CN115632593A - Protection method of linear motor, terminal device and computer readable storage medium - Google Patents
Protection method of linear motor, terminal device and computer readable storage medium Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
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Abstract
The invention discloses a protection method of a linear motor, a terminal device and a computer readable storage medium, comprising the following steps: acquiring each driving voltage signal input into the target linear motor and each motor parameter of the target linear motor, and calculating to obtain each vibrator motion parameter predicted value in the target linear motor according to each driving voltage signal and each motor parameter; obtaining a collision early warning result according to the predicted value of the motion parameter of each vibrator, and calculating to obtain a target adjustment voltage signal according to the predicted value of the motion parameter of each vibrator and each motor parameter when the collision early warning result indicates that a collision risk exists; and processing the target adjustment voltage signal to obtain a target protection voltage signal, and inputting the target protection voltage signal into the target linear motor to protect the target linear motor. The invention can realize the technical effect that the terminal equipment can be subjected to intervention protection in the driving process of the linear motor, thereby preventing the vibrator in the linear motor from colliding with the motor shell in the moving process.
Description
Technical Field
The present invention relates to the field of linear motors, and in particular, to a method for protecting a linear motor, a terminal device, and a computer-readable storage medium.
Background
With the development of the consumer electronics industry, the Linear motor (LRA) has been widely applied to various occasions requiring vibration feedback acquisition through the consumer electronics products by virtue of its advantages of strong, rich, crisp and low energy consumption, and particularly in the AR (augmented Reality)/VR (Virtual Reality) products, the Linear motor can realize very rich, real and strong vibration feedback through the construction of diversified driving voltage signals.
However, since a skilled person often cannot accurately know the specific physical characteristics and control algorithm of the linear motor, it is not ensured that the designed driving voltage can always keep the oscillator in the linear motor within the maximum displacement range allowed by the hardware design of the linear motor when the driving voltage signal is constructed, especially in some application scenarios with large vibration requirements, the AR/VR product often increases the driving voltage amplitude to make the linear motor improve vibration feedback, so that the situation that the oscillator in the linear motor exceeds the displacement range limited by the hardware of the linear motor during the moving process easily occurs, and once the situation occurs, the oscillator easily generates a mechanical collision with the housing of the linear motor, thereby reducing the performance of the motor, generating vibration noise or affecting the normal vibration output of the linear motor, and even directly damaging the linear motor, so how to avoid the oscillator in the linear motor from colliding with the housing of the linear motor during the moving process becomes an urgent problem to be solved in the industry.
Disclosure of Invention
Embodiments of the present invention provide a protection method for a linear motor, a terminal device, and a computer-readable storage medium, and aim to enable the terminal device to perform intervention protection during a driving process of the linear motor, so as to prevent a vibrator in the linear motor from colliding with a motor housing during a movement process, thereby preventing performance degradation, abnormal vibration, large vibration noise, or motor damage, and the like, during the driving process of the linear motor.
In order to achieve the above object, the present invention provides a protection method of a linear motor, including the steps of:
acquiring each driving voltage signal input into a target linear motor and each motor parameter of the target linear motor, and calculating to obtain each oscillator motion parameter predicted value in the target linear motor according to each driving voltage signal and each motor parameter;
obtaining a collision early warning result according to each vibrator motion parameter predicted value, and calculating to obtain a target adjustment voltage signal according to each vibrator motion parameter predicted value and each motor parameter when the collision early warning result indicates that a collision risk exists;
and processing the target adjustment voltage signal to obtain a target protection voltage signal, and inputting the target protection voltage signal into the target linear motor to protect the target linear motor.
Further, the oscillator motion parameter predicted value comprises a target oscillator displacement predicted value, a target oscillator speed predicted value and a target oscillator energy predicted value;
the step of calculating and obtaining the predicted value of the motion parameter of each oscillator in the target linear motor according to each driving voltage signal and each motor parameter comprises the following steps:
determining each historical driving voltage signal from the nth time to the nth-m time and each historical vibrator displacement predicted value from the nth time to the nth-m time in each driving voltage signal;
calculating each historical driving voltage signal and each historical vibrator displacement predicted value based on a preset first predicted value calculation formula to obtain a target vibrator displacement predicted value;
calculating the displacement predicted value of each historical vibrator based on a preset second predicted value calculation formula to obtain the target vibrator speed predicted value;
and calculating the target oscillator displacement predicted value, the target oscillator speed predicted value and each motor parameter based on a preset third predicted value calculation formula to obtain the target oscillator energy predicted value.
Further, before the step of obtaining a displacement warning result and an energy warning result according to each motor parameter and each oscillator motion parameter predicted value, the method further includes:
determining a maximum oscillator displacement threshold value and a spring stiffness coefficient contained in each motor parameter;
and calculating the maximum threshold value of the vibrator displacement and the stiffness coefficient of the spring based on a preset energy calculation formula to obtain the maximum energy value of the system.
Further, the collision early warning result comprises a displacement early warning result, a displacement trigger result and an energy early warning result; the step of obtaining the collision early warning result according to the predicted value of each vibrator motion parameter comprises the following steps:
comparing the displacement amplitude corresponding to the target oscillator displacement predicted value with a preset displacement protection early warning value to obtain a displacement early warning result;
when the displacement early warning result is that the displacement amplitude is larger than the displacement protection early warning value, comparing the displacement amplitude with a preset displacement protection trigger value to obtain a displacement trigger result; wherein the displacement protection trigger value is greater than the displacement protection early warning value;
when the displacement triggering result is that the displacement amplitude is larger than the displacement protection triggering value, comparing the system maximum energy value with the target oscillator energy predicted value to obtain the energy early warning result;
and when the energy early warning result is that the predicted value of the target oscillator energy is greater than the maximum energy value of the system, determining that the collision early warning result is that collision risk exists.
Further, after the step of comparing the displacement amplitude with a preset displacement protection trigger value to obtain the displacement trigger result, the method further includes:
when the displacement triggering result is that the displacement amplitude is smaller than or equal to the displacement protection triggering value, determining a displacement amplitude change trend corresponding to the target oscillator displacement predicted value; wherein the displacement amplitude variation trend comprises an increasing trend and a decreasing trend;
when the variation trend of the displacement amplitude is the trend increase, comparing the maximum energy value of the system with the predicted energy value of the target oscillator to obtain the energy early warning result;
and when the energy early warning result is that the predicted value of the target oscillator energy is greater than or equal to the maximum energy value of the system, determining that the collision early warning result is that collision risk exists.
