CN114665790A - Conversion coefficient acquisition method, motor torque determination method, and motor driver - Google Patents
Conversion coefficient acquisition method, motor torque determination method, and motor driver Download PDFInfo
- Publication number
- CN114665790A CN114665790A CN202210292101.5A CN202210292101A CN114665790A CN 114665790 A CN114665790 A CN 114665790A CN 202210292101 A CN202210292101 A CN 202210292101A CN 114665790 A CN114665790 A CN 114665790A
- Authority
- CN
- China
- Prior art keywords
- motor
- torque
- kinematic pair
- conversion coefficient
- obtaining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/16—Rotary-absorption dynamometers, e.g. of brake type
- G01L3/22—Rotary-absorption dynamometers, e.g. of brake type electrically or magnetically actuated
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a conversion coefficient obtaining method, which is used for a motor driver, wherein the motor driver is connected with a motor, the motor is connected with a kinematic pair, and the motor driver drives the kinematic pair to move when controlling the motor to rotate so as to apply pressure on a target object, and the method comprises the following steps: controlling the motor to rotate along a first preset direction; collecting a first torque of the motor; determining a first lower pressure of the kinematic pair; and obtaining the conversion coefficient according to the first lower pressure and the first torque. The invention also discloses a motor torque determination method, a chip pressure applying device, a motor driver and a computer readable storage medium. In the invention, the conversion coefficient has higher accuracy, so that the determined torque accuracy is higher, and further, when the torque is utilized to apply pressure to the chip, the pressure application accuracy is higher.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a conversion coefficient acquisition method of a motor, a motor torque determination method, a chip pressure application device, a motor driver and a storage medium.
Background
Chip sorters and other devices all require pressure to be applied to the chip surface to ensure good contact of the chip pins with the chip base in the test station. The mechanical structure is that a rotary servo motor is directly connected with a kinematic pair, the kinematic pair presses a movable assembly downwards to move so as to press a chip onto a test station, and a plurality of elastic parts block the movable assembly to move downwards.
Currently, a technician estimates a corresponding relationship between the chip pressure and the torque to obtain a corresponding motor torque according to the corresponding relationship and the set chip pressure.
However, with the existing method, the accuracy of the pressure applied to the chip is low.
Disclosure of Invention
The invention mainly aims to provide a conversion coefficient acquisition method of a motor, a motor torque determination method, a chip pressure application device, a motor driver and a storage medium, and aims to solve the technical problem that the accuracy of pressure applied to a chip is low by adopting the existing method in the prior art.
In order to achieve the above object, the present invention provides a conversion coefficient obtaining method for a motor driver, where the motor driver is connected to a motor, the motor is connected to a kinematic pair, and the motor driver controls the motor to rotate to drive the kinematic pair to move so as to apply pressure to a target object, where the method includes:
controlling the motor to rotate along a first preset direction;
collecting a first torque of the motor;
determining a first lower pressure of the kinematic pair;
and obtaining the conversion coefficient according to the first lower pressure and the first torque.
Optionally, the movement of the kinematic pair is related to the elastic component; prior to the step of determining the first depression force of the kinematic pair, the method further comprises:
acquiring a first elastic force of the elastic component and a friction force of the kinematic pair;
the step of determining a first lower pressure of the kinematic pair comprises:
and obtaining a first lower pressure of the kinematic pair according to the first elastic force and the friction force.
Optionally, the step of obtaining the conversion coefficient according to the first lower pressure and the first torque includes:
obtaining a first initial conversion coefficient according to the first lower pressure and the first torque;
controlling the motor to rotate along a second preset direction;
acquiring a second torque of the motor and a second elastic force of the elastic component;
obtaining a second downward pressure of the kinematic pair according to the second elastic force and the friction force;
obtaining a second initial conversion coefficient according to the second downward pressure and the second torque;
and obtaining the conversion coefficient according to the first initial conversion coefficient and the second initial conversion coefficient.
Optionally, before the step of controlling the motor to rotate along the first preset direction, the method further includes:
when a preset condition is met, controlling the motor to rotate by an angle along a third preset direction;
acquiring a preset torque of the motor;
obtaining a preset rotation angle according to the preset torque;
the step of controlling the motor to rotate along a first preset direction comprises:
and when the angle is matched with the preset rotating angle, controlling the motor to rotate along a first preset direction.
