WO2020147742A1

WO2020147742A1 - Linear motor drive chip braking method and apparatus

Info

Publication number: WO2020147742A1
Application number: PCT/CN2020/072201
Authority: WO
Inventors: 赵观星; 吴绍夫; 程剑涛; 杜黎明; 孙洪军
Original assignee: 上海艾为电子技术股份有限公司
Priority date: 2019-01-17
Filing date: 2020-01-15
Publication date: 2020-07-23
Also published as: CN109713944A; CN109713944B

Abstract

A linear motor drive chip braking method and apparatus, the method comprising: when the value of a first enabling signal is a first preset value and the time for which a counter-electromotive force is not over zero is shorter than or equal to a first set time, determining whether the value of the counter-electromotive force is lower than a rapid braking threshold; when the value of the counter-electromotive force is not lower than the rapid braking threshold, braking a linear motor according to the amplitude of a first braking pulse; when the value of the counter-electromotive force is lower than the rapid braking threshold, the value of a second enabling signal is a second preset value, and the time for which the counter-electromotive force of the linear motor is not over zero is shorter than or equal to a second set time, determining whether the value of the counter-electromotive force is lower than a fine-tuning braking threshold; when the value of the counter-electromotive force is not lower than the fine-tuning braking threshold, braking the linear motor according to the amplitude of a second braking pulse, the amplitude of the second braking pulse being smaller than the amplitude of the first braking pulse; and when the value of the counter-electromotive force is lower than the fine-tuning braking threshold, ending an automatic braking action, which achieves rapid and effective braking for the linear motor.

Description

Linear motor driving chip braking method and device

This application claims the priority of a domestic application filed with the Chinese Patent Office on January 17, 2019, the application number is 201910044725.3, and the invention title is "a linear motor-driven chip brake method and device", the entire content of which is incorporated herein by reference Applying.

Technical field

The invention relates to the technical field of testing equipment, in particular to a linear motor driving chip brake method and device.

Background technique

Tactile feedback technology can produce different tactile experiences according to different application scenarios, allowing users to interact more deeply with electronic products, which is an important direction for future smart terminal upgrades. As an important application field of tactile feedback technology, the direction of smartphones, through the tactile feedback engine, can simulate the subtle vibration of the clock dial, heartbeat, and in some games, it can even simulate shooting, punching, and other vibration effects. Game experience. In order to meet the needs of various applications, it is more and more urgent and important to realize the short and crisp tactile experience of LRA motors (linear motors), and to realize fast and effective braking.

Summary of the invention

In view of this, the embodiments of the present invention provide a linear motor-driven chip braking method and device to achieve rapid and effective braking of the linear motor.

In order to achieve the foregoing objective, the embodiments of the present invention provide the following technical solutions:

A linear motor driving chip braking method includes:

Judging whether the preset value of the first enable signal is the first preset value;

When the value of the first enable signal is a first preset value, brake the linear motor according to the amplitude of the first brake pulse;

Judging whether the non-zero time of the back electromotive force of the linear motor exceeds a first set time;

When the zero-free time of the back electromotive force is less than or equal to the first set time, judging whether the value of the back electromotive force is less than a preset fast braking threshold;

When the value of the back electromotive force is less than the preset fast braking threshold, determining whether the value of the preset second enable signal is the second preset value;

When the value of the second enable signal is a second preset value, the linear motor is braked according to the amplitude of the second brake pulse, and the amplitude of the second brake pulse is smaller than the first brake pulse The amplitude of

Determining whether the non-zero time of the back electromotive force of the linear motor exceeds a second set time;

When the zero-free time of the back electromotive force is less than or equal to the second set time, judging whether the value of the back electromotive force is less than a preset fine-tuning brake threshold;

When the value of the back electromotive force is less than the preset fine-tuning braking threshold, the automatic braking action is ended.

Optionally, in the above linear motor driving chip braking method, the first preset value is 1, and the second preset value is 1.

The linear motor driving chip braking method, before the judging whether the value of the preset first enable signal is 1, further includes:

It is judged whether the linear driving waveform playback of the linear motor is over, if it is, it is judged whether the automatic brake signal is valid, and when the automatic brake signal is valid, it is judged whether the value of the preset first enable signal is 1.

Optionally, in the above linear motor driving chip braking method, when it is determined that the value of the first enable signal is not 1, it is determined whether the value of the preset second enable signal is 1;

When it is determined that the value of the second enable signal is not 1, the automatic braking action is exited.

Optionally, in the above-mentioned linear motor driving chip braking method, after determining that the value of the back electromotive force is less than a preset fine-tuning braking threshold, before braking the linear motor according to the amplitude of the second braking pulse, the method further includes :

Obtaining the value of the back electromotive force of the linear motor;

The product of the value of the back electromotive force and the preset braking factor is used as the amplitude of the second braking pulse.

Optionally, in the above-mentioned linear motor driving chip braking method, before the product of the value of the back electromotive force and a preset braking factor is used as the amplitude of the second braking pulse, the method further includes:

The model identification of the linear motor is read from the storage device of the linear motor, and the braking factor matching the model identification is retrieved from a preset mapping table.

A linear motor driving chip brake device, including:

Quick brake unit and fine-tuning brake unit;

The quick brake unit is used for:

When the linear motor needs to perform an automatic braking action, it is determined whether the value of the preset first enable signal is the first preset value; when the value of the first enable signal is the first preset value, according to the first The amplitude of the brake pulse brakes the linear motor; it is judged whether the zero-free time of the back-EMF of the linear motor exceeds the first set time; when the zero-free time of the back-EMF is less than or equal to the first set time, it is determined Whether the value of the back electromotive force is less than the preset fast braking threshold; when the value of the back electromotive force is less than the preset fast braking threshold, output a trigger signal to the fine-tuning braking unit;

The fine adjustment brake unit is used for:

When the trigger signal output by the quick brake unit is acquired, it is determined whether the value of the preset second enable signal is the second preset value; when the value of the second enable signal is the second preset value , Brake the linear motor according to the amplitude of the second brake pulse, the amplitude of the second brake pulse is smaller than the amplitude of the first brake pulse; determine whether the back electromotive force of the linear motor has zero but zero time Exceeding the second set time; when the back-EMF zero-free time is less than or equal to the second set time, determine whether the value of the back-EMF is less than the preset fine-tuning brake threshold; when the value of the back-EMF is less than the preset The automatic braking action will end when the fine-tuning brake threshold is set.

Optionally, in the linear motor-driven chip brake device, the first preset value is 1, and the second preset value is 1.

Optionally, the linear motor-driven chip brake device further includes:

The brake start judging unit is used to judge whether the linear drive waveform playback of the linear motor is over, and if it is, judge whether the automatic brake signal is valid. When the automatic brake signal is valid, it indicates that the brake device is to perform an automatic brake action, and The brake unit outputs a trigger signal.

Optionally, in the linear motor-driven chip brake device, the quick brake unit and the fine-tune brake unit are also used for:

When it is determined that the value of the first enable signal is not 1, it is determined whether the value of the preset second enable signal is 1;

Optionally, in the linear motor-driven chip brake device, the fine-tuning brake unit is further used for:

After determining that the value of the back electromotive force is less than the preset fine-tuning braking threshold, before the braking the linear motor according to the amplitude of the second braking pulse, the method further includes:

Obtaining the value of the back electromotive force of the linear motor;

Optionally, the linear motor-driven chip braking device further includes: a braking factor calculation unit for:

The model identification of the linear motor is read from the storage device of the linear motor, the braking factor matching the model identification is retrieved from the preset mapping table, and the retrieved braking factor is sent to all The fine-tuning brake