Further, the step of determining the variation trend of the displacement amplitude corresponding to the target oscillator displacement predicted value includes:
determining the displacement amplitude corresponding to the target oscillator displacement predicted value and a historical displacement amplitude corresponding to the target oscillator displacement predicted value at the previous moment;
comparing the displacement amplitude with the historical displacement amplitude to obtain a variation trend of the displacement amplitude, and determining that the variation trend of the displacement amplitude is increased when the variation trend of the displacement amplitude is that the displacement amplitude is greater than the historical displacement amplitude;
and when the change trend of the displacement amplitude is that the displacement amplitude is smaller than or equal to the historical displacement amplitude, determining that the change trend of the displacement amplitude is reduced.
Further, the step of calculating a target adjustment voltage signal according to each predicted value of the oscillator motion parameter and each motor parameter includes:
determining a speed direction corresponding to the target oscillator speed predicted value;
calculating to obtain a target adjustment voltage amplitude according to each motor parameter and each vibrator motion parameter predicted value;
and obtaining a target adjusting voltage signal opposite to the driving voltage signal according to the speed direction and the target adjusting voltage amplitude.
Further, the step of processing the target adjustment voltage value to obtain a target protection voltage signal includes:
determining a target frequency component exceeding a bandwidth range corresponding to the target linear motor in the target adjustment voltage value;
performing a smoothing filtering operation on the target frequency component to generate a target protection voltage signal.
In addition, to achieve the above object, the present invention also provides a terminal device, including: the linear motor protection method comprises a memory, a processor and a linear motor protection program stored on the memory and capable of running on the processor, wherein the steps of the linear motor protection method are realized when the linear motor protection program is executed by the processor.
Further, to achieve the above object, the present invention also provides a computer readable storage medium having stored thereon a protection program of a linear motor, which when executed by a processor, implements the steps of the protection method of a linear motor as described above.
According to the protection method of the linear motor, the terminal device and the computer readable storage medium provided by the embodiment of the invention, each driving voltage signal input into the target linear motor and each motor parameter of the target linear motor are obtained, and the predicted value of each oscillator motion parameter in the target linear motor is obtained through calculation according to each driving voltage signal and each motor parameter; obtaining a collision early warning result according to each vibrator motion parameter predicted value, and calculating to obtain a target adjustment voltage signal according to each vibrator motion parameter predicted value and each motor parameter when the collision early warning result indicates that a collision risk exists; and processing the target adjusting voltage signal to obtain a target protection voltage signal, and inputting the target protection voltage signal into the target linear motor to protect the target linear motor.
In this embodiment, when the terminal device is operating, first, each driving voltage signal input into the target linear motor is obtained, meanwhile, the terminal device reads a storage device in the target linear motor to obtain each motor parameter of the target linear motor, the terminal device further inputs each obtained driving voltage signal and each obtained motor parameter into a data processing device configured in the terminal device, the data processing device calculates a predicted value of each vibrator motion parameter in the target linear motor according to each driving voltage signal and each motor parameter to obtain a displacement warning result according to each vibrator motion parameter predicted value, and further determines a displacement trigger result and an energy warning result according to the displacement warning result to obtain a collision warning result in the target linear motor, the data processing device further calculates a target adjusting voltage signal according to each motor parameter and each vibrator motion parameter when it is determined that there is a collision risk in the collision warning result, and uploads the target adjusting voltage signal to the terminal device, and finally, after the terminal device obtains a target adjusting voltage signal by filtering processing the target adjusting voltage value through a low-pass filter device built in the terminal device to amplify the target adjusting voltage signal to obtain a target voltage signal, and further amplify the target voltage signal in the target linear motor to protect the target linear motor.
Therefore, the invention adopts a mode of calculating to obtain the predicted value of the motion parameter of each vibrator according to each driving voltage signal input into the linear motor and each motor parameter of the linear motor and determining the collision early warning result corresponding to the predicted value of the motion parameter of each vibrator, thereby solving the problem that whether the vibrator is easy to collide with the shell or not can not be determined in the motor driving process; when the collision early warning result is determined to be that collision risk exists, the motor parameters and the predicted values of the vibrator motion parameters are calculated to determine different target protection voltage signals, the target protection voltage signals are input into a target linear motor, and vibrators in the target linear motor generate reverse displacement to protect the target linear motor, so that the technical effect that terminal equipment can be subjected to interference protection in the linear motor driving process is achieved, the vibrators in the linear motor are prevented from colliding a motor shell in the motion process, and the problems of performance reduction, vibration sense abnormality, high vibration noise, motor damage and the like in the linear motor driving process are solved.
Drawings
Fig. 1 is a schematic structural diagram of a terminal device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a protection method for a linear motor according to a first embodiment of the present invention;
FIG. 3 is a schematic flow chart of a preferred embodiment of the protection method for the linear motor of the present invention;
FIG. 4 is a schematic diagram of a driving voltage signal waveform according to an embodiment of the protection method for a linear motor of the present invention;
fig. 5 is a waveform diagram illustrating a predicted value of displacement of a target oscillator according to an embodiment of a protection method for a linear motor of the present invention;
fig. 6 is a schematic waveform diagram of a predicted value of target oscillator energy according to an embodiment of the protection method for a linear motor of the present invention;
FIG. 7 is a schematic diagram illustrating a displacement control timing according to an embodiment of a protection method for a linear motor of the present invention;
FIG. 8 is a schematic diagram illustrating a waveform of a target adjustment voltage signal according to an embodiment of the protection method for a linear motor of the present invention;
FIG. 9 is a schematic diagram of a target protection voltage signal waveform according to an embodiment of the protection method for a linear motor of the present invention;
fig. 10 is a schematic diagram of displacement control waveforms according to an embodiment of the protection method for a linear motor 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
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a terminal device in a hardware operating environment according to an embodiment of the present invention.
It should be noted that fig. 1 is a schematic structural diagram of a hardware operating environment of the terminal device. The terminal device according to the embodiment of the present invention may be a device that executes the protection method for a linear motor according to the present invention, and the terminal device may specifically be a mobile terminal, a data storage control terminal, a PC, a portable computer, or the like.
As shown in fig. 1, the terminal device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 is not limiting to the terminal device and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a data storage module, a network communication module, a user interface module, and a protection program of a linear motor.
In the terminal device shown in fig. 1, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the terminal device of the present invention may be provided in the terminal device, and the terminal device calls the protection program of the linear motor stored in the memory 1005 through the processor 1001 and executes the protection method of the linear motor provided by the embodiment of the present invention.
Based on the terminal device described above, various embodiments of the protection method of the linear motor of the present invention are provided.
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating a protection method for a linear motor according to a first embodiment of the present invention.