In addition, in order to achieve the above object, the present invention further provides a motor torque determining method for a motor driver, where the motor driver is connected to a motor, the motor is connected to a kinematic pair, the kinematic pair moves in relation to an elastic component, and the motor driver controls the motor to rotate to drive the kinematic pair to move so as to apply pressure to a chip, the method including:
determining a chip pressure value;
acquiring an elasticity value of the elastic component;
obtaining the down force of the kinematic pair according to the chip pressure value and the elastic value;
and obtaining the torque of the motor according to the conversion coefficient and the downward pressure of the kinematic pair.
Optionally, before the step of obtaining the torque of the motor according to the conversion coefficient and the downward pressure of the kinematic pair, the method further includes:
determining a friction force of the kinematic pair;
the step of obtaining the torque of the motor according to the conversion coefficient and the downward pressure of the kinematic pair comprises:
and obtaining the torque of the motor according to the conversion coefficient, the friction force and the downward pressure of the kinematic pair.
Optionally, the step of obtaining the torque of the motor according to the conversion coefficient and the downward pressure of the kinematic pair includes:
obtaining a torque parameter of the motor according to the conversion coefficient and the downward pressure of the kinematic pair, wherein the torque parameter comprises any one of feedback current, a torque command and torque feedback;
and obtaining the torque of the motor through the torque parameter.
In addition, in order to achieve the above object, the present invention further provides a chip pressure applying apparatus, including a motor driver, a motor, a kinematic pair and an elastic component, wherein the motor driver is connected to the motor, the motor is connected to the kinematic pair, and the motion of the kinematic pair is related to the elastic component; when the motor driver controls the motor to rotate, the motor driver drives the kinematic pair to move so as to apply pressure to the chip;
the motor driver controls the motor to operate according to the motor torque determination method and the conversion coefficient acquisition method.
In addition, to achieve the above object, the present invention also provides a motor driver, including: memory, a processor and a computer program stored on the memory and running on the processor, which computer program, when executed by the processor, carries out the steps of the method according to any one of the preceding claims.
Furthermore, to achieve the above object, the present invention also proposes a storage medium having stored thereon a computer program which, when being executed by a processor, realizes the steps of the method according to any one of the above.
The technical scheme of the invention provides a conversion coefficient obtaining method, which is used for a motor driver, wherein the motor driver is connected with a motor, the motor is connected with a kinematic pair, and the motor driver drives the kinematic pair to move when controlling the motor to rotate so as to apply pressure on a target object, and the method comprises the following steps: controlling the motor to rotate along a first preset direction; collecting a first torque of the motor; determining a first lower pressure of the kinematic pair; and obtaining the conversion coefficient according to the first lower pressure and the first torque.
In the existing method, technicians estimate the corresponding relation between the pressure and the torque of the chip, and then determine the torque of the motor according to the set pressure of the chip and the corresponding relation, wherein the corresponding relation is roughly estimated and has low accuracy, so that the determined torque of the motor has low accuracy, and the determined torque of the motor has low pressure application accuracy when the chip is pressurized. According to the invention, the conversion coefficient is obtained through the first down force and the first torque, the conversion coefficient has higher accuracy, and the conversion coefficient can accurately reflect the relation between the torque and the down force, so that the accuracy of the torque determined by using the conversion coefficient is higher, and further, when the torque is used for pressing the chip, the pressing accuracy is higher.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a motor driver in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a first embodiment of a die pressure applying apparatus according to the present invention;
FIG. 3 is a flowchart illustrating a first embodiment of a conversion coefficient obtaining method according to the present invention;
FIG. 4 is a schematic flow chart of a first embodiment of a motor torque determination method of the present invention;
FIG. 5 is a block diagram of a conversion coefficient obtaining apparatus according to a first embodiment of the present invention;
fig. 6 is a block diagram of the first embodiment of the motor torque determination device of the present invention.
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a motor driver in a hardware operating environment according to an embodiment of the present invention.
Generally, a motor driver includes: at least one processor 301, a memory 302 and a computer program stored on said memory and executable on said processor, said computer program being configured to implement the steps of the conversion factor obtaining method and the motor torque determining method of the present application.
