CN114681086A - Method for controlling electric toothbrush, and storage medium - Google Patents
Method for controlling electric toothbrush, and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 60
- 238000012545 processing Methods 0.000 claims abstract description 44
- 230000001680 brushing effect Effects 0.000 claims abstract description 37
- 230000008569 process Effects 0.000 claims description 15
- 238000009928 pasteurization Methods 0.000 claims description 6
- 238000002347 injection Methods 0.000 claims description 5
- 239000007924 injection Substances 0.000 claims description 5
- 238000013507 mapping Methods 0.000 claims description 4
- 238000012163 sequencing technique Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000009897 systematic effect Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 abstract description 8
- 230000010354 integration Effects 0.000 description 5
- 230000010355 oscillation Effects 0.000 description 5
- 239000000243 solution Substances 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000000214 mouth Anatomy 0.000 description 2
- 229940034610 toothpaste Drugs 0.000 description 2
- 239000000606 toothpaste Substances 0.000 description 2
- 230000001580 bacterial effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 235000001968 nicotinic acid Nutrition 0.000 description 1
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- 230000001360 synchronised effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
- A61C17/16—Power-driven cleaning or polishing devices
- A61C17/22—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like
- A61C17/32—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating
- A61C17/34—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating driven by electric motor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
- A61C17/16—Power-driven cleaning or polishing devices
- A61C17/22—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like
- A61C17/221—Control arrangements therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
- A61C17/16—Power-driven cleaning or polishing devices
- A61C17/22—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like
- A61C17/32—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating
- A61C17/34—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating driven by electric motor
- A61C17/3409—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating driven by electric motor characterized by the movement of the brush body
- A61C17/3472—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating driven by electric motor characterized by the movement of the brush body with combined movements of the brush body
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
- A61C17/16—Power-driven cleaning or polishing devices
- A61C17/22—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like
- A61C17/32—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating
- A61C17/34—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating driven by electric motor
- A61C17/3409—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating driven by electric motor characterized by the movement of the brush body
- A61C17/3481—Vibrating brush body, e.g. by using eccentric weights
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Abstract
The invention discloses a control method of an electric toothbrush, the electric toothbrush and a storage medium, wherein a starting instruction is received, the starting instruction comprises a swing position angle parameter, and the swing position angle parameter is determined according to a preset tooth brushing angle; processing the swing position angle parameter to generate a corresponding rotor position angle parameter of a motor in the electric toothbrush; processing the rotor position angle parameter to form a corresponding swing voltage signal; superimposing the dither voltage signal on the basis of the swing voltage signal to form a target voltage signal; carrying out serialization and time processing on the target voltage signal to form two paths of curvy pulse width modulation waves; and controlling the electric toothbrush to swing and vibrate according to the two paths of curvelized pulse width modulation waves. According to the technical scheme, the cleaning efficiency of the electric toothbrush is improved by simulating the swing angle of manual tooth brushing and combining high-frequency reciprocating vibration, and meanwhile, the comfort level of the electric toothbrush is also ensured.
Description
Technical Field
The invention relates to the technical field of electric toothbrushes, in particular to a control method of an electric toothbrush, an electric toothbrush and a storage medium.
Background
The electric toothbrush enables the brush head to generate high-frequency vibration through the quick rotation or vibration of the motor core, instantaneously decomposes the toothpaste into fine foam to deeply clean slits between teeth, and simultaneously, the vibration of the bristles can promote the blood circulation of the oral cavity and has a massage effect on gum tissues; the electric driving vibrating motor is arranged in the vibrating toothbrush, so that the brush head can generate high-frequency swing perpendicular to the brush handle direction, but the swing amplitude is very small, generally about 5 mm for each of the upper part and the lower part, and the maximum swing amplitude in the industry is 6 mm. When the toothbrush is used for brushing teeth, on one hand, the brush head which swings at high frequency can efficiently finish the action of brushing teeth, on the other hand, the mixture of toothpaste and water in the oral cavity can generate a large amount of tiny bubbles by vibration for more than 30000 times per minute, and the pressure generated when the bubbles burst can deeply penetrate into gaps between teeth to clean dirt.