It will be appreciated that although a logical sequence is shown in the flow chart, the protection method of the linear motor of the present invention may of course in some cases perform the steps shown or described in a different sequence than here.
In this embodiment, the protection method for a linear motor according to the present invention may include the steps of:
step S10: acquiring each driving voltage signal input into a target linear motor and each motor parameter of the target linear motor, and calculating to obtain each oscillator motion parameter predicted value in the target linear motor according to each driving voltage signal and each motor parameter;
it should be noted that terminal devices such as AR or VR connected to the driving voltage signal and the target linear motor generate a broadband signal according to an actual application scene, or a broadband signal generated after the terminal devices such as AR/VR process a sound effect actually output by a game application; similarly, the motor parameters may be composed of hardware related parameters of the motor itself and parameter indexes corresponding to vibrators included in the motor, and it is understood that the motor parameters may be stored in the terminal device or the target linear motor by a technician before the terminal device leaves a factory, so that the terminal device can directly read the storage device to obtain the motor parameters when needed.
In this embodiment, when the terminal device is operating, first, each driving voltage signal input into the target linear motor is acquired, and at the same time, the terminal device reads the storage device in the target linear motor to acquire each motor parameter of the target linear motor, and then, the terminal device inputs each acquired driving voltage signal and each acquired motor parameter into the data processing device configured in the terminal device, and the data processing device calculates the predicted value of each vibrator motion parameter in the target linear motor according to each driving voltage signal and each motor parameter.
For example, referring to fig. 4, fig. 4 is a schematic waveform diagram of a driving voltage signal according to an embodiment of a displacement control method for a linear motor oscillator of the present invention, when a terminal device is in operation, a driving voltage signal sent by a VR device connected to the terminal device is obtained first, and according to the driving voltage signal shown in fig. 4Determining the driving voltage signal u corresponding to each time 1 (n), at the same time, the terminal device reads the storage means of the target linear motor to acquire each motor parameter previously stored by the technician, and determines the bandwidth range [ f ] of the target linear motor among each motor parameter aL ，f aH ]Mass m of vibrator in motor, magnetic field intensity B1, spring stiffness coefficient k, damping coefficient R, and coil DC resistance R e Maximum displacement threshold x of vibrator hmax And the maximum output voltage u of the terminal device max The terminal device further obtains each driving voltage signal u 1 (t), bandwidth Range [ f aL ，f aH ]Mass m of vibrator in motor, magnetic field intensity Bl, spring stiffness coefficient k, damping coefficient r, direct current resistance Re of coil, maximum displacement threshold x of vibrator hmax And the maximum output voltage u of the terminal device max Input to a data processing device disposed in the terminal device, and based on each drive voltage signal u 1 And (n) calculating each motor parameter to obtain each vibrator motion parameter predicted value of the vibrator in the target linear motor when the vibrator moves.
Further, in a possible embodiment, the oscillator motion parameter predicted value includes a target oscillator displacement predicted value, a target oscillator speed predicted value and a target oscillator energy predicted value; the step of "calculating a predicted value of each oscillator motion parameter in the target linear motor according to each driving voltage signal and each motor parameter" in the step S10 may specifically include:
step S101: determining each historical driving voltage signal from the nth time to the nth-m time and each historical vibrator displacement predicted value from the nth time to the nth-m time in each driving voltage signal;
in the present embodiment, after acquiring each of the above-described drive voltage signals, the terminal device first determines each of the historical drive voltage signals at the current nth time and at times m before the nth time in each of the drive voltage signals, and determines a historical oscillator displacement prediction value corresponding to each of the historical drive voltage signals.
Step S102: calculating each historical driving voltage signal and each historical vibrator displacement predicted value based on a preset first predicted value calculation formula to obtain a target vibrator displacement predicted value;
in this embodiment, the terminal device inputs the acquired historical driving voltage signals and the historical vibrator displacement predicted values to the data processing device, and the data processing device calculates the historical driving voltage signals and the historical vibrator displacement predicted values based on a first predicted value calculation formula preset inside to obtain target vibrator displacement predicted values.
Step S103: calculating the displacement predicted value of each historical vibrator based on a preset second predicted value calculation formula to obtain the target vibrator speed predicted value;
in this embodiment, the terminal device inputs each acquired estimated displacement value of the historical oscillator to the data processing device, and the data processing device calculates each estimated displacement value of the historical oscillator based on a second estimated value calculation formula preset internally to obtain a target oscillator velocity estimated value.
Step S104: calculating the target oscillator displacement predicted value, the target oscillator speed predicted value and each motor parameter based on a preset third predicted value calculation formula to obtain a target oscillator energy predicted value;
in this embodiment, the terminal device inputs the obtained target oscillator displacement predicted value, target oscillator speed predicted value, and each motor parameter to the data processing device, and the data processing device calculates the target oscillator displacement predicted value, the target oscillator speed predicted value, and each motor parameter based on a third predicted value calculation formula preset inside to obtain a target oscillator energy predicted value.
Illustratively, the terminal device acquires each of the above-described drive voltage signals u in the input target linear motor, for example 1 After (n), first of all in each of the driving voltage signals u 1 (n) determining the historical driving voltage signal u at the current nth time, the nth-1 time and the nth-2 time 1 (n) a respective corresponding voltage value u,and historical oscillator displacement predicted values x corresponding to the historical drive voltage signals at the n-1 st time and the n-2 nd time 1 (n-1)、x 1 (n-2), then, inputting the acquired historical driving voltage signals and the historical vibrator displacement predicted values into the data processing device by the terminal equipment, and calculating the formula by the data processing device based on a first predicted value preset by a technician:
calculating each historical driving voltage signal and each historical vibrator displacement prediction to obtain a target vibrator displacement prediction value x at the current nth moment 1 (n) generating a target oscillator displacement predicted value waveform schematic diagram as shown in fig. 5 based on each target oscillator displacement predicted value;
similarly, the data processing device obtains the predicted value x of the displacement of the target oscillator 1 (n) then, predicting the initial vibrator displacement value x 1 Historical oscillator displacement predicted value x at (n) and (n-1) th time 1 (n-1) a second predictive value calculation formula preset by the technician:
thereby obtaining the predicted value v of the target oscillator speed at the nth moment 1 (n)；
Similarly, the data processing device further predicts the target oscillator displacement x at the nth time 1 (n) predicted value v of target oscillator velocity 1 (n), the mass value m of the motor oscillator and the stiffness coefficient k of the spring are substituted into a third predicted value calculation formula preset by a technician:
calculating to obtain the initial oscillator energy predicted value at the nth momentE 1 (n) generating a target oscillator energy predicted value waveform schematic diagram as shown in fig. 6 based on each target oscillator energy predicted value;
in this embodiment, the first predicted value calculation formula is
Step S20: obtaining a collision early warning result according to each vibrator motion parameter predicted value, and calculating to obtain a target adjustment voltage signal according to each vibrator motion parameter predicted value and each motor parameter when the collision early warning result indicates that a collision risk exists;
in this embodiment, the data processing device calculates a displacement early warning result according to the predicted value of the motion parameter of each vibrator, further determines a displacement trigger result and an energy early warning result according to the displacement early warning result to obtain a collision early warning result in the target linear motor, and then calculates a target adjustment voltage signal according to the motion parameter of each motor and the predicted value of the motion parameter of each vibrator when it is determined that the collision early warning result is a collision risk, and uploads the target adjustment voltage signal to the terminal device.