The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 301 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 301 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 301 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen.
In some embodiments, the terminal may further include: a communication interface 303 and at least one peripheral device. The processor 301, the memory 302 and the communication interface 303 may be connected by a bus or signal lines. Various peripheral devices may be connected to communication interface 303 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 304, a display screen 305, and a power source 306.
The communication interface 303 may be used to connect at least one peripheral device related to I/O (Input/Output) to the processor 301 and the memory 302. In some embodiments, processor 301, memory 302, and communication interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, the memory 302 and the communication interface 303 may be implemented on a single chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 304 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 304 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 304 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 304 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. Radio frequency circuitry 304 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 304 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 305 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 305 is a touch display screen, the display screen 305 also has the ability to capture touch signals on or over the surface of the display screen 305. The touch signal may be input to the processor 301 as a control signal for processing. At this point, the display screen 305 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 305 may be one, the front panel of the electronic device; in other embodiments, the display screens 305 may be at least two, respectively disposed on different surfaces of the electronic device or in a folded design; in still other embodiments, the display screen 305 may be a flexible display screen disposed on a curved surface or a folded surface of the electronic device. Even further, the display screen 305 may be arranged in a non-rectangular irregular figure, i.e., a shaped screen. The Display screen 305 may be made of LCD (liquid crystal Display), OLED (Organic Light-Emitting Diode), and the like.
The power supply 306 is used to power various components in the electronic device. The power source 306 may be alternating current, direct current, disposable or rechargeable. When the power source 306 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the motor drive and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
Referring to fig. 2, fig. 2 is a schematic structural view of a first embodiment of a die pressure application device according to the present invention; the device comprises a motor driver 21, a motor 22, a kinematic pair 23 and an elastic component 24, wherein the motor driver 21 is connected with the motor 22, the motor 22 is connected with the kinematic pair 23, and the kinematic pair 23 moves relative to the elastic component 24; when the motor driver 21 controls the motor 22 to rotate, the kinematic pair 23 is driven to move so as to apply pressure to the chip;
wherein the motor driver controls the motor to operate according to the motor torque determination method of the present application. The motor driver can also control the motor to operate according to the conversion coefficient acquisition method.
The motor may be any type of motor, and the present application is not limited thereto, the kinematic pair may include any one of a slider, a ball screw, or a cam, and the elastic member may be a spring. That is, the kinematic pair is a device that converts the rotation of the motor into the linear motion, and any kinematic pair satisfying this condition may be used.
Furthermore, an embodiment of the present invention further provides a storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the conversion coefficient obtaining method and the motor torque determining method as described in the present application. 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 the embodiments of the storage medium referred to in the present application, reference is made to the description of the embodiments of the method of the present application. It is determined as an example that the program instructions may be deployed to be executed on one motor drive or on multiple motor drives located 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 storage medium and can include the processes of the embodiments of the methods described above when executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Based on the hardware structure, the embodiment of the method for acquiring the conversion coefficient of the motor is provided.
Referring to fig. 3, fig. 3 is a schematic flow chart of a first embodiment of the conversion coefficient obtaining method of the present invention, which includes the following steps:
step S11: and controlling the motor to rotate along a first preset direction.
Step S12: a first torque of the motor is collected.
Step S13: a first depression force of the kinematic pair is determined.
It should be noted that the main execution body of the present invention is a motor driver, the motor driver is installed with a conversion coefficient acquisition program, and when the motor driver executes the conversion coefficient acquisition program, the steps of the conversion coefficient acquisition method of the present invention are implemented.
The motor driver is connected with the motor, the motor is connected with the kinematic pair, the motor driver controls the motor to drive the kinematic pair to move when the motor rotates so as to apply pressure to a target object, the target object can be a chip or other components applied with pressure by the kinematic pair, and the target object can be placed on a test station.
In the present invention, the movement of the kinematic pair is associated with a resilient member, which is generally used to hinder the movement of the kinematic pair. When the test station is placed right, the motor driver controls the motor to rotate so as to drive the kinematic pair to move towards the vertical downward direction, and the elastic component blocks the kinematic pair from moving towards the vertical downward direction, so that the elastic component can provide vertical upward elastic force.
