CN116054679B - Linear motor control method and device - Google Patents
Linear motor control method and device Download PDFInfo
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- CN116054679B CN116054679B CN202111265868.0A CN202111265868A CN116054679B CN 116054679 B CN116054679 B CN 116054679B CN 202111265868 A CN202111265868 A CN 202111265868A CN 116054679 B CN116054679 B CN 116054679B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/032—Reciprocating, oscillating or vibrating motors
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Abstract
A linear motor control method and apparatus are disclosed. According to an embodiment, a control method of a linear motor may include: controlling the linear motor to enter a high-resistance state, and acquiring a reverse electromotive force signal of a preset time; determining the amplitude of the back electromotive force according to the back electromotive force signal; and adjusting a driving signal of the linear motor based on a control operation of the linear motor according to the magnitude of the reverse electromotive force. The invention can flexibly control and operate the motor, and particularly can realize self-adaptive adjustment of the brake voltage to realize quick braking, thereby improving user experience.
Description
Technical Field
The present application relates to the field of electronic devices, and in particular, to a method and an apparatus for controlling a linear motor, and more particularly, to a method for controlling braking of a linear motor.
Background
Haptic feedback techniques are typically implemented by motor vibration. The linear motor mainly comprises a spring, a magnetic mass block, a coil and the like, wherein the spring suspends the mass block inside the motor, and the coil can be wound with magnetic materials and is arranged below the mass block. When the coil works, when current passes through the coil, the coil can generate a magnetic field; when the current flowing through the coil changes, the direction and strength of the magnetic field also changes. The mass will move up and down in this changing magnetic field. Various haptic effects can be simulated by controlling the amplitude, duration, etc. of the motion and applied to different application scenarios, such as vibration effects of incoming call prompts, user inputs, etc.
To enhance the user experience, the playing of vibrations generally requires adaptive adjustment of haptic effects as desired. In addition, after the playing of the vibration waveform is finished, braking operation is needed to drive the mass block to vibrate and weaken, and the amplitude is reduced until the vibration waveform stops. In drive control of a linear motor, it is desirable to stop the motor from vibrating as soon as possible after the end of driving to enhance the tactile experience of the user. The existing linear motor braking scheme mainly comprises the steps of pre-configuring braking voltage and braking waveform, and entering a braking stage after finishing the vibration waveform, wherein the method can only be suitable for less scenes or vibration intensity, namely, the method is difficult to realize good braking effect on most of vibration waveforms through the pre-configuring method.
Disclosure of Invention
The present application has been made to solve the above-mentioned technical problems occurring in the prior art. The embodiment of the application provides a linear motor control method, a control device and a control system, which can adaptively adjust driving signals according to different vibration waveforms so as to realize adaptive control operation of a linear motor and fast and effective braking after the waveforms are ended.
According to an aspect of the present application, there is provided a control method of a linear motor, including: controlling the linear motor to enter a high-resistance state, and acquiring a reverse electromotive force signal of a preset time; determining the amplitude of the back electromotive force according to the back electromotive force signal; and adjusting a driving signal of the linear motor based on a control operation of the linear motor according to the magnitude of the reverse electromotive force.
In some embodiments, determining the magnitude of the back electromotive force comprises: sampling the reverse electromotive force signal; determining a phase matching each sampling point in a sampling sequence based on a rate of change of the back electromotive force signal; based on the change rate of the back electromotive force signals of each sampling point and the matched phase, acquiring the specific back electromotive force of the sampling point with the highest matching degree and the corresponding specific phase; the magnitude of the back electromotive force is determined based on the specific back electromotive force and the specific phase.
In some embodiments, determining a phase matching each sample point in the sample sequence based on the rate of change of the back electromotive force signal comprises: for each sampling point, use is made ofCalculating a value to be compared of the sampling point, wherein S' is the change rate of a reverse electromotive force signal of the sampling point, and omega is the resonant angular frequency of the linear motor; from a predetermined plurality of phases, a phase whose tangent value is closest to the value to be compared is selected as a matching phase of the sampling point.
In some embodiments, obtaining the specific back electromotive force and the corresponding specific phase of the sampling point with the highest matching degree comprises: calculating the difference value between the change rate to be compared value of the reverse electromotive force signal of each sampling point and the tangent value of the matched phase; and selecting the back electromotive force corresponding to the minimum difference value and the matched phase as the specific back electromotive force and the specific phase.