Illustratively, for example, the data processing device obtains the target oscillator displacement predicted value x 1 (n) and a preset displacement protection early warning value x tha Comparing to obtain a displacement early warning result, and further determining a target oscillator displacement predicted value x according to the displacement early warning result 1 (n) and a predetermined displacement protection trigger value x thb After the displacement triggering result is obtained, the data processing device obtains the predicted value E of the target oscillator energy 1 (n) determining an energy early warning result, obtaining a collision early warning result according to the displacement early warning result, the displacement trigger result and the energy early warning result, and calculating according to a preset target voltmeter when the collision early warning result is determined to be collision riskMaximum displacement threshold x of oscillator included in each motor parameter by computer hmax Displacement protection trigger value x thb Maximum output voltage u max And the obtained target oscillator displacement predicted value x 1 (n) calculating to obtain a target adjustment voltage signal u 2 (n) to adjust the target regulated voltage signal u 2 And (n) uploading to the terminal equipment.
Further, in a possible embodiment, before the step S20, the protection method for a linear motor of the present invention may further include:
step A10: determining a maximum vibrator displacement threshold value and a spring stiffness coefficient contained in each motor parameter;
step A20: calculating the maximum threshold value of the vibrator displacement and the stiffness coefficient of the spring based on a preset energy calculation formula to obtain a system maximum energy value;
illustratively, for example, the data processing device first determines a maximum vibrator displacement threshold value x in each motor parameter hmax And a spring stiffness coefficient k, and according to a preset energy calculation formula:
maximum threshold x for oscillator displacement hmax Calculating with the spring stiffness coefficient k to obtain the maximum energy value E of the system max 。
Further, in a feasible embodiment, the collision warning result includes a displacement warning result, a displacement trigger result, and an energy warning result, and the step of "obtaining the collision warning result according to the predicted value of the motion parameter of each vibrator" in the step S20 may specifically include:
step S201: comparing a displacement amplitude value corresponding to the target oscillator displacement predicted value with a preset displacement protection early warning value to obtain a displacement early warning result;
in this embodiment, the terminal device reads the storage device to obtain a displacement protection early warning value preset by a technician, inputs the displacement protection early warning value into the data processing device, and meanwhile, the data processing device determines a displacement amplitude corresponding to the target oscillator displacement predicted value and compares the displacement amplitude with the displacement protection early warning value to obtain a displacement early warning result.
Step S202: when the displacement early warning result is that the displacement amplitude is larger than the displacement protection early warning value, comparing the displacement amplitude with a preset displacement protection trigger value to obtain a displacement trigger result; wherein the displacement protection trigger value is greater than the displacement protection early warning value;
in this embodiment, when it is determined that the displacement warning result is that the displacement amplitude is greater than the displacement protection warning value, the data processing device obtains a displacement protection trigger value preset by a technician in the terminal device, and compares the displacement amplitude with the displacement protection trigger value to obtain a displacement trigger result.
Step S203: when the displacement triggering result is that the displacement amplitude is larger than the displacement protection triggering value, comparing the system maximum energy value with the target oscillator energy predicted value to obtain the energy early warning result;
in this embodiment, when the data processing device determines that the displacement trigger result is that the displacement amplitude is greater than the displacement protection trigger value, the data processing device determines that the displacement predicted value of the target oscillator may exceed the maximum displacement threshold of the oscillator included in each motor parameter, and compares the obtained system maximum energy value with the target oscillator energy predicted value to obtain an energy early warning result.
Step S204: when the energy early warning result is that the predicted value of the target oscillator energy is greater than the maximum energy value of the system, determining that a collision early warning result is that collision risk exists;
in this embodiment, when the data processing device determines that the energy early warning result is that the predicted value of the energy of the target oscillator is greater than the maximum energy value of the system, the data processing device determines that the oscillator in the target linear motor has a risk of collision with the motor housing, so as to obtain a collision early warning result corresponding to the predicted value of the motion parameter of each oscillator, that is, there is a collision risk.
In an exemplary manner, the first and second electrodes are,for example, the terminal device first reads the storage device to obtain a preset displacement protection early warning value x tha And displacement protection trigger value x thb And protecting the displacement with a pre-warning value x tha And displacement protection trigger value x thb Inputting the target oscillator displacement into a data processing device, and determining the target oscillator displacement predicted value x by the data processing device 1 (n) corresponding displacement amplitude | x 1 (n) |, and the displacement amplitude | x 1 (n) | is firstly compared with the displacement protection early warning value x tha Comparing to obtain a displacement early warning result, and when the displacement early warning result is a displacement amplitude | x 1 (n) | is greater than displacement protection early warning value x tha During the process, the terminal equipment determines the displacement of the oscillator in the target linear motor to be in an early warning interval, and the displacement amplitude | x is further processed through the data processing device 1 (n) | and displacement protection trigger value x thb Comparing to obtain a displacement trigger result, and determining the displacement amplitude | x as the displacement trigger result 1 (n) | is greater than the displacement protection trigger value x thb When the displacement of the oscillator is determined to be within the displacement protection operation triggering interval by the terminal equipment, so that the displacement of the oscillator is determined to exceed the maximum displacement threshold value x of the oscillator hmax So that the above-mentioned system maximum energy value E is further obtained by the data processing means max And the obtained target oscillator energy predicted value E 1 (n) comparing to obtain an energy early warning result, and when the energy early warning result is a target oscillator energy predicted value E 1 (n) is greater than the maximum energy value E of the system max And then, the terminal equipment determines that the displacement control operation needs to be applied immediately, and determines that the collision early warning result corresponding to the predicted value of the motion parameter of each vibrator is the existence of collision risk.
It is understood that, in the present embodiment, the displacement protection trigger value x is described above thb Should be set higher than the displacement protection pre-warning value x tha Of course, in another embodiment, the terminal device may not need to shift the amplitude | x 1 (n) | and displacement protection early warning value x tha Under the condition of obtaining a displacement early warning result by comparison, directly comparing the displacement amplitude | x 1 (n) and displacement protection trigger value x thb Comparing to obtainAnd obtaining the displacement trigger result.