The kinematic pair comprises any one of a slide block, a ball screw or a cam, and the elastic component is a spring. That is, the kinematic pair is a device that converts the rotation of the motor into the linear motion, and any kinematic pair satisfying this condition may be used.
The first preset direction is one direction (vertical upward or vertical downward) of the motion of the kinematic pair, and the first torque is a real-time torque corresponding to the rotation of the motor along the first preset direction. The first pressure of the movement is the real-time down pressure (the force given to the kinematic pair by the motor) generated by the kinematic pair when the motor rotates along the first preset direction to drive the kinematic pair to move. The first preset direction is any one rotation direction of the motor, and the second preset direction is the direction opposite to the first preset direction. The first predetermined direction is clockwise or counterclockwise.
Further, the movement of the kinematic pair is related to the elastic component; before the step of determining the first lower pressure of the kinematic pair, the method further comprises: acquiring a first elastic force of the elastic component and a friction force of the kinematic pair; the step of determining a first lower pressure of the kinematic pair comprises: and obtaining a first lower pressure of the kinematic pair according to the first elastic force and the friction force.
In some embodiments, there may be a friction force of the kinematic pair and an elastic force of the elastic component, and the friction force generated by the kinematic pair hinders the kinematic pair, usually a constant value, which can be measured through experiments, and the present invention is not described in detail.
Further, before the step of controlling the motor to rotate in the first preset direction, the method further includes: when a preset condition is met, controlling the motor to rotate by an angle along a third preset direction; acquiring a preset torque of the motor; obtaining a preset rotation angle according to the preset torque; the step of controlling the motor to rotate along a first preset direction comprises: and when the angle is matched with the preset rotating angle, controlling the motor to rotate along a first preset direction.
In the invention, when no chip needing to be pressed is placed on the test station and the movement of the kinematic pair is not hindered by any object except the elastic component, the preset condition is met. The third predetermined direction may be any rotation direction of the motor (the same as the first predetermined direction or the same as the second predetermined direction), and the rotation angle may be any angle within the working range of the motor. The angle is usually the actual movement angle of the kinematic pair, and the actual movement angle of the kinematic pair is determined by a certain feature (such as a protrusion or a depression) in the kinematic pair.
When the motor rotates according to the angle, the corresponding torque of the motor is the preset torque, the preset torque corresponds to a theoretical angle, namely the preset angle, and the preset angle can also be the corresponding motion angle of the kinematic pair under the preset torque. Because there is a mounting error or the like, the angle may not match the preset angle (matching means that they are the same or have a small difference, for example, the difference is smaller than a preset threshold value, indicating that they match), and the step of obtaining the conversion coefficient may be performed only when they match, otherwise, the step of obtaining the conversion coefficient may be performed until the angle matches the preset angle.
When no chip is placed on the test station, the first elastic force and the friction force are resistance force for blocking the kinematic pair, the kinematic pair is stressed in balance, the friction force and the first elastic force are force for blocking the kinematic pair, and then the first lower pressure is equal to the first elastic force plus the friction force, and the corresponding first lower pressure is obtained according to the relation. The deformation amount of the spring is determined according to the motion condition of the kinematic pair, and then the corresponding elastic force, namely the first elastic force, is determined.
S14: and obtaining the conversion coefficient according to the first lower pressure and the first torque.
In general, the depressing force of the kinematic pair is a torque conversion coefficient of the motor, and a corresponding conversion coefficient is obtained according to the relationship between the first depressing force and the first torque, and the conversion coefficient indicates the relationship between the torque and the depressing force.
For the first preset direction, first initial conversion coefficients corresponding to a plurality of rotation angles may be obtained, and then an average value of the first initial conversion coefficients is obtained as a final first initial conversion coefficient.
Further, the step of obtaining the conversion coefficient according to the first lower pressure and the first torque includes: obtaining a first initial conversion coefficient according to the first lower pressure and the first torque; controlling the motor to rotate along a second preset direction; acquiring a second torque of the motor and a second elastic force of the elastic component; obtaining a second downward pressure of the kinematic pair according to the second elastic force and the friction force; obtaining a second initial conversion coefficient according to the second downward pressure and the second torque; and obtaining the conversion coefficient according to the first initial conversion coefficient and the second initial conversion coefficient.