When a common toothbrush is used for brushing teeth, the used force is controlled by a user, sometimes, the brushing force is inevitably too large, or an incorrect pull-saw type transverse brushing method is adopted, which can cause damage to teeth and gum, when the common toothbrush is used for brushing teeth, the used force and the rotation angle are controlled by the user, sometimes, the brushing force is inevitably too large, or the incorrect pull-saw type transverse brushing method is adopted, which can cause damage to the teeth and the gum; the existing technical scheme can only realize high-frequency reciprocating vibration of the output shaft of the motor generally, and can not realize a tooth brushing mode with large-amplitude motion when a correct manual tooth brushing method is simulated; thus, the cleaning efficiency and the use comfort are poor when brushing teeth.
Disclosure of Invention
The invention mainly aims to provide a control method of an electric toothbrush, and aims to solve the problems of low brushing cleaning efficiency and poor use comfort caused by the fact that a brushing mode which can only realize high-frequency reciprocating vibration and can not realize large-amplitude movement during artificial manual brushing in the prior art is provided.
To achieve the above objects, the present invention provides a method for controlling an electric toothbrush, comprising the steps of:
receiving a starting instruction, wherein the starting instruction comprises a swinging position angle parameter, and the swinging position angle parameter is determined according to a preset tooth brushing angle; processing the swing position angle parameter to generate a corresponding rotor position angle parameter of a motor in the electric toothbrush;
processing the rotor position angle parameter to form a corresponding swing voltage signal;
superimposing the dither voltage signal on the basis of the swing voltage signal to form a target voltage signal;
carrying out serialization and time processing on the target voltage signal to form two paths of curvy pulse width modulation waves;
and controlling the electric toothbrush to swing and vibrate according to the two paths of curvelized pulse width modulation waves.
Preferably, when a starting instruction is received, a swinging position angle parameter corresponding to the starting instruction is obtained, and the swinging position parameter is determined according to the designed brushing angle of the human hand; the step of processing the swing position angle parameter to generate a corresponding rotor position angle of the motor inside the electric toothbrush comprises the following steps:
generating preset rotor position angle parameters according to the change of the swing angle between the pasteurization tooth brushing method and the tooth long axis; and then obtaining the transformation parameters of the rotor position angle according to the preset swing amplitude, the preset swing frequency and the mapping relation between the preset swing initial phase and the swing position angle. Preferably, the step of processing the rotor position angle parameter to form a corresponding swing voltage signal includes the steps of:
when the rotor position angle parameters are processed, a current generation module is adopted to generate corresponding swing current signals; the current generation module inputs the swing current to the linear controller, and the linear controller outputs a corresponding swing voltage signal; linear controllers are used to reduce systematic errors.
Preferably, when the rotor position angle parameter is processed, a current generation module is adopted to generate a corresponding swing current signal; the current generation module inputs the swing current to the linear controller, and the linear controller outputs a corresponding swing voltage signal; the step of the linear controller for reducing the system error comprises the following steps:
the current generation module and a motor of the electric toothbrush form a vector control closed loop, and a low-pass filter is used in closed-loop feedback to filter out high-frequency vibration current.
Preferably, the step of processing the rotor position angle parameter to form a corresponding swing voltage signal includes the steps of:
and processing the rotor position angle parameters, and forming corresponding swing voltage signals by adopting a voltage generation module.
Preferably, the step of superimposing the dither voltage signal on the basis of the swing voltage signal to form the target voltage signal comprises the steps of:
the high-frequency vibration voltage signal is generated in the high-frequency signal injection module, and the high-frequency vibration voltage signal is input by adopting square waves and is superposed with the swing voltage signal.