Further, in a possible embodiment, after the step S202, the protection method for a linear motor according to the present invention may further include:
step B10: when the displacement triggering result is that the displacement amplitude is smaller than or equal to the displacement protection triggering value, determining a displacement amplitude change trend corresponding to the target oscillator displacement predicted value; wherein the displacement amplitude variation trend comprises an increasing trend and a decreasing trend;
in this embodiment, when the data processing device determines that the displacement amplitude is smaller than or equal to the displacement protection trigger value as the displacement trigger result, the terminal device determines that the displacement amplitude is within the displacement early warning value interval but not within the displacement protection value interval, so that it is further determined by the data processing device whether the variation trend of the displacement amplitude corresponding to the target oscillator displacement predicted value is trend increase or trend decrease.
Step B20: when the variation trend of the displacement amplitude is the trend increase, comparing the maximum energy value of the system with the predicted energy value of the target oscillator to obtain the energy early warning result;
in this embodiment, when the data processing apparatus determines that the variation trend of the displacement amplitude is a trend increase, the terminal device determines that the target oscillator displacement predicted value may exceed the oscillator maximum displacement threshold included in each motor parameter, and compares the obtained system maximum energy value with the target oscillator energy predicted value to obtain an energy early warning result.
Step B30: when the energy early warning result is that the predicted value of the target oscillator energy is greater than or equal to the maximum energy value of the system, determining that the collision early warning result is that collision risk exists;
in this embodiment, when the data processing device determines that the energy early warning result is that the predicted value of the energy of the target oscillator is greater than the maximum energy value of the system, the data processing device determines that the oscillator in the target linear motor has a risk of collision with the motor housing, so as to obtain a collision early warning result corresponding to the predicted value of the motion parameter of each oscillator, that is, there is a collision risk.
Illustratively, for example, the data processing apparatus determines the displacement trigger as the displacement magnitude | x 1 (n) | is less than or equal to the displacement protection trigger value x thb The terminal device then determines the displacement amplitude | x 1 (n) l is in the displacement early warning numerical interval but not in the displacement protection numerical interval, namely, the risk degree of collision between the current state of the oscillator and the motor shell does not reach the condition of triggering and controlling displacement operation, and then the terminal equipment further determines the target oscillator displacement predicted value x through the data processing device 1 (n) the corresponding displacement amplitude variation trend, and when the displacement amplitude variation trend is determined to be trend increase, the risk degree of collision between the vibrator and the motor shell determined by the terminal equipment is increased, so that the acquired maximum energy value E of the system is obtained through the data processing device max And the obtained target oscillator energy predicted value E 1 (n) comparing to obtain an energy early warning result, and taking the energy early warning result as a target oscillator energy predicted value E 1 (n) is greater than the maximum energy value E of the system max And then, the terminal equipment determines that the displacement control operation needs to be applied immediately, and determines that the collision early warning result corresponding to the predicted value of the motion parameter of each vibrator is the existence of collision risk.
It should be noted that, in this embodiment, please refer to fig. 7, fig. 7 is a schematic diagram of a displacement control timing according to an embodiment of the protection method for a linear motor of the present invention, and it can be understood that, in this embodiment, by comparing fig. 7 with fig. 5 and fig. 6, it can be clearly observed that the target oscillator displacement predicted value x is within the interval t =0.9s to t =1.5s in fig. 5 1 (n) corresponding normalization result x 1_1FS (n) is greater than 1 a plurality of times, i.e., at x 1_1FS (n) the target oscillator displacement predicted value x is obtained at each moment when the value is more than 1 1 (n) the moment in the displacement protection operation triggering interval; similarly, in the interval from t =0.9 to t =1.5s in fig. 6, the target oscillator energy predicted value E 1 (n) corresponding normalization result E 1_1FS Multiple times greater than 1, i.e. E 1_1FS The predicted value E of the energy of each target oscillator is obtained at each moment more than 1 1 (n) greater than the maximum energy value E of the system max The time of day; similarly, in the interval from t =0.9s to t =1.5s in fig. 7, the time at which the control timing En is 1 and the target oscillator displacement predicted value x in fig. 5 are clearly seen 1 (n) the moment within the displacement protection operation triggering interval and the target oscillator energy predicted value E 1 (n) is greater than the maximum energy value E of the system max The time of the terminal equipment is corresponding, so that the terminal equipment can execute corresponding displacement control operation when the collision early warning result is determined to be that the collision risk exists; it is understood that, in the present embodiment, 1FS in fig. 5 and 6 represents a rated amplitude, that is, a set maximum amplitude, and of course, the specific value of the rated amplitude can be modified and set by a skilled person according to actual needs, and the present invention is not limited thereto.
Further, in a possible embodiment, after the step of "determining the variation trend of the displacement amplitude corresponding to the predicted value of the target oscillator displacement" in the step B10, the protection method for the linear motor according to the present invention may further include:
step B101: determining the displacement amplitude corresponding to the target oscillator displacement predicted value and a historical displacement amplitude corresponding to the target oscillator displacement predicted value at the previous moment;
in this embodiment, the data processing device determines, from the calculated predicted values of the displacement of the target oscillator, a displacement amplitude corresponding to the predicted value of the displacement of the target oscillator corresponding to the current nth time and a historical displacement amplitude corresponding to the predicted value of the displacement of the target oscillator at the nth-1 time.
Step B102: comparing the displacement amplitude with the historical displacement amplitude to obtain a variation trend of the displacement amplitude, and determining that the variation trend of the displacement amplitude is increased when the variation trend of the displacement amplitude is that the displacement amplitude is greater than the historical displacement amplitude;
in this embodiment, the data processing device compares the displacement amplitude with the historical displacement amplitude to obtain a variation trend of the displacement amplitude, and when the variation trend of the displacement amplitude is greater than the historical displacement amplitude, the data processing device determines that the variation trend of the displacement amplitude is an increase trend.
Step B103: when the change trend of the displacement amplitude is that the displacement amplitude is smaller than or equal to the historical displacement amplitude, determining that the change trend of the displacement amplitude is reduced;
in this embodiment, the data processing apparatus determines the displacement amplitude variation tendency as a tendency decrease when determining that the displacement amplitude variation tendency is smaller than or equal to the historical displacement amplitude.