In some embodiments, the final first initial conversion coefficient may be determined as the conversion coefficient in S14, or the motor may be controlled to rotate in the second preset direction in the above manner, and at the same time, the final second initial conversion coefficient may be obtained in the same manner as the final first initial conversion coefficient is obtained. The second predetermined direction is different from the first predetermined direction.
Then, the first initial conversion coefficient and the second initial conversion coefficient are averaged or weighted and summed to obtain the conversion coefficient in S14.
The embodiment provides a conversion coefficient obtaining method, which is used for a motor driver, wherein the motor driver is connected with a motor, the motor is connected with a kinematic pair, and the motor driver controls the motor to rotate and drives the kinematic pair to move so as to apply pressure on a target object, and the method comprises the following steps: controlling the motor to rotate along a first preset direction; collecting a first torque of the motor; determining a first lower pressure of the kinematic pair; and obtaining the conversion coefficient according to the first lower pressure and the first torque.
In the existing method, a technician estimates the corresponding relation between the pressure and the torque of the chip, and then determines the motor torque according to the set pressure of the chip and the corresponding relation, wherein the corresponding relation is roughly estimated and has low accuracy, so that the determined motor torque has low accuracy, and the determined motor torque is utilized to apply pressure to the chip, and the pressure application accuracy is low. According to the invention, the conversion coefficient is obtained through the first down force and the first torque, the conversion coefficient has higher accuracy, and the conversion coefficient can accurately reflect the relation between the torque and the down force, so that the accuracy of the torque determined by using the conversion coefficient is higher, and further, when the torque is used for pressing the chip, the pressing accuracy is higher.
In some embodiments, various types of friction, friction torque, moving part mass, acceleration, etc. of the motor drive may be considered in addition to the friction and spring forces described above. Thereby improving the accuracy of the conversion coefficients.
Referring to fig. 4, fig. 4 is a schematic flow chart of a first embodiment of the motor torque determination method of the present invention, the method including:
s21: and determining the chip pressure value.
S22: and acquiring the elasticity value of the elastic component.
S23: and obtaining the down force of the kinematic pair according to the chip pressure value and the elastic value.
S24: and obtaining the torque of the motor according to the conversion coefficient and the downward pressure of the kinematic pair.
The testing station is provided with a chip, and when the motor driver controls the motor to rotate, the motor driver drives the kinematic pair to move so as to apply pressure to the chip and enable the chip to be compressed. Typically the chip is pressed onto the test station. The conversion coefficient may be a conversion coefficient obtained according to the conversion coefficient obtaining method of the present application.
The chip is a chip to be pressed on the test station, and can be any type of chip, and the chip pressure is the pressure set by the user for the chip. The pressure is generally not excessive to avoid excessive die pressure and damage to the die.
In this embodiment, the movement of the kinematic pair is associated with a resilient member, which is normally used to hinder the movement of the kinematic pair. When the test station is placed on the ground, the motor is controlled to rotate so as to drive the kinematic pair to move in the vertical downward direction, and the elastic component blocks the kinematic pair from moving in the vertical downward direction, so that the elastic component can provide vertical upward elastic force. It will be appreciated that the die pressure of the kinematic pair against the die will also be vertically downward.
The chip is arranged on the test station, and when the kinematic pair presses the chip tightly, the kinematic pair is stressed in a balanced manner. In some embodiments, there may be friction of the kinematic pair and spring force of the spring member. The friction force generated by the kinematic pair hinders the kinematic pair to move, is usually a constant value, and can be measured through experiments, which is not described in detail herein. The elastic force value of the elastic component can be the elastic force value of the elastic component when the chip is pressed (when the elastic component is a spring, the chip is pressed, the stretching state of the spring is fixed, the deformation of the spring is also a fixed value, and the elastic force value of the elastic component is obtained according to the deformation and the elastic coefficient of the spring).
The elastic value and the friction force are resistance force for blocking the kinematic pair, and the down force of the kinematic pair is equal to the chip pressure value + the elastic value + the friction force at the moment, and the corresponding down force of the kinematic pair is obtained according to the relation.