Preferably, the step of performing serialization and time processing on the target voltage signal to form two paths of curved pulse width modulation waves with alternating frequency duty cycles includes the following steps:
carrying out serialization processing on the obtained curvilinear swing and vibration parameters to generate swing parameters with adjustable swing sequences and vibration parameters with adjustable vibration sequences;
carrying out time processing on the swing parameters with adjustable swing sequences and the vibration parameters with adjustable vibration sequences to generate curvilinear motor swing parameters with adjustable time gaps of the swing sequences and generating curvilinear motor vibration parameters with adjustable time gaps of the vibration sequences and the vibration sequences;
the swing sequence generated in the serialization process, the swing sequence time gap generated in the time-based process and the curve motor swing parameter are processed in a time-based mode; the vibration sequence generated in the serialization process, the vibration sequence time gap generated in the time-based process and the curvilinear motor vibration parameter are obtained; are processed into two paths of curved pulse width modulation waves.
Preferably, the step of controlling the swing and vibration of the electric toothbrush according to the two-way curved pwm wave includes the steps of:
inputting a driving current to a motor of the electric toothbrush according to the two paths of curvilinear pulse width modulation waves within a preset time length so as to control the motor to execute reciprocating curve swinging with variable swinging angle and variable swinging frequency; and meanwhile, the motor is controlled to execute reciprocating curvilinear vibration with variable rotating speed and variable vibration intensity.
The invention also provides an electric toothbrush, which comprises a memory, a processor and a control program stored in the memory and capable of running on the processor, wherein the control program realizes the control method of the electric toothbrush according to any item when being executed by the processor.
The present invention also provides a storage medium having a control program stored thereon, the control program being configured to implement the method of controlling an electric toothbrush according to any one of the above aspects.
According to the technical scheme, when a starting instruction is received, a swing position angle parameter corresponding to the starting instruction is obtained; the swing position angle parameter is determined according to the designed brushing angle of the human hand; processing the swing position angle parameter to generate a corresponding rotor position angle parameter of a motor in the electric toothbrush; processing the rotor position angle parameter to form a corresponding swing voltage signal; superposing a high-frequency vibration voltage signal on the basis of the swing voltage signal to form a target voltage signal; then, carrying out serialization and time processing on the target voltage signal to form two paths of curvy pulse width modulation waves; finally, controlling the electric toothbrush to swing and vibrate according to the two paths of curvy pulse width modulation waves; through simulating the swing angle of manual tooth brushing and combining high-frequency reciprocating vibration, the cleaning efficiency of the electric toothbrush is improved, and meanwhile, the comfort level of the electric toothbrush is also ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only 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 flowchart illustrating a method of controlling an electric toothbrush according to an embodiment of the present invention.
Fig. 2 is a schematic flowchart illustrating an embodiment of step S100 in fig. 1.
Fig. 3 is a flowchart illustrating an embodiment of step S200 in fig. 1.
Fig. 4 is a flowchart illustrating an embodiment of step S300 in fig. 1.
Fig. 5 is a flowchart illustrating an embodiment of step S400 in fig. 1.
Fig. 6 is a flowchart illustrating an embodiment of step S500 in fig. 1.
Fig. 7 is a schematic circuit diagram illustrating an embodiment of a method for controlling the electric toothbrush according to the present invention.
Fig. 8 is a flowchart illustrating a step S200 of another embodiment of a method for controlling an electric toothbrush according to the present invention.
Fig. 9 is a schematic circuit diagram of another embodiment of a method of controlling the electric toothbrush of the present invention.
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
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.
It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture, and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if the meaning of "and/or" and/or "appears throughout, the meaning includes three parallel schemes, for example," A and/or B "includes scheme A, or scheme B, or a scheme satisfying both schemes A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a control method of an electric toothbrush.
Example one
Referring to fig. 1 to 6, in one embodiment of the present invention, a method of controlling the electric toothbrush includes the steps of:
s100: receiving a starting instruction, wherein the starting instruction comprises a swinging position angle parameter, and the swinging position angle parameter is determined according to a preset tooth brushing angle; processing the swing position angle parameter to generate a corresponding rotor position angle parameter of a motor in the electric toothbrush;
s200: processing the rotor position angle parameter to form a corresponding swing voltage signal;
s300: superimposing the dither voltage signal on the basis of the swing voltage signal to form a target voltage signal;
s400: carrying out serialization and time processing on the target voltage signal to form two paths of curvy pulse width modulation waves;
s500: and controlling the electric toothbrush to swing and vibrate according to the two paths of curvelized pulse width modulation waves.