In some embodiments, the magnitude of the back electromotive force is positively correlated with the particular back electromotive force and negatively correlated with the cosine value of the particular phase.
In some embodiments, the control operation is a braking operation and the drive signal is a braking voltage.
In some embodiments, the method further comprises: applying the braking voltage to the linear motor for braking for a predetermined time; the linear motor is controlled to reenter a high resistance state.
In some embodiments, adjusting the drive signal of the linear motor comprises: acquiring the ratio of the currently determined amplitude of the back electromotive force to the last determined amplitude of the back electromotive force; the current brake voltage is determined based at least on the ratio.
In some embodiments, adjusting the drive signal of the linear motor further comprises: determining the sequence trend and polarity of the reverse electromotive force according to the sampling sequence; and determining the polarity of the brake voltage according to the sequence trend and the polarity.
In some embodiments, the braking method may further comprise: judging the relation between the amplitude of the reverse electromotive force and a threshold; applying the braking voltage to a linear motor to brake in response to the magnitude of the counter electromotive force being greater than or equal to a threshold; and ending braking in response to the magnitude of the back electromotive force being less than a threshold.
Another aspect of the present application provides a linear motor control apparatus, comprising: an acquisition unit for acquiring a reverse electromotive force signal for a predetermined time after controlling the linear motor to enter a high resistance state; a calculation unit for determining the amplitude of the back electromotive force according to the back electromotive force signal; and an adjusting unit for adjusting a driving signal of the linear motor based on a control operation of the linear motor according to the magnitude of the back electromotive force.
Another aspect of the present application also provides a linear motor control system including: the linear motor control device described above; and a driving unit that can control the linear motor according to the adjusted driving signal.
Compared with the prior art, the linear motor control method and the linear motor control device can achieve the effect of rapid control operation by adaptively adjusting the driving signals for different vibration waveforms, and meanwhile, the related calculation amount is small, and the method and the device are easy to process in real time.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing embodiments of the present application in more detail with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the embodiments of the application, and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.
Fig. 1 shows a flowchart of a linear motor control method provided according to an embodiment of the present application;
fig. 2 is a schematic flow chart of determining the magnitude of the back electromotive force of the motor according to an embodiment of the present application;
FIG. 3 is a flow chart illustrating a method of controlling braking of a linear motor according to an embodiment of the present application;
FIG. 4 is a flow chart illustrating a method of braking a linear motor according to another embodiment of the present application;
FIG. 5 illustrates a flow chart for determining brake voltage provided in accordance with one embodiment of the present application;
FIG. 6 is a flow chart illustrating a determination of brake voltage polarity according to one embodiment of the present application;
Fig. 7 shows a block diagram of a linear motor control apparatus provided according to an embodiment of the present application;
fig. 8 illustrates a block diagram of a linear motor control system provided according to an embodiment of the present application.
Detailed Description
Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. It will be apparent that the described embodiments are only some of the embodiments of the present application and not all of the embodiments of the present application. Also, not all of the above advantages need be achieved at the same time to practice any of the examples of embodiments of the application. It should be understood that the application should not be limited to the specific details of these example embodiments. Rather, embodiments of the application may be practiced without these specific details or in other alternative ways, without departing from the spirit and principles of the application, which are defined by the claims.
For different application scenarios, the linear motor may be controlled to vibrate with different haptic effects. For this reason, the driving chip of the linear motor generally stores a variety of driving waveform data in its memory. In response to the vibration enable signal, the driving chip may read the driving waveform data and provide a corresponding square wave driving signal, sinusoidal driving signal, etc. to the linear motor to drive the motor to vibrate.
For different vibration waveforms, the prior art uses a pre-configured voltage controlled motor to vibrate, which cannot realize adaptive adjustment for different vibration waveforms and actual requirements. In order to solve the technical problem, the present embodiment provides a control method of a linear motor, referring to fig. 1, which shows a flowchart of a control method of a linear motor according to an embodiment of the present application, as shown in fig. 1, the method 100 may begin with step S110, and control the linear motor to enter a high-resistance state to obtain a back electromotive force signal for a predetermined time.
In one embodiment, the linear motor can be obtained by collecting the back electromotive force generated by the movement of the linear motor. Under normal driving vibration of the motor, the counter electromotive force always exists, but the counter electromotive force is easily submerged in a larger driving voltage and is difficult to detect, so in an embodiment, the driving can be firstly disconnected so that the motor enters a high-resistance state, and in the high-resistance state, the counter electromotive force can be directly detected without a driving signal, and the counter electromotive force is not separated from a monitoring signal by complex calculation.
In one embodiment, the two ends of the motor may be ground discharged so that the linear motor enters a high resistance state. After the driving signal of the linear motor is finished, the pins at the two ends of the motor can be grounded and discharged before the back electromotive force signal is collected, and the voltage signals detected at the two ends of the input pin of the motor can be close to the real back electromotive force signal after the short contact discharge.
If the back electromotive force signal is collected for too long, vibration burrs and depressions will be generated, which will result in too long residual vibration of the motor for braking operation, which will adversely lengthen the braking process, for which reason, unlike some prior art, in an embodiment of the present invention, the predetermined duration of the collected back electromotive force signal is smaller than half the resonance period of the linear motor, which resonance period can be scaled by tracking the resonance frequency of the obtained motor during vibration, preferably the predetermined duration of the collected signal is smaller than or equal to one quarter of the resonance period, which can advantageously monitor the back electromotive force in real time and adaptively perform subsequent control operations.
After the acquisition of the back electromotive force signal, the acquired electromotive force signal may be filtered, e.g., low-pass filtered, and subjected to smoothing preprocessing to obtain a signal of interest free of burrs. Step S120 may then be performed to determine the magnitude of the back electromotive force based on the back electromotive force signal.
For example, after the feedback circuit connected to both ends of the motor is monitored to obtain the back electromotive force signal, it may be sampled to obtain a signal sequence of the back electromotive force, and in an embodiment, the sampling frequency may be in the range of 100-300, and the frequency means the sampling number.
The amplitude of the signal can be measured by the acquired back electromotive force, and since the amplitude is proportional to the amplitude of the motor, the vibration intensity of the linear motor can be monitored.
Based on the acquired signals, signal properties such as the amplitude of the back electromotive force can be determined, in one example, when the acquisition duration corresponds to 1/4 of the waveform of the motor resonance period, the maximum value of the acquired signal sequence can be used as the amplitude estimation value of the back electromotive force; in a further example, where the duration of the acquired signal is less than 1/4 of the resonance period, the calculation of the signal amplitude will be described in more detail below.
After determining the magnitude of the back electromotive force, the braking method of the present application may proceed to step S130, adjust the driving signal of the linear motor according to the magnitude of the back electromotive force, and based on the control operation of the linear motor.
Since the amplitude of the back electromotive force is related to the vibration amplitude of the motor, after the amplitude of the back electromotive force is determined, the quantity representing the vibration level such as the vibration peak value, the vibration acceleration or the vibrator displacement of the motor can be correspondingly determined, so that the amplitude control is allowed, and the control operations such as overtaking and braking can be performed, so that the output effect can be adaptively adjusted or stable and rapid braking can be realized.
In one embodiment, the vibration level of the linear motor may be determined according to the magnitude of the back electromotive force, and the parameter of the driving signal may be adjusted based on the vibration level according to the enable signal of the linear motor. The enabling signal may be, for example, a signal for starting, stopping or adjusting the linear motor according to a specific situation, which may be transmitted to the control system according to a user trigger, a mode trigger, and/or an application configuration, etc., different trigger signals or application environments corresponding to different enabling signals and parameters, the control system may generate a control signal based on the currently monitored motor vibration level after receiving the enabling signal, which may be used to adjust the driving signal of the linear motor, for example, to adjust the driving voltage, the braking voltage to adjust the output amplitude of the motor or to give control parameters for overtaking, braking. For example, when it is necessary to brake the motor, the motor may be driven with an appropriate polarity (e.g., opposite phase) to shorten the braking time, and an appropriate driving voltage may be calculated based on the vibration level remaining in the current motor, thereby applying an optimal braking force to the motor.
As previously analyzed, in an embodiment, the present application may collect a signal of a reverse electromotive force in a short time in a high impedance state to estimate a current vibration level of the motor, and the signal of the wave peak or wave trough may not be covered by the collected reverse electromotive force in a short time, so that the amplitude of the reverse electromotive force cannot be obtained according to the collected signal, or there is a certain deviation between the extremum of the signal sequence and the amplitude of the reverse electromotive force. In order to solve the technical problem, an embodiment of the present application further proposes a scheme, fig. 2 shows a schematic flow chart of determining a magnitude of a back electromotive force of a motor according to an embodiment of the present application, and as shown in fig. 2, a method for determining the magnitude of the back electromotive force may include the following steps:
in step S210, the back electromotive force signal is sampled.