The motor rotates to drive the kinematic pair to move, the motor rotates to generate different torques, and different downward pressures are applied to the kinematic pair so as to apply pressure to the chip through the downward pressures. And according to the chip pressure, obtaining the down pressure of the kinematic pair as the down pressure of the kinematic pair according to the mode.
Based on the above description, the pressing force of the kinematic pair is the torque of the motor, and the corresponding torque is obtained according to the relationship and the conversion coefficient according to the pressing force of the kinematic pair, and the conversion coefficient represents the relationship between the torque and the pressing force.
Specifically, before the step of obtaining the torque of the motor according to the conversion coefficient and the downward pressure of the kinematic pair, the method further includes: determining a friction force of the kinematic pair; the step of obtaining the torque of the motor according to the conversion coefficient and the downward pressure of the kinematic pair comprises the following steps: and obtaining the torque of the motor according to the conversion coefficient, the friction force and the down force of the kinematic pair.
That is, in some embodiments of the present application, the influence of the friction force of the kinematic pair may be considered, thereby improving the accuracy of the torque of the motor.
Specifically, the step of obtaining the torque of the motor according to the conversion coefficient and the downward pressure of the kinematic pair includes: obtaining a torque parameter of the motor according to a conversion coefficient and the downward pressure of the kinematic pair, wherein the torque parameter comprises any one of feedback current, a torque instruction and torque feedback; and obtaining the torque of the motor through the torque parameter.
In the invention, the torque parameter corresponding to the torque of the motor is the torque parameter, and the torque of the motor can be replaced by the torque parameter generally or can be the torque of the motor which is directly used; that is, in some embodiments, the down force is a torque parameter conversion factor, and in this equation, the conversion factor represents the relationship between the torque parameter and the down force. In the embodiment of the present invention, the explanation is mainly made in terms of the relationship between the torque and the downforce expressed by the conversion coefficient.
The first preset direction is any one rotation direction of the motor, and the second preset direction is the direction opposite to the first preset direction. The first predetermined direction is clockwise or counterclockwise.
The embodiment provides a motor torque determination method, which is used for a motor driver, wherein the motor driver is connected with a motor, the motor is connected with a kinematic pair, the motion of the kinematic pair is related to an elastic component, and the motor driver controls the motor to rotate and drive the kinematic pair to move so as to apply pressure on a chip, and the method comprises the following steps: determining a chip pressure value; acquiring an elasticity value of the elastic component; obtaining the down force of the kinematic pair according to the chip pressure value and the elastic value; and obtaining the torque of the motor according to the conversion coefficient and the downward pressure of the kinematic pair. The conversion coefficient may be obtained according to the conversion coefficient obtaining rate method of the present application.
In the existing method, technicians estimate the corresponding relation between the pressure and the torque of the chip, and then determine the torque of the motor according to the set pressure of the chip and the corresponding relation, wherein the corresponding relation is roughly estimated and has low accuracy, so that the determined torque of the motor has low accuracy, and the determined torque of the motor has low pressure application accuracy when the chip is pressurized. According to the invention, the conversion coefficient is obtained through the first down force and the first torque, the conversion coefficient has higher accuracy, and the conversion coefficient can accurately reflect the relation between the torque and the down force, so that the accuracy of the torque determined by using the conversion coefficient is higher, and further, when the torque is used for pressing the chip, the pressing accuracy is higher.
Referring to fig. 5, fig. 5 is a block diagram of a first embodiment of a conversion coefficient obtaining apparatus of the present invention, where the apparatus is used in a motor driver, the motor driver is connected to a motor, the motor is connected to a kinematic pair, and the motor driver controls the motor to rotate to drive the kinematic pair to move so as to apply pressure to a target object, and the apparatus includes:
the control module 10 is used for controlling the motor to rotate along a first preset direction;
the acquisition module 20 is used for acquiring a first torque of the motor;
a determining module 30 for determining a first lower pressure of the kinematic pair;
an obtaining module 40 is configured to obtain the conversion factor according to the first lower pressure and the first torque.
It should be noted that, since the steps executed by the apparatus of this embodiment are the same as the steps of the foregoing method embodiment, the specific implementation and the achievable technical effects thereof can refer to the foregoing embodiment, and are not described herein again.