When a starting instruction is received, acquiring a swing position angle parameter corresponding to the starting instruction; the swing position angle parameter is determined according to the designed brushing angle of the human hand; processing the swing position angle parameter to generate a corresponding rotor position angle parameter of a motor in the electric toothbrush; processing the rotor position angle parameter to form a corresponding swing voltage signal; superposing a high-frequency vibration voltage signal on the basis of the swing voltage signal to form a target voltage signal; then, carrying out serialization and time processing on the target voltage signal to form two paths of curvy pulse width modulation waves; finally, controlling the swing and the vibration of the electric toothbrush according to the two paths of curvilinearized pulse width modulation waves; through simulating the swing angle of manual tooth brushing and combining high-frequency reciprocating vibration, the cleaning efficiency of the electric toothbrush is improved, and meanwhile, the comfort level of the electric toothbrush is also ensured.
In the embodiment, the control method of the electric toothbrush mainly adopts the bionics principle, and in the process that a user uses the electric toothbrush, the simulated hand cleans the teeth by adopting the pasteurization brushing method, so as to increase the cleaning efficiency of the electric toothbrush; the rotor position frame angle parameters are processed and converted into simulated swing voltage signals, so that the subsequent high-frequency vibration voltage signals are conveniently superposed and then output; the electric toothbrush can realize the swinging of the brush head with larger amplitude, and simultaneously superpose high-frequency vibration, so that two tooth brushing modes of simulating manual tooth brushing and high-frequency electric tooth brushing are combined.
Preferably, when a starting instruction is received, a swinging position angle parameter corresponding to the starting instruction is obtained, and the swinging position parameter is determined according to the designed brushing angle of the human hand; step S100 of processing the oscillation position angle parameter to generate a corresponding rotor position angle of the motor inside the electric toothbrush, includes the following steps:
s11: generating preset rotor position angle parameters by adopting a virtual position generating module according to the swing angle change between the pasteurization tooth brushing method and the tooth long axis; and then obtaining the transformation parameters of the rotor position angle according to the preset swing amplitude, the preset swing frequency and the mapping relation between the preset swing initial phase and the swing position angle.
The pasteurization tooth brushing method is also called gingival sulcus cleaning method or horizontal vibration method, and is a method recommended by the American dental society for effectively removing bacterial plaque near gingival margin and in gingival sulcus; selecting a soft-bristle toothbrush, and enabling the toothbrush and a long shaft of teeth to form an angle of 45 degrees and point to the apical direction (upper teeth are upward, lower teeth are downward), so that bristles and teeth form an angle of 45-60 degrees; according to the intersection area of gum and tooth, part of the brush hair enters the gingival sulcus, and the other part of the brush hair is paved on the gingival margin and extends into the adjacent gap as far as possible, and the brush hair horizontally vibrates for 4-5 times in the front-back direction short distance in the original position by soft pressure. The toothbrush moves only about 1mm when vibrating, and 2-3 teeth are brushed each time; when the toothbrush is moved to the next group of teeth, attention is paid to the overlapping placement. It should be noted that the virtual position generating module may adopt a functional form such as a triangular wave that alternates between positive and negative.
Determining a preset swing amplitude, a preset swing frequency and a preset swing initial phase according to a root tip direction of a toothbrush and a tooth long axis forming an angle of 45 degrees, short-distance horizontal vibration of bristles in a front-back direction in an original position for 4-5 times and the like in a pasteurization tooth brushing method, and calculating a final conversion parameter of a rotor position angle, wherein the calculation expression is as follows:
wherein, Delta theta is a preset swing amplitude, omega is a preset swing frequency,
is a preset swing initial phase.
Preferably, the step S200 of processing the rotor position angle parameter to form a corresponding swing voltage signal includes the following steps:
s21: and processing the rotor position angle parameters, and forming corresponding swing voltage signals by adopting a voltage generation module.
Preferably, the step S300 of superimposing the dither voltage signal on the basis of the swing voltage signal to form the target voltage signal includes:
s31: the high-frequency vibration voltage signal is generated in the high-frequency signal injection module, and the high-frequency vibration voltage signal is input by adopting square waves and is superposed with the swing voltage signal.
The expression of the high-frequency signal injection module for generating the voltage signal is as follows:
usdi＝Udhsin(ωht+α)
usqi＝Uqhsin(ωht+β)
wherein, UdhAnd UqhThe amplitude of the preset injection signal can be adjusted according to requirements; omegahThe sum of the frequency of the swing voltage signal and the frequency of the superposed high-frequency vibration signal can be adjusted according to requirements; alpha and beta are phases of the high-frequency vibration signals and can be adjusted according to requirements. While the cut-off frequency of the low-pass filter is lower than omegah。
Preferably, the step S400 of performing serialization and time processing on the target voltage signal to form two paths of curved pulse width modulation waves with alternating frequency duty cycles includes the following steps:
s41: carrying out serialization processing on the obtained curvelinear swing and vibration parameters to generate swing parameters with adjustable swing sequences and vibration parameters with adjustable vibration sequences; carrying out time processing on the swing parameters with adjustable swing sequences and the vibration parameters with adjustable vibration sequences to generate curvilinear motor swing parameters with adjustable time gaps of the swing sequences and generating curvilinear motor vibration parameters with adjustable time gaps of the vibration sequences and the vibration sequences; the swing sequence generated in the serialization process, the swing sequence time gap generated in the time-based process and the curve motor swing parameter are processed in a time-based mode; the vibration sequence generated in the serialization process, the vibration sequence time gap generated in the time-based process and the curvilinear motor vibration parameter are obtained; are processed into two paths of curved pulse width modulation waves.
When obtaining the curvilinear oscillation and vibration parameters of the electric toothbrush, carrying out serialization and time processing on the curvilinear oscillation and vibration parameters, wherein the serialization processing is to select a certain parameter in the curvilinear vibration parameters as a sequencing standard, for example, sequencing the curvilinear oscillation parameters according to the size of an oscillation angle or sequencing according to a driving current; sorting the curved vibration parameters according to the magnitude of vibration frequency or sorting according to driving current; the time processing is to give a preset time sequence time point to different vibration parameter values to process the curved swing parameter and the vibration parameter into two paths of curved Pulse Width Modulation (Pulse Width Modulation) waves.
Preferably, the step S500 of controlling the swing and vibration of the electric toothbrush according to the two-way curved pwm wave includes the steps of:
s51: inputting a driving current to a motor of the electric toothbrush according to the two paths of curvilinear pulse width modulation waves within a preset time length so as to control the motor to execute reciprocating curve swinging with variable swinging angle and variable swinging frequency; and meanwhile, the motor is controlled to execute reciprocating curvilinear vibration with variable rotating speed and variable vibration intensity.
After the two paths of the curvy pulse width modulation waves are output, a driving current matched with the two paths of the curvy pulse width modulation waves is input to a motor of the electric toothbrush so as to control the electric toothbrush to execute reciprocating curvy vibration with variable swing angle, variable swing frequency, variable swing speed and variable vibration intensity.
Example two
The present embodiment is substantially the same as the first embodiment, except that, with reference to fig. 1 to 2 and fig. 4 to 7, the step S200 of processing the rotor position angle parameter to form a corresponding swing voltage signal includes the following steps:
s222: when the rotor position angle parameters are processed, a current generation module is adopted to generate corresponding swing current signals; the current generation module inputs the swing current to the linear controller, and the linear controller outputs a corresponding swing voltage signal; linear controllers are used to reduce systematic errors.
In this embodiment, the linear controller may form a control deviation according to a given value and an actual output value, and linearly combine a proportion and an integral of the deviation to form a control amount to control a controlled object; the correction link mainly comprises a proportion link and an integral link. And the proportional link reflects the deviation signal of the control system in proportion, and once the deviation is generated, the controller immediately generates a control action to reduce the deviation. The integration link is mainly used for eliminating static difference and improving the non-difference (type) of the system. The strength of the integration depends on the integration constant, and the larger the integration constant is, the weaker the integration is, and vice versa. The smaller the overshoot of the closed loop system, the slower the response speed of the system. The linear controller is mainly used for improving the steady-state performance of the control system, is beneficial to controlling the stability of the output voltage, and further has the advantages of stably adjusting and reducing the error of the operation system.
When the current generation module generates a current signal, the current signal is determined by a determined constant or a fluctuation amount with direct current bias, and the following equation is required to be satisfied:
wherein f (x) is an arbitrary function, and the arbitrary function comprises a mapping relation between the determined constant quantity or fluctuation quantity with the DC bias and the current signal.
Preferably, when the rotor position angle parameter is processed, a current generation module is adopted to generate a corresponding swing current signal; the current generation module inputs the swing current to the linear controller, and the linear controller outputs a corresponding swing voltage signal; the step S21 for reducing the system error by the linear controller includes the following steps:
s23: the current generation module and a motor of the electric toothbrush form a vector control closed loop, and a low-pass filter is used in closed-loop feedback to filter out high-frequency vibration current.
In this embodiment, the low-pass filter may be any filter with low-pass capability in the prior art; in a closed loop, the high-frequency vibration current needs to be filtered, so that the feedback effect of the high-frequency vibration current in closed loop feedback is prevented from being influenced, and the subsequent regulation is prevented from being influenced.
According to the technical scheme, when a starting instruction is received, a swing position angle parameter corresponding to the starting instruction is obtained; the swing position angle parameter is determined according to the designed brushing angle of the human hand; processing the swing position angle parameter to generate a corresponding rotor position angle parameter of a motor in the electric toothbrush; processing the rotor position angle parameter to form a corresponding swing voltage signal; superposing a high-frequency vibration voltage signal on the basis of the swing voltage signal to form a target voltage signal; then, carrying out serialization and time processing on the target voltage signal to form two paths of curvy pulse width modulation waves; finally, controlling the electric toothbrush to swing and vibrate according to the two paths of curvy pulse width modulation waves; through simulating the swing angle of manual tooth brushing and combining high-frequency reciprocating vibration, the cleaning efficiency of the electric toothbrush is improved, and meanwhile, the comfort level of the electric toothbrush is also ensured.
The present invention further provides an electric toothbrush, which includes a control method of the electric toothbrush, and the specific steps of the control method of the electric toothbrush refer to the above embodiments. The electric toothbrush comprises a memory, a processor and a control program which is stored in the memory and can run on the processor, wherein the control program realizes the control method of the electric toothbrush according to any item when being executed by the processor.
The memory may be used to store software programs as well as various data; the processor is a control center of the electric toothbrush, is connected with each part of the whole electric toothbrush by various interfaces and lines, and executes various functions and processes data of the electric toothbrush by running or executing software programs and/or modules stored in the memory and calling the data stored in the memory, thereby carrying out the integral monitoring of the electric toothbrush; the processor implements the control method of the electric toothbrush as described above when executing the control program. The electric toothbrush is driven by a three-phase inverter and a three-phase permanent magnet synchronous motor.
Furthermore, an embodiment of the present invention further provides a storage medium storing a control program, which when executed by a processor implements the steps of the control method of the electric toothbrush as described above.
The method for implementing the control program when executed can refer to the embodiments of the control method of the electric toothbrush of the present invention, and will not be described herein again.
The above description is only a preferred embodiment of the present invention, and is 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 method of controlling a power toothbrush, the method comprising the steps of:
receiving a starting instruction, wherein the starting instruction comprises a swinging position angle parameter, and the swinging position angle parameter is determined according to a preset tooth brushing angle; processing the swing position angle parameter to generate a corresponding rotor position angle parameter of a motor in the electric toothbrush;
processing the rotor position angle parameters to form corresponding swing voltage signals;
superimposing the dither voltage signal on the basis of the swing voltage signal to form a target voltage signal;
carrying out serialization and time processing on the target voltage signal to form two paths of curvilinear pulse width modulation waves;
and controlling the electric toothbrush to swing and vibrate according to the two paths of curvelized pulse width modulation waves.
2. The method for controlling an electric toothbrush according to claim 1, wherein when receiving the start command, acquiring a swing position angle parameter corresponding to the start command, the swing position parameter being determined according to a designed brushing angle of a human hand; the step of processing the swing position angle parameter to generate a corresponding rotor position angle of an internal motor of the electric toothbrush comprises the following steps:
generating preset rotor position angle parameters according to the change of the swing angle between the pasteurization tooth brushing method and the tooth long axis; and then obtaining a transformation parameter of the rotor position angle according to the preset swing amplitude, the preset swing frequency and the mapping relation between the preset swing initial phase and the swing position angle.
3. The method of controlling an electric toothbrush according to any one of claims 1 to 2, wherein the step of processing the rotor position angle parameter to form a corresponding swing voltage signal comprises the steps of:
when the rotor position angle parameters are processed, a current generation module is adopted to generate corresponding swing current signals; the current generation module inputs the swing current to the linear controller, and the linear controller outputs a corresponding swing voltage signal; linear controllers are used to reduce systematic errors.
4. The method of claim 3, wherein the rotor position angle parameter is processed by a current generation module to generate a corresponding oscillating current signal; the current generation module inputs the swing current to the linear controller, and the linear controller outputs a corresponding swing voltage signal; the step of the linear controller for reducing the system error comprises the following steps:
the current generation module and a motor of the electric toothbrush form a vector control closed loop, and a low-pass filter is used in closed-loop feedback to filter out high-frequency vibration current.
5. The method of controlling an electric toothbrush according to any one of claims 1 to 2, wherein the step of processing the rotor position angle parameter to form a corresponding swing voltage signal comprises the steps of:
and processing the rotor position angle parameters, and forming corresponding swing voltage signals by adopting a voltage generation module.
6. The method of controlling an electric toothbrush according to any one of claims 1 to 2, wherein the step of superimposing the dither voltage signal on the basis of the swing voltage signal to form the target voltage signal comprises the steps of:
the high-frequency vibration voltage signal is generated in the high-frequency signal injection module, and the high-frequency vibration voltage signal is input by adopting square waves and is superposed with the swing voltage signal.
7. The method of controlling an electric toothbrush according to any one of claims 1 to 2, wherein the step of sequencing and time-converting the target voltage signal to form a two-way frequency duty-cycle alternating, curved pwm wave comprises the steps of:
carrying out serialization processing on the obtained curvilinear swing and vibration parameters to generate swing parameters with adjustable swing sequences and vibration parameters with adjustable vibration sequences;
carrying out time processing on the swing parameters with adjustable swing sequences and the vibration parameters with adjustable vibration sequences to generate curvilinear motor swing parameters with adjustable time gaps of the swing sequences and generating curvilinear motor vibration parameters with adjustable time gaps of the vibration sequences and the vibration sequences;
the swing sequence generated in the serialization process, the swing sequence time gap generated in the time-based process and the curve motor swing parameter are processed in a time-based mode; the vibration sequence generated in the serialization process, the vibration sequence time gap generated in the time-based process and the curvilinear motor vibration parameter are obtained; and processed into a vibration-curved pulse width modulation wave and a swing-curved pulse width modulation wave.
8. The method of claim 7, wherein the step of controlling the oscillating and vibrating of the electric toothbrush according to the two-way curved pwm wave comprises:
inputting a driving current to a motor of the electric toothbrush according to the two paths of curvilinear pulse width modulation waves within a preset time length so as to control the motor to execute reciprocating curve swinging with variable swinging angle and variable swinging frequency; and meanwhile, the motor is controlled to execute reciprocating curvilinear vibration with variable rotating speed and variable vibration intensity.
9. An electric toothbrush comprising a memory, a processor and a control program stored in said memory and executable on said processor, said control program when executed by said processor implementing a method of controlling an electric toothbrush according to any one of claims 1 to 8.
10. A storage medium having stored thereon a control program, the control program being processed and executed to implement a method of controlling an electric toothbrush according to any one of claims 1 to 8.
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