It will be appreciated that the electromotive force signal may be filtered, for example low pass filtered, and subjected to a smoothing pre-process prior to sampling the inverse electromotive force signal to obtain a signal of interest free of glitches. The frequency (number of times) at which the counter electromotive force is sampled may be in the range of 100 to 300, for example, a sampling frequency of 150 to 200.
In step S220, a phase matching each sampling point in the sampling sequence is determined based on the rate of change of the back electromotive force signal.
In one embodiment, the rate of change of the back electromotive force signal at each sampling point may be calculated based on the sampled back electromotive force values, e.g., for the sampled back electromotive force signal sequence (S 1、S2……、Si、Si+1……Sn), where S i is the back electromotive force value at sampling point i, the rate of change of the back electromotive force signal at that sampling point may be calculated asAlternatively, after the value of the back electromotive force is sampled, the amount characterizing the vibration level such as the vibration speed v i, the acceleration a i, etc. of the motor at each sampling point may be determined accordingly, or the vibration speed v i, the acceleration a i may be detected using a vibration sensor, at which time the rate of change of the back electromotive force signal at the sampling point i may also be calculated by a i/vi. Preferably, the rate of change of the back electromotive force signal is calculated without using an additional sensor.
In an embodiment, a number of phases may be preset, and then a matching phase is selected from the number of phases based on the rate of change of the back electromotive force determined at each sampling point.
For example, in a specific embodiment, N phases Φ 1、Φ2、……ΦN may be preset, where the sampling duration is less than 1/4 of the resonance period, the range of values of the N phases may be, for example, a range of 0-pi/2, for example, the N phases are distributed in an arithmetic progression, where the number N of the predetermined phases may be set according to the actual situation, for example, N may be selected as an integer between 3 and 10.
At the same time, for each sampling point, can be utilizedThe phase correlation value of the sampling point is calculated, that is, the value to be compared for the subsequent step, wherein S' is the rate of change of the back electromotive force signal of the sampling point, which can be calculated as described above, and ω is the resonant angular frequency of the linear motor.
Specifically, for each sampling point, a phase in which the tangent value of the phase is closest to the above-described value to be compared may be selected from among a plurality of phases (Φ 1、Φ2、……ΦN) set in advance as a matching phase of the sampling point. For example, the N phases may be traversed and the phase value Φ j determined such thatAt this time, the phase Φ j may be the matching phase of the counter electromotive force S i at the sampling point i.
After determining the matching phases for all the sampling points, step S230 may be implemented to obtain the specific back electromotive force and the corresponding specific phase of the sampling point with the highest matching degree based on the rate of change of the back electromotive force signal of each sampling point and the matched phase.
In an embodiment, the calculation method in step S220 may be sequentially performed on each sampling point in the collected back electromotive force signal sequence, and the phase with the smallest difference and the corresponding back electromotive force may be updated and obtained.
For example, the difference between the tangent of the matching phase and the value to be compared determined from the change rate of the back electromotive force signal at each sampling point can be calculated, for example, the matching phase of the back electromotive force S i is determined to be phi j according to the above method, and the difference corresponding to the back electromotive force S i is calculated
Then, the back electromotive force corresponding to the smallest difference (i.e. highest matching degree) and the matched phase are selected as the specific back electromotive force and the specific phase, i.e. the determination Wherein S ε (S 1、S2、……Sn),Φ∈(Φ1、Φ2、……ΦN).
In step S240, the magnitude of the back electromotive force may be determined based on the specific back electromotive force and the specific phase.
In one embodiment, the magnitude of the back electromotive force may be calculated and determined as follows:
wherein S max is the amplitude of the currently acquired back electromotive force sequence, S p,/> The specific back electromotive force and the specific phase determined in step S330, respectively. That is, S max is positively correlated with the specific counter electromotive force S p and is identical to the specific phase/>Is inversely related to the cosine value of (c).
After the amplitude of the current back electromotive force is estimated, a driving signal such as a brake voltage of the linear motor may be adjusted accordingly, for example, the driving signal may be associated with the amplitude of the induced back electromotive force, so that the driving or brake voltage may be changed along with the change of the amplitude of the induced back electromotive force, thereby achieving the stability of driving or braking.