Referring to fig. 6, fig. 6 is a block diagram of a first embodiment of the apparatus for determining motor torque according to the present invention, which is used for a motor driver, the motor driver is connected to a motor, the motor is connected to a kinematic pair, the kinematic pair moves in relation to an elastic component, and the motor driver controls the motor to rotate, so as to drive the kinematic pair to move, so as to apply pressure to a chip, and the apparatus includes:
a pressure determination module 50 for determining a chip pressure value;
an obtaining module 60, configured to obtain an elastic force value of the elastic component;
a downward pressure obtaining module 70, configured to obtain a downward pressure of the kinematic pair according to the chip pressure value and the elastic value;
and a torque obtaining module 80, configured to obtain a torque of the motor according to the conversion coefficient and the downward pressure of the kinematic pair.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A conversion coefficient obtaining method is used for a motor driver, the motor driver is connected with a motor, the motor is connected with a kinematic pair, and the motor driver controls the motor to rotate and drives the kinematic pair to move so as to apply pressure on a target object, and the method comprises the following steps:
controlling the motor to rotate along a first preset direction;
collecting a first torque of the motor;
determining a first lower pressure of the kinematic pair;
and obtaining the conversion coefficient according to the first lower pressure and the first torque.
2. The method of claim 1, wherein the movement of the kinematic pair is associated with a resilient member; before the step of determining the first lower pressure of the kinematic pair, the method further comprises:
acquiring a first elastic force of the elastic component and a friction force of the kinematic pair;
the step of determining a first lower pressure of the kinematic pair comprises:
and obtaining a first lower pressure of the kinematic pair according to the first elastic force and the friction force.
3. The method of claim 2, wherein said step of deriving said conversion factor based on said first lower pressure and said first torque comprises:
obtaining a first initial conversion coefficient according to the first lower pressure and the first torque;
controlling the motor to rotate along a second preset direction;
acquiring a second torque of the motor and a second elastic force of the elastic component;
obtaining a second downward pressure of the kinematic pair according to the second elastic force and the friction force;
obtaining a second initial conversion coefficient according to the second downward pressure and the second torque;
and obtaining the conversion coefficient according to the first initial conversion coefficient and the second initial conversion coefficient.
4. The method of claim 1, wherein prior to the step of controlling the motor to rotate in the first predetermined direction, the method further comprises:
when a preset condition is met, controlling the motor to rotate by an angle along a third preset direction;
acquiring a preset torque of the motor;
obtaining a preset rotation angle according to the preset torque;
the step of controlling the motor to rotate along a first preset direction comprises:
and when the angle is matched with the preset rotating angle, controlling the motor to rotate along a first preset direction.
5. A motor torque determination method is used for a motor driver, the motor driver is connected with a motor, the motor is connected with a kinematic pair, the kinematic pair moves relative to an elastic component, and the motor driver controls the motor to rotate to drive the kinematic pair to move so as to apply pressure to a chip, and the method comprises the following steps:
determining a chip pressure value;
acquiring an elasticity value of the elastic component;
obtaining the down force of the kinematic pair according to the chip pressure value and the elastic value;
the conversion coefficient and the downward pressure of the kinematic pair according to any of claims 1 to 4 are used to obtain the torque of the motor.
6. The method according to claim 5, wherein before the step of obtaining the torque of the motor according to the conversion factor and the downforce of the kinematic pair of any one of claims 1 to 4, the method further comprises:
determining a friction force of the kinematic pair;
the step of obtaining the torque of the motor according to the conversion coefficient and the downward pressure of the kinematic pair of any one of claims 1 to 4, comprising:
the torque of the motor is obtained by the conversion coefficient, the friction force and the downward pressure of the kinematic pair according to any one of claims 1 to 4.
7. The method according to claim 5, wherein the step of obtaining the torque of the motor by the conversion factor according to any one of claims 1 to 4 and the downforce of the kinematic pair comprises:
the conversion coefficient and the downward pressure of the kinematic pair according to any one of claims 1 to 4, obtaining a torque parameter of the motor, wherein the torque parameter comprises any one of feedback current, a torque command and torque feedback;
and obtaining the torque of the motor through the torque parameter.