Illustratively, for example, the terminal device determines the target oscillator displacement predicted value x at the nth time 1 (n) corresponding displacement amplitude | x 1 (n) | is higher than displacement protection early warning value x tha But below the displacement protection trigger value x thb Then, the predicted value x of the displacement of the target oscillator at the time n-1 is determined by the data processing device 1 (n-1) and determining the target oscillator displacement predicted value x 1 (n-1) corresponding historical displacement amplitude | x 1 (n-1) |, after which the data processing means apply the displacement magnitude | x 1 (n) and the historical displacement amplitude | x 1 (n-1) | is compared to obtain a displacement amplitude variation trend, and the displacement amplitude variation trend is the displacement amplitude | x | 1 (n) | is greater than the historical displacement amplitude | x 1 (n-1) |, determining the variation trend of the displacement amplitude as a trend increase, and similarly, when the variation trend of the displacement amplitude is the displacement amplitude | x | 1 (n) | is less than or equal to the historical displacement magnitude | x 1 And (n-1) l, determining the change trend of the displacement amplitude as the trend is reduced.
Further, in a possible embodiment, the step of "calculating a target adjustment voltage value according to the predicted value of each oscillator motion parameter and each motor parameter" in step S20 may specifically include:
step S205: determining a speed direction corresponding to the target oscillator speed predicted value;
in this embodiment, the terminal device reads the storage device to obtain a preset symbolic function, inputs the symbolic function to the data processing device, and the data processing device determines the obtained predicted value of the target oscillator speed according to the symbolic function to obtain a speed direction corresponding to the predicted value of the target oscillator speed.
Step S206: calculating to obtain a target adjustment voltage amplitude according to each motor parameter and each vibrator motion parameter predicted value;
in this embodiment, the data processing device calculates each motor parameter and each vibrator motion parameter according to a preset target voltage calculation formula to obtain a target adjustment voltage amplitude.
Step S207: obtaining a target adjustment voltage signal opposite to the driving voltage signal according to the speed direction and the target adjustment voltage amplitude;
in this embodiment, the data processing apparatus obtains a target adjustment voltage sign according to the obtained speed direction, and integrates the target adjustment voltage sign and the target adjustment voltage amplitude, so as to obtain a target adjustment voltage signal opposite to the driving voltage signal.
Illustratively, for example, the terminal device first reads the storage device to obtain a symbol function sign () preset by a technician, and inputs the symbol function sign () into the data processing device, and then the data processing device calculates a target oscillator velocity predicted value v according to the symbol function sign () pair 1 (n) judging the direction to obtain the speed direction, and predicting the speed v of the target oscillator when the speed v is predicted 1 When (n) > 0, the sign function sign (v) is determined 1 (n)) =1, and the velocity direction is determined to be sign (v) 1 (n)) =1 similarly, when the target oscillator velocity is predicted, v 1 When (n) < 0, the sign function sign (v) is determined 1 (n)) = -1, and determines that the velocity direction is sign (v) 1 (n)) =1, similarly, when the target oscillator velocity is predicted, v 1 (n) =0, the sign function sign (v) is determined 1 (n)) =0 and the velocity direction is determined to be sign (v) 1 (n)) =1, and then the data processing apparatus determines that the velocity direction is sign (v) 1 (n)) =1, the target regulation voltage sign (u) is determined 2 (n)) = -1, and similarly, the data processing apparatus determines that the velocity direction is sign (v) 1 (n)) = -1, the target regulation voltage sign (u) is determined 2 (n)) =1, and similarly, the data processing apparatus determines that the velocity direction is sign (v) 1 (n)) =0, the target regulation voltage sign (u) is determined 2 (n)) =0, i.e., velocity direction sign (v) 1 (n)) and a target regulation voltage sign (u) 2 (n)) in a negative relationship;
then, the data processing device extracts a vibrator maximum displacement threshold value x from each motor parameter hmax Displacement protection trigger value x thb And a maximum output voltage u max And calculating a formula through a preset target voltage:
for each extracted motor parameter and target oscillator displacement predicted value x 1 (n) calculating to obtain a target adjustment voltage amplitude | u 2 (n) |, and finally, the data processing apparatus adjusts the acquired target adjustment voltage sign (u) by the symbol sign 2 (n)) and a target regulated voltage magnitude | u | 2 Multiplying (n) l to obtain a target regulation voltage signal u opposite to the driving voltage signal 2 (n)＝sign(u 2 (n))·|u 2 (n) |, and generates a target adjustment voltage signal waveform diagram as shown in fig. 8.
It can be understood that, referring to fig. 4, 5, 6, 7 and 8, it can be clearly observed by comparing fig. 5, 6, 7 and 8 that, at the time when the predicted value of the displacement of the target oscillator and the predicted value of the energy of the target oscillator are both greater than 1 and the time corresponding to the displacement control time En =1, the target adjustment voltage signal u is at the time point 2 (n) the corresponding overall waveform and local waveform are both equal to the driving voltage signal u 1 (n) there is a significant difference in the corresponding waveforms, i.e., the terminal device can perform the displacement control operation by generating the target adjustment voltage signal in the reverse direction.
Step S30: processing the target adjustment voltage value to obtain a target protection voltage signal, and inputting the target protection voltage signal into the target linear motor to protect the target linear motor;
in this embodiment, after acquiring a target adjustment voltage signal, a terminal device performs smoothing filtering on the target adjustment voltage signal through a built-in low-pass filtering device to obtain a target protection voltage signal, and amplifies the target protection voltage signal through an internally-configured signal amplification device, and the terminal device further inputs the target protection voltage signal into a target linear motor to drive a vibrator in the target linear motor to generate reverse displacement, thereby protecting the target linear motor.
Illustratively, for example, the terminal device is obtaining the target adjustment voltage value u 2 (n) thereafter, invoking the low-pass filtering means and following the cut-off frequency f of the low-pass filtering means LP Adjust the voltage u to the target 2 (n) smoothing and filtering to obtain a target protection voltage signal u 3 (n) and further based on each target protection voltage signal u 3 (n) generating a waveform diagram of the target protection voltage signal shown in fig. 9, and then the terminal device amplifying the target protection voltage signal u by the signal amplifying device 3 (n) performing power amplification and converting the target protection voltage signal u 3 And (n) inputting the signals into the target linear motor to drive the vibrators in the target linear motor to generate reverse displacement, so that the target linear motor is protected.
It can be understood that referring to fig. 8 and 9, it is apparent from comparing fig. 8 and 9 that the voltage value u is adjusted to the target value 2 (n) target protection voltage signal u shown in FIG. 9 after smoothing filtering operation 3 And (n) the corresponding waveform schematic diagram does not have the problem of voltage waveform jumping, and the integral voltage waveform avoids jumping points and burrs.