For braking operations, the prior art generally uses preconfigured voltage controlled motor brakes, which do not enable rapid braking for different vibration waveforms. To solve this technical problem, embodiments herein provide a braking method of a linear motor, that is, the control operation described above is a braking operation, the adjusted driving signal is a braking voltage, and the automatic braking method includes alternately performing a monitoring operation and a braking operation. During the monitoring operation, the back electromotive force at the two ends of the motor can be measured and sampled, the amplitude (peak value) of the back electromotive force is estimated based on sampling data, and control parameters such as brake voltage and the like are calculated and obtained according to the change relation of the peak value of the back electromotive force; during a braking operation, the braking voltage calculated during the monitoring is applied to both ends of the motor to perform braking. By adaptively adjusting the brake voltage according to the monitored counter electromotive force, a rapid and effective brake can be achieved.
According to the embodiment, the braking process is divided into the alternately performed monitoring operation and the braking operation, the vibration level of the motor can be estimated in real time during the monitoring operation, and the braking voltage can be adjusted during the braking operation to perform braking, so that the effect of rapid braking can be achieved by adaptively adjusting the braking voltage for different vibration waveforms, and meanwhile, the related calculated amount is small and the real-time processing is easy.
Referring to fig. 3, which is a flowchart illustrating a method for braking a linear motor according to an embodiment of the present application, as shown in fig. 3, the method 300 may include the following steps:
step S310, controlling the linear motor to enter a high-resistance state, and acquiring a reverse electromotive force signal of a preset time;
Step S320, determining the amplitude of the back electromotive force according to the back electromotive force signal;
step S330, according to the amplitude of the reverse electromotive force, the braking voltage of the linear motor is adjusted;
Step S340, applying the braking voltage to the linear motor for a predetermined time to perform braking.
Wherein, step S310 and step S320 correspond to the monitoring operation, and step S330 and step S340 correspond to the braking operation, which together constitute the first braking process. In one embodiment, the linear motor is controlled to reenter the high resistance state after the first braking process, and the above steps are repeated to perform a plurality of braking processes, such as the second braking process, the third braking process … …, and so on, until the braking of the motor is completed.
In the embodiment of the present application, for example, the motor may be controlled to enter a braking process when an end of driving instruction of the linear motor is received, or after a brake enable signal is received. The braking process is performed by alternating the monitoring operation and the braking operation, i.e. the driving voltage of the brake is not applied during the monitoring operation, but the calculated braking voltage is applied to both ends of the motor for a certain time after the monitoring step S320, so as to achieve the fast and effective automatic braking. In one example, the predetermined duration of the application of the braking voltage is less than half a resonant period, preferably less than or equal to 1/4 of a resonant period, which may advantageously adjust the braking operation in real time based on the monitored counter electromotive force. Preferably, the cycle of one braking process is composed of a monitoring operation period and a braking operation period, which are about half of the resonance cycle. The time length of the signal acquisition is smaller than or equal to the monitoring operation time length, and the time length of the brake voltage application is smaller than or equal to the brake operation time length. For example, when the resonance frequency of the motor is 200Hz, the monitoring operation time and the brake operation time can be set to be about 1.25ms, and the time for collecting signals and applying voltage can be controlled to be between 1 ms and 1.25 ms.
After the braking step S340, the monitoring operation may be performed again in step S310. The braking operation can be finished by alternating the monitoring operation and the braking operation for a plurality of times until the estimated back electromotive force peak value meets the braking stop threshold, so that a rapid and effective automatic braking effect is achieved.
Fig. 4 is a flowchart illustrating a braking method of a linear motor according to another embodiment of the present application, and as shown in fig. 4, the braking method may include the following steps:
In step S410, the linear motor is controlled to enter a high-resistance state, and a reverse electromotive force signal is collected for a predetermined time.
Step S420, determining the magnitude of the back electromotive force according to the back electromotive force signal.
Steps S410 and S420 are substantially the same as steps S310 and S320 described above, and may be performed, for example, by performing ground discharge after receiving a brake signal, detecting an induced voltage signal indicated by a voltage sensor across the two ends of the motor, and determining the amplitude of the back electromotive force according to the collected signal sequence.
Step S430, determining a relationship between the magnitude of the back electromotive force and a threshold.
When the magnitude of the back electromotive force is smaller than the preset threshold, it may be considered that the vibration level of the linear motor has been smaller than the prescribed reference value or that the vibration has stopped, at which time the braking operation may be ended (step S442).
In contrast, in response to the magnitude of the back electromotive force being greater than or equal to the threshold, step S441 may be performed, i.e., a braking voltage is calculated based on the monitored back electromotive force and applied to both ends of the linear motor for a certain time, while returning to step S410 to perform the next braking process.
Fig. 5 is a flowchart illustrating a method for adjusting a brake voltage of a linear motor according to an embodiment of the present application, and as shown in fig. 5, the method for determining a brake voltage of a motor may include the following steps:
In step S510, the ratio of the magnitude S now of the currently determined back electromotive force and the magnitude S last of the last determined back electromotive force is obtained.
The ratio (r b) is the adjustment coefficient of the brake voltage, which can be expressed as:
Where S now is the magnitude of the back electromotive force determined in the current braking process, and S last is the magnitude of the back electromotive force determined in the previous braking process.
As described above, the braking method according to an embodiment of the present application may be composed of a plurality of braking processes, each of which may be divided into a monitoring operation and a braking operation that are alternately performed, and in each of which the magnitude of the corresponding back electromotive force is determined. For the first braking process, r b =1 can be considered.
In step S520, a current brake voltage is determined at least according to the ratio.
In one embodiment, the currently operating brake actuation voltage may be determined by the following calculation:
V now＝k*rb*Vref, where k is a constant, which can be adjusted according to the actual need, for example, it is related to the damping coefficient of the motor, V now is the current brake voltage of the linear motor, and its initial value can be a preset brake voltage value V ref, i.e. r b = 1 for the first braking process. In the subsequent braking process, the braking voltage is related to the reverse electromotive force determined by two adjacent monitoring operations, so that the braking voltage can be adaptively adjusted according to different residual vibrations, and the effect of stable and rapid braking can be achieved.
Note that the brake voltage determined according to step S520 is an absolute value thereof. In order to effectively brake the linear motor, it is also necessary to control the polarity of the applied brake voltage. FIG. 6 is a schematic flow chart of determining the polarity of the brake voltage according to an embodiment of the application, and as shown in FIG. 6, the method for determining the polarity of the brake voltage may include the following steps:
In step S610, the sequence trend and polarity of the back electromotive force are determined according to the sampling sequence.
For example, the trend of the back electromotive force sequence acquired during the current braking process may be determined by comparing the back electromotive force value of the first data point in the sampling sequence with the back electromotive force value of the last data point in the sampling sequence, e.g., when the value (absolute value) of the first data point is smaller than the value of the last data point, the sequence may be considered as an increasing trend; conversely, when the value of the first data point is greater than the value of the last data point, the sequence may be considered a decreasing trend.
The polarity of the back electromotive force may be determined by any sample point data in the sample sequence, preferably by the polarity of the back electromotive force of the last data point.
In step S620, the polarity of the brake voltage is determined according to the sequence trend and the polarity.
In one example, the polarity of the brake voltage may be determined according to a sequential trend, for example, when the sequential trend is determined to be an increasing trend, the polarity of the brake voltage may be determined to be negative, whereas if the sequential trend is determined to be a decreasing trend, the polarity of the brake voltage may be determined to be positive.
In one example, the polarity of the brake voltage may be determined according to the polarity of the sequence, for example, a brake voltage polarity opposite to the sequence polarity may be selected, i.e., a brake voltage with a negative polarity if the induced counter electromotive force is in a positive half-cycle, and a brake voltage with a positive polarity if the induced counter electromotive force is in a negative half-cycle.
In one example, the polarity of the brake voltage may be determined in common from both the sequence trend and the polarity of the sequence. For example, a boolean operation of "and", "or" may be performed on the voltage polarity determined by the sequence trend and the voltage polarity determined by the sequence polarity, and the polarity of the brake voltage may be determined based on the result of the operation. Specifically, when the two are summed, the polarity of the brake voltage may be determined to be positive or negative when the polarities determined from the two are the same (both positive or negative brake voltages), and the polarity of the brake voltage may be determined to be negative when the polarities determined from the two are different.
Fig. 7 illustrates a block diagram of a linear motor control apparatus provided according to an embodiment of the present application.
As shown in fig. 7, a linear motor control apparatus 700 according to an embodiment of the present application may include: an acquisition unit 710 for acquiring a reverse electromotive force signal for a predetermined time after controlling the linear motor to enter a high resistance state; a calculating unit 720, configured to determine an amplitude of the back electromotive force according to the back electromotive force signal; and an adjusting unit 730 adjusting a driving signal of the linear motor based on a control operation of the linear motor according to the magnitude of the back electromotive force.
In an embodiment, the control device may be implemented as part of the drive chip of the linear motor, and thus the components of the control device of the present embodiment, as well as other components of the motor, may be arranged on an integrated circuit or incorporated on a general-purpose integrated circuit. For example, the computing unit and the adjustment unit may be implemented as general purpose processors and may be fabricated on a single integrated circuit. The integrated circuit may be placed on a circuit board, such as a Printed Circuit Board (PCB).
In one example, the acquisition unit 710 may be configured to acquire the back electromotive force signal for a predetermined time, which may be associated with a resonance period of the motor, for example, the predetermined time is less than a half resonance period of the linear motor, preferably, less than or equal to a quarter of the resonance period.
In one example, the computing unit 720 may be configured to determine the magnitude of the back electromotive force in the following manner includes: sampling the reverse electromotive force signal; determining a phase matching each sampling point in a sampling sequence based on a rate of change of the back electromotive force signal; based on the change rate of the back electromotive force signals of each sampling point and the matched phase, acquiring the specific back electromotive force of the sampling point with the highest matching degree and the corresponding specific phase; the magnitude of the back electromotive force is determined based on the specific back electromotive force and the specific phase.
In one example, the computing unit 720 may be configured to determine the phase matching each sample point in the sample sequence as follows: for each sampling point, use is made ofCalculating a value to be compared of the sampling point, wherein S' is the change rate of a reverse electromotive force signal of the sampling point, and omega is the resonant angular frequency of the linear motor; from a predetermined plurality of phases, a phase whose tangent value is closest to the value to be compared is selected as a matching phase of the sampling point.
In one example, the calculating unit 720 may be configured to acquire the specific back electromotive force of the sampling point with the highest matching degree and the corresponding specific phase in the following manner including: calculating the difference value between the value to be compared of the back electromotive force signals of all the sampling points and the tangent value of the matched phase; and selecting the back electromotive force corresponding to the minimum difference value and the matched phase as the specific back electromotive force and the specific phase.
In one example, the calculating unit 720 may be configured to determine the magnitude of the back electromotive force in such a manner that the calculated magnitude of the back electromotive force is positively correlated with the specific back electromotive force and negatively correlated with the cosine value of the specific phase.
In one example, the adjusting unit 730 may be configured to adjust the brake voltage of the linear motor in the following manner including: acquiring the ratio of the currently determined amplitude of the back electromotive force to the last determined amplitude of the back electromotive force; the current brake voltage is determined based at least on the ratio.
In one example, the adjustment unit 730 may be further configured to determine the polarity of the brake voltage in the following manner: determining the sequence trend and polarity of the reverse electromotive force according to the sampling sequence; and determining the polarity of the brake voltage according to the sequence trend and the polarity.
In one example, the control device 700 may be configured to control a braking operation of the linear motor, and the adjustment unit 730 is configured to adjust a braking voltage of the linear motor according to the magnitude of the back electromotive force.
In one example, the control device 700 may be further configured to apply the braking voltage to the linear motor for a predetermined time to brake and control the linear motor to reenter the high resistance state.
In one example, the control apparatus 700 may further include a determining unit that may be configured to determine a relationship between the magnitude of the back electromotive force and a threshold. In response to the magnitude of the back electromotive force being greater than or equal to a threshold, the control device applies the braking voltage to the linear motor to brake; in response to the magnitude of the counter electromotive force being less than a threshold, the control means will cut off the power supply and no longer output a braking voltage, i.e. end the braking.
The specific functions and operations of the respective units and modules in the above-described control apparatus 700 have been described in detail in the control methods described above with reference to fig. 1 to 6, and thus are only briefly described herein, and unnecessary repetitive descriptions are omitted.
The linear motor control system is described below with reference to fig. 8, and as illustrated in fig. 8, the linear motor control system 800 may include at least a control device 820, and a driving unit 830.
The control device 820 is coupled to the linear motor 810, and can be used to collect the back electromotive force generated by the linear motor 810 in the high-impedance state and generate the driving signal for adjusting the motor to operate, and the details of fig. 7 and the related description will not be repeated here. The driving unit 830 may perform operations such as overtaking and braking on the linear motor according to the adjusted driving signal, and the driving unit may use circuits such as an H-bridge. According to the method and the device for controlling the motor, the motor can be flexibly controlled, for example, for braking operation, the braking voltage can be adaptively adjusted for the current vibration waveform through alternation of multiple dry monitoring operations and braking operations until the estimated reverse electromotive force amplitude meets the threshold of braking stop, so that a rapid and effective automatic braking effect is achieved, and user experience is remarkably improved.
The basic principles of the present application have been described above in connection with specific embodiments, but it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not intended to be limiting, and these advantages, benefits, effects, etc. are not to be construed as necessarily possessed by the various embodiments of the application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not necessarily limited to practice with the above described specific details.
The block diagrams of the devices, apparatuses, devices, systems referred to in the present application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the application to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
Claims (11)
1. A control method of a linear motor, comprising:
Controlling the linear motor to enter a high-resistance state, and acquiring a reverse electromotive force signal of a preset time;
determining the amplitude of the back electromotive force according to the back electromotive force signal; and
Adjusting a driving signal of the linear motor based on a control operation of the linear motor according to the magnitude of the back electromotive force,
Wherein determining the magnitude of the back electromotive force comprises:
sampling the reverse electromotive force signal;
Determining a phase matching each sampling point in a sampling sequence based on a rate of change of the back electromotive force signal;
Based on the change rate of the back electromotive force signals of each sampling point and the matched phase, acquiring the specific back electromotive force of the sampling point with the highest matching degree and the corresponding specific phase;
the magnitude of the back electromotive force is determined based on the specific back electromotive force and the specific phase.
2. The control method according to claim 1, wherein determining a phase matching each sampling point in a sampling sequence based on a rate of change of the back electromotive force signal comprises:
For each sampling point, use is made of Calculating a value to be compared of the sampling point, wherein S' is the change rate of a reverse electromotive force signal of the sampling point, and omega is the resonant angular frequency of the linear motor;
from a predetermined plurality of phases, a phase whose tangent value is closest to the value to be compared is selected as a matching phase of the sampling point.
3. The control method according to claim 2, wherein acquiring the specific back electromotive force and the corresponding specific phase of the sampling point having the highest matching degree comprises:
calculating the difference value between the value to be compared of the back electromotive force signals of all the sampling points and the tangent value of the matched phase;
and selecting the back electromotive force corresponding to the minimum difference value and the matched phase as the specific back electromotive force and the specific phase.
4. A control method according to any one of claims 1 to 3, wherein the magnitude of the back electromotive force is positively correlated with the specific back electromotive force and negatively correlated with a cosine value of the specific phase.
5. The control method according to claim 1, wherein the control operation is a braking operation, and the driving signal is a braking voltage.
6. The control method according to claim 5, further comprising:
Applying the braking voltage to the linear motor for braking for a predetermined time;
The linear motor is controlled to reenter a high resistance state.
7. The control method according to claim 6, wherein adjusting the drive signal of the linear motor includes:
Acquiring the ratio of the currently determined amplitude of the back electromotive force to the last determined amplitude of the back electromotive force;
the current brake voltage is determined based at least on the ratio.
8. The control method according to claim 7, wherein adjusting the drive signal of the linear motor further comprises:
Determining the sequence trend and polarity of the reverse electromotive force according to the sampling sequence;
and determining the polarity of the brake voltage according to the sequence trend and the polarity.
9. The control method according to claim 6, further comprising:
Judging the relation between the amplitude of the reverse electromotive force and a threshold;
applying the braking voltage to a linear motor to brake in response to the magnitude of the counter electromotive force being greater than or equal to a threshold;
and ending braking in response to the magnitude of the back electromotive force being less than a threshold.
10. A control device of a linear motor, comprising:
an acquisition unit for acquiring a reverse electromotive force signal for a predetermined time after controlling the linear motor to enter a high resistance state;
A calculation unit for determining the amplitude of the back electromotive force according to the back electromotive force signal; and
An adjusting unit for adjusting a driving signal of the linear motor based on a control operation of the linear motor according to the magnitude of the back electromotive force,
Wherein the calculation unit is configured to determine the magnitude of the back electromotive force in the following manner:
sampling the reverse electromotive force signal;
Determining a phase matching each sampling point in a sampling sequence based on a rate of change of the back electromotive force signal;
Based on the change rate of the back electromotive force signals of each sampling point and the matched phase, acquiring the specific back electromotive force of the sampling point with the highest matching degree and the corresponding specific phase;
the magnitude of the back electromotive force is determined based on the specific back electromotive force and the specific phase.
11. A linear motor control system comprising:
the control device of claim 10; and
And a driving unit that operates the linear motor according to the adjusted driving signal.
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