8. A chip pressure applying device is characterized by comprising a motor driver, a motor, a kinematic pair and an elastic component, wherein the motor driver is connected with the motor, the motor is connected with the kinematic pair, and the motion of the kinematic pair is related to the elastic component; when the motor driver controls the motor to rotate, the motor driver drives the kinematic pair to move so as to apply pressure to the chip;
wherein the motor driver controls the motor operation according to the motor torque determination method as claimed in claims 5 to 7 and the conversion coefficient acquisition method as claimed in claims 1 to 4.
9. A motor drive, characterized by comprising: memory, processor and a computer program stored on the memory and running on the processor, which computer program, when executed by the processor, carries out the steps of the method according to any one of claims 1 to 7.
10. A storage medium, characterized in that a computer program is stored on the storage medium, which computer program, when being executed by a processor, carries out the steps of a method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210292101.5A CN114665790A (en) | 2022-03-23 | 2022-03-23 | Conversion coefficient acquisition method, motor torque determination method, and motor driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210292101.5A CN114665790A (en) | 2022-03-23 | 2022-03-23 | Conversion coefficient acquisition method, motor torque determination method, and motor driver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114665790A true CN114665790A (en) | 2022-06-24 |
Family
ID=82031088
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210292101.5A Pending CN114665790A (en) | 2022-03-23 | 2022-03-23 | Conversion coefficient acquisition method, motor torque determination method, and motor driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114665790A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024060568A1 (en) * | 2022-09-22 | 2024-03-28 | 宁德时代新能源科技股份有限公司 | Method and apparatus for creating kinematic pair objects, and storage medium |
| US11977824B2 (en) | 2022-09-22 | 2024-05-07 | Contemporary Amperex Technology Co., Limited | Method and device for creating kinematic pair objects, and storage medium |
-
2022
- 2022-03-23 CN CN202210292101.5A patent/CN114665790A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024060568A1 (en) * | 2022-09-22 | 2024-03-28 | 宁德时代新能源科技股份有限公司 | Method and apparatus for creating kinematic pair objects, and storage medium |
| US11977824B2 (en) | 2022-09-22 | 2024-05-07 | Contemporary Amperex Technology Co., Limited | Method and device for creating kinematic pair objects, and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114665790A (en) | Conversion coefficient acquisition method, motor torque determination method, and motor driver | |
| CN109756594B (en) | Method, terminal and storage medium for controlling screen | |
| KR102588423B1 (en) | Electronic device including component mounting structure through bended display | |
| CN111481231B (en) | Ultrasonic detection control method, ultrasonic detection control device and computer readable storage medium | |
| US20210149534A1 (en) | Display Control Method and Terminal | |
| CN107770376B (en) | Control method of mobile terminal and mobile terminal | |
| CN112164608B (en) | Electronic device, control method and control device thereof | |
| EP3605278B1 (en) | Method for providing haptic feedback, and electronic device for performing same | |
| CN106211298A (en) | A kind of information processing method and mobile terminal | |
| CN104035651A (en) | Control method and electronic device | |
| CN110602278B (en) | Mobile terminal, control method, control device and computer readable storage medium | |
| CN109991507B (en) | Smart card contact detection circuit, method and equipment | |
| CN114252100B (en) | Online calibration method, device, equipment and storage medium for sensor | |
| CN102043109B (en) | Testing device | |
| CN112907673B (en) | Positioning method, positioning device, terminal equipment and storage medium | |
| CN112397453B (en) | Display panel and electronic equipment | |
| CN111104012B (en) | Distance measuring method and device, storage medium and terminal equipment | |
| CN111093131B (en) | Electronic device, control method and control device thereof, and computer-readable storage medium | |
| CN114168003A (en) | Touch pad assembly, vibration feedback method, electronic device and storage medium | |
| CN109672242B (en) | Terminal charging control method and device and storage medium | |
| CN112612593A (en) | Bluetooth control method, device, terminal equipment and computer readable storage medium | |
| CN111048056A (en) | Terminal equipment brightness adjusting method and system, storage medium and terminal equipment | |
| CN109743120B (en) | Timing control circuit, timing control method and terminal | |
| CN113077745B (en) | Gate drive circuit, display panel and mobile terminal | |
| CN113778063B (en) | Equipment control method and device based on longitudinal characteristic data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |