as the direct-current resistance of the coil, and v (t) as the current speed of the vibrator.
In some embodiments, a power amplifier is further disposed between the driving module and the linear motor, and the power amplifier performs power matching on the driving voltage transmitted to the power amplifier by the driving module. The driving voltage may be an analog signal or a digital signal. The power amplifier may be a class a, B, AB, or D driver as is common in the art.
Furthermore, an embodiment of the present invention further provides a computer storage medium, where a control program of a linear motor is stored on the storage medium, and the control program of the linear motor is executed by a processor to implement the steps of the control method of the linear motor as above. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in embodiments of the computer-readable storage medium referred to in the present application, reference is made to the description of embodiments of the method of the present application. It is determined that, by way of example, the program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A method of controlling a linear motor, the method comprising:
acquiring the current speed, the driving voltage and the response time of a target acceleration of a vibrator of the linear motor;
obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor;
obtaining a target compensation voltage based on the current speed of the oscillator and the damping adjustment coefficient;
obtaining an actual driving voltage based on the driving voltage and the target compensation voltage;
controlling the linear motor to vibrate based on the actual driving voltage.
2. The method of controlling a linear motor according to claim 1, wherein after obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor, the method further comprises:
if a steady-state amplitude input by a user is received, obtaining an equivalent voltage based on the steady-state amplitude, the damping adjustment coefficient and the hardware parameter;
and updating the driving voltage by using the equivalent voltage.
3. The control method of a linear motor according to claim 2, wherein the obtaining an equivalent voltage based on the steady-state amplitude and the damping adjustment coefficient includes:
obtaining an equivalent voltage amplitude value based on the steady-state amplitude value, the damping adjustment coefficient and a first preset formula; the first predetermined formula is:
Figure FDA0003329306290000011
wherein u'mIs the equivalent voltage amplitude, arefFor the purpose of the steady-state amplitude values,
Figure FDA0003329306290000012
kξfor the damping adjustment coefficient, ξ is the intrinsic damping coefficient of the linear motor, and
Figure FDA0003329306290000013
Figure FDA0003329306290000014
m is the vibrator mass of the linear motor, Bl is the magnetic field intensity, R is the damping coefficient, and R is the direct-current resistance of the coil;
obtaining an equivalent voltage based on the equivalent voltage amplitude and a second preset formula; the second predetermined formula is:
u′1(t)＝u′mcos(ωct)；
wherein u'1(t) is the equivalent voltage, and t is time.
4. The method for controlling a linear motor according to claim 1, wherein before the obtaining of the response time of the current speed, the driving voltage, and the target acceleration of the vibrator of the linear motor, the method further comprises:
acquiring the current voltage and the current of the linear motor;
obtaining the current speed of the oscillator based on the current voltage, the current and a third preset formula;
wherein the third preset formula is as follows:
Figure FDA0003329306290000021
wherein v (t) is the current speed of the vibrator, Bl is the magnetic field strength, ufdb(t) is the voltage ifdb(t) is the present current, t is time.
5. The method of claim 1, wherein the obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor comprises:
obtaining a damping adjustment coefficient based on the response time, the hardware parameter of the linear motor and a fourth preset formula; the fourth preset formula is as follows:
Figure FDA0003329306290000022
wherein k isξFor the damping adjustment coefficient, trdFor the response time ξ is the intrinsic damping coefficient of the linear motor, and
Figure FDA0003329306290000023
m is the vibrator mass of the linear motor, Bl is the magnetic field intensity, k is the spring stiffness coefficient, R is the damping coefficient, and R is the coil direct current resistance.
6. The method of claim 1, wherein the obtaining a target compensation voltage based on the current velocity of the vibrator and the damping adjustment coefficient comprises:
obtaining a target compensation voltage based on the current speed of the oscillator, the damping adjustment coefficient and a fifth preset formula; the fifth preset formula is:
Figure FDA0003329306290000031
wherein u isc(t) is the target compensation voltage, kξIs said to resistAnd adjusting coefficient, wherein Bl is magnetic field intensity, R is damping coefficient, R is coil direct-current resistance, and v (t) is the current speed of the vibrator.
7. A control device for a linear motor, comprising:
the parameter acquisition module is used for acquiring the current speed, the driving voltage, the steady-state amplitude and the response time of the vibrator of the linear motor;
a coefficient adjustment module for obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor;
the compensation voltage determining module is used for obtaining a target compensation voltage based on the current speed of the oscillator and the damping adjustment coefficient;
a voltage determination module for obtaining an actual driving voltage based on the driving voltage and the target compensation voltage;
and the vibration control module is used for controlling the linear motor to vibrate based on the actual driving voltage.
8. An electronic device, comprising:
a linear motor;
the driving module is connected with the linear motor and used for providing driving voltage for the linear motor so as to drive the vibration unit to vibrate; and
the processing module is used for acquiring the current speed, the driving voltage, the steady-state amplitude and the response time of the vibrator of the linear motor; obtaining a damping adjustment coefficient based on the response time and a hardware parameter of the linear motor; obtaining a target compensation voltage based on the current speed of the oscillator and the damping adjustment coefficient; obtaining an actual driving voltage based on the driving voltage and the target compensation voltage; controlling the linear motor to vibrate based on the actual driving voltage.
9. The electronic device of claim 8, further comprising:
the voltage and current detection module is used for being connected with the linear motor so as to detect the current and the current voltage of the linear motor and send the current and the current voltage to the processing module;
the processing module is used for acquiring the current voltage and the current of the linear motor;
obtaining the current speed of the vibrator based on the current voltage, the current and a first preset formula;
wherein the first preset formula is as follows:
Figure FDA0003329306290000041
wherein v (t) is the current speed of the vibrator, Bl is the magnetic field strength, ufdb(t) is the voltage ifdb(t) is the present current, t is time.
10. A computer-readable storage medium, characterized in that a control program of a linear motor is stored thereon, which when executed by a processor implements the control method of the linear motor according to any one of claims 1 to 7.
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