It should be noted that, in this embodiment, the signal amplifying device is specifically an amplifier for performing power matching on the input signal, and specifically may be a common class a, class B, class AB, or class D driver, and it is understood that the input signal may be an analog signal or a digital signal.
Further, in a possible embodiment, the step of "processing the target adjustment voltage value to obtain the target protection voltage signal" in the step S30 may specifically include:
step S301: determining a target frequency component exceeding a bandwidth range corresponding to the target linear motor in the target adjustment voltage value;
in this embodiment, the terminal device invokes the low-pass filter to determine the target frequency components in the target adjustment voltage signal that are outside the bandwidth range of the motor within the motor parameter.
Step S302: performing a smoothing filtering operation on the target frequency component to generate a target protection voltage signal;
in this embodiment, the low-pass filtering means performs a smoothing filtering operation on each of the target frequency components so that each of the target frequency components is within a bandwidth range of the linear motor, and determines a target adjustment voltage value at which the smoothing filtering operation is completed as a target protection voltage signal.
Illustratively, for example, the terminal device calls the low-pass filter device to adjust the voltage signal u at the target value 2 (n) determining an upper frequency limit f of the motor bandwidth that exceeds the above motor parameters aH And performing a smoothing filtering operation on each of the target frequency components by the low-pass filtering means so that each of the target frequency components is at the upper limit f of the bandwidth frequency aH And determining the target regulation voltage value for finishing the smooth filtering operation as the target protection voltage signal u 3 (n)。
It is understood that, in the present embodiment, the voltage value u may be completely adjusted to the target value in order to ensure the smooth filtering operation of the low-pass filtering device 2 (n) performing a smoothing filtering operation, the cut-off frequency f of the low-pass filtering means may be set LP Upper limit f of bandwidth frequency of the target linear motor aH Above, e.g. let f LP ＝2f aH Of course, there are many specific setting methods and setting ranges of the cutoff frequency, and the invention is not limited thereto.
In addition, please refer to fig. 5 and 10, wherein fig. 10 is a schematic diagram of a displacement control waveform according to an embodiment of the protection method for a linear motor of the present invention; as is evident from a comparison of FIGS. 5 and 10, in the context of the present inventionAfter the protection method of the linear motor outputs the target protection voltage signal, as shown in fig. 10, in the interval from t =9 to t =1.5, the part of the predicted value of the oscillator displacement in the target linear motor, which exceeds-1 and 1, returns to the interval from-1 to 1, thereby effectively avoiding the displacement of the oscillator from exceeding the maximum threshold value x of the oscillator displacement hmax And further reducing the risk of collision of the vibrator with the motor housing.
In this embodiment, when the terminal device is in operation, first, each driving voltage signal input into the target linear motor is obtained, meanwhile, the terminal device reads a storage device in the target linear motor to obtain each motor parameter of the target linear motor, the terminal device further inputs each obtained driving voltage signal and each obtained motor parameter into a data processing device configured in the terminal device, the data processing device calculates a predicted value of each vibrator motion parameter in the target linear motor according to each driving voltage signal and each motor parameter to obtain a displacement warning result according to each vibrator motion parameter predicted value, and further determines a displacement trigger result and an energy warning result according to the displacement warning result to obtain a collision warning result in the target linear motor, the data processing device further calculates a target adjusting voltage signal according to each motor parameter and each vibrator motion parameter when it is determined that there is a collision risk in the collision warning result, and uploads the target adjusting voltage signal to the terminal device, and finally, after the terminal device obtains a target adjusting voltage signal by filtering processing the target adjusting voltage signal through a low-pass filter device built in the terminal device to amplify the target voltage signal to protect the target linear motor from the target motor, and further amplify the target voltage signal in the target linear motor after obtaining the target adjusting voltage signal, thereby protecting the target linear motor.
Therefore, the invention adopts a mode of calculating to obtain the predicted value of each vibrator motion parameter according to each driving voltage signal input into the linear motor and each motor parameter of the linear motor and determining the collision early warning result corresponding to each vibrator motion parameter predicted value, thereby solving the problem that whether the vibrator is easy to collide with the shell or not can not be determined in the motor driving process; when the collision early warning result is determined to be that collision risk exists, the motor parameters and the predicted values of the vibrator motion parameters are calculated to determine different target protection voltage signals, the target protection voltage signals are input into a target linear motor, and vibrators in the target linear motor generate reverse displacement to protect the target linear motor, so that the technical effect that terminal equipment can be subjected to interference protection in the linear motor driving process is achieved, the vibrators in the linear motor are prevented from colliding a motor shell in the motion process, and the problems of performance reduction, vibration sense abnormality, high vibration noise, motor damage and the like in the linear motor driving process are solved.
Further, based on the above-described first embodiment of the protection method of the linear motor of the present invention, a preferred embodiment of the protection method of the linear motor of the present invention is set forth herein.
Referring to fig. 3, fig. 3 is a schematic flow chart illustrating a protection method for a linear motor according to a preferred embodiment of the present invention.
In this embodiment, a VR/AR device connected to a terminal device first inputs a preset driving voltage signal into the terminal device, then the terminal device calculates a target oscillator displacement predicted value, a target oscillator velocity predicted value, and a target oscillator energy predicted value corresponding to the driving voltage point by point through an internally configured data processor, and compares the target oscillator displacement predicted value with a preset displacement protection warning value through a data processing device to obtain a displacement warning result so as to complete the displacement interval determination and action step shown in fig. 3, and when the displacement warning result indicates that the displacement amplitude corresponding to the target oscillator displacement predicted value is greater than the displacement protection warning value, further determines a displacement amplitude variation trend corresponding to the displacement amplitude to complete the displacement amplitude variation trend determination step shown in fig. 3, and then, when the data processing device determines that the displacement amplitude variation trend is a trend increase, further comparing the obtained target oscillator energy predicted value with the calculated system maximum energy value to complete the energy interval determination step in fig. 3, executing the drive protection step in fig. 3 when the target oscillator energy predicted value is determined to be larger than the system maximum energy value, calculating the motion parameter predicted values of the oscillators and the motor parameters to obtain target adjustment voltage signals, uploading the target adjustment voltage signals to terminal equipment, finally, the terminal equipment calls an internally-configured low-pass filter device to carry out smooth filtering processing on the target adjustment voltage signals to obtain target protection voltage signals to complete the drive voltage smooth filtering operation shown in fig. 3, amplifies the target protection voltage signals through an internally-configured signal amplification device, and then inputs the target protection voltage signals into the target linear motor to drive the oscillators in the target linear motor to generate reverse direction bits It is moved to complete the power amplification and driving steps shown in fig. 3, thereby protecting the target linear motor.
In addition, the present invention also provides a terminal device, which has a protection method for a linear motor operable on a processor, and when the terminal device executes the protection method for the linear motor, the terminal device implements the steps of the protection method for the linear motor according to any one of the above embodiments.
The specific embodiment of the terminal device of the present invention is substantially the same as the embodiments of the protection method for the linear motor, and will not be described herein again.
Furthermore, the present invention also provides a computer readable storage medium having stored thereon a protection method for a linear motor, which when executed by a processor implements the steps of the protection method for a linear motor according to any one of the above embodiments.
The specific embodiment of the computer readable storage medium is substantially the same as the embodiments of the protection method for a linear motor, and will not be described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (which may be a device for executing the protection method of the linear motor according to the present invention, and specifically may be a mobile terminal, a data storage control terminal, a PC, a portable computer, or the like) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A protection method of a linear motor, characterized by comprising the steps of:
acquiring each driving voltage signal input into a target linear motor and each motor parameter of the target linear motor, and calculating to obtain each oscillator motion parameter predicted value in the target linear motor according to each driving voltage signal and each motor parameter;
obtaining a collision early warning result according to each vibrator motion parameter predicted value, and calculating to obtain a target adjustment voltage signal according to each vibrator motion parameter predicted value and each motor parameter when the collision early warning result indicates that a collision risk exists;
and processing the target adjustment voltage signal to obtain a target protection voltage signal, and inputting the target protection voltage signal into the target linear motor to protect the target linear motor.
2. The protection method of a linear motor according to claim 1, wherein the predicted value of the vibrator motion parameter includes a predicted value of a target vibrator displacement, a predicted value of a target vibrator speed, and a predicted value of a target vibrator energy;
the step of calculating and obtaining the predicted value of each oscillator motion parameter in the target linear motor according to each driving voltage signal and each motor parameter comprises the following steps:
determining each historical driving voltage signal from the nth time to the nth-m time and each historical vibrator displacement predicted value from the nth time to the nth-m time in each driving voltage signal;
calculating each historical driving voltage signal and each historical vibrator displacement predicted value based on a preset first predicted value calculation formula to obtain a target vibrator displacement predicted value;
calculating the displacement predicted value of each historical vibrator based on a preset second predicted value calculation formula to obtain the target vibrator speed predicted value;
and calculating the target oscillator displacement predicted value, the target oscillator speed predicted value and each motor parameter based on a preset third predicted value calculation formula to obtain the target oscillator energy predicted value.
3. The method for protecting a linear motor according to claim 2, wherein before the step of obtaining the displacement warning result and the energy warning result based on each motor parameter and each vibrator motion parameter predicted value, the method further comprises:
determining a maximum vibrator displacement threshold value and a spring stiffness coefficient contained in each motor parameter;
and calculating the maximum threshold value of the vibrator displacement and the stiffness coefficient of the spring based on a preset energy calculation formula to obtain the maximum energy value of the system.
4. The protection method for the linear motor according to claim 3, wherein the collision warning result includes a displacement warning result, a displacement trigger result, and an energy warning result; the step of obtaining the collision early warning result according to the predicted value of the motion parameter of each vibrator comprises the following steps:
comparing the displacement amplitude corresponding to the target oscillator displacement predicted value with a preset displacement protection early warning value to obtain a displacement early warning result;
when the displacement early warning result is that the displacement amplitude is larger than the displacement protection early warning value, comparing the displacement amplitude with a preset displacement protection trigger value to obtain a displacement trigger result; wherein the displacement protection trigger value is greater than the displacement protection early warning value;
when the displacement triggering result is that the displacement amplitude is larger than the displacement protection triggering value, comparing the system maximum energy value with the target oscillator energy predicted value to obtain the energy early warning result;
and when the energy early warning result is that the predicted value of the target oscillator energy is greater than the maximum energy value of the system, determining that the collision early warning result is that collision risk exists.
5. The method for protecting a linear motor according to claim 4, wherein after the step of comparing the displacement amplitude with a preset displacement protection trigger value to obtain the displacement trigger result, the method further comprises:
when the displacement triggering result is that the displacement amplitude is smaller than or equal to the displacement protection triggering value, determining a displacement amplitude change trend corresponding to the target oscillator displacement predicted value; wherein the displacement amplitude variation trend comprises an increasing trend and a decreasing trend;
when the change trend of the displacement amplitude is that the trend is increased, comparing the maximum energy value of the system with the predicted energy value of the target oscillator to obtain the energy early warning result;
and when the energy early warning result is that the predicted value of the target oscillator energy is greater than or equal to the maximum energy value of the system, determining that the collision early warning result is that collision risk exists.
6. The method for protecting a linear motor according to claim 5, wherein the step of determining the variation trend of the displacement amplitude corresponding to the predicted value of the displacement of the target vibrator comprises:
determining the displacement amplitude corresponding to the target oscillator displacement predicted value and a historical displacement amplitude corresponding to the target oscillator displacement predicted value at the previous moment;
comparing the displacement amplitude with the historical displacement amplitude to obtain a variation trend of the displacement amplitude, and determining that the variation trend of the displacement amplitude is increased when the variation trend of the displacement amplitude is that the displacement amplitude is greater than the historical displacement amplitude;
and when the displacement amplitude variation trend is that the displacement amplitude is smaller than or equal to the historical displacement amplitude, determining that the displacement amplitude variation trend is trend reduction.
7. The method for protecting a linear motor according to any one of claims 1 to 6, wherein the step of calculating a target regulation voltage signal based on each of the predicted values of the oscillator motion parameters and each of the motor parameters includes:
determining a speed direction corresponding to the target oscillator speed predicted value;
calculating to obtain a target adjustment voltage amplitude according to each motor parameter and each oscillator motion parameter predicted value;
and obtaining a target adjusting voltage signal opposite to the driving voltage signal according to the speed direction and the target adjusting voltage amplitude.
8. The method for protecting a linear motor according to claim 1, wherein the step of processing the target regulated voltage value to obtain a target protection voltage signal comprises:
determining a target frequency component exceeding a bandwidth range corresponding to the target linear motor in the target adjustment voltage value;
performing a smoothing filtering operation on the target frequency component to generate a target protection voltage signal.
9. A terminal device, characterized in that the terminal device comprises: memory, a processor and a protection program for a linear motor stored on the memory and executable on the processor, the protection program for a linear motor implementing the steps of the protection method for a linear motor according to any one of claims 1 to 8 when executed by the processor.
10. A computer-readable storage medium, characterized in that a protection program of a linear motor is stored thereon, which when executed by a processor implements the steps of the protection method of a linear motor according to any one of claims 1 to 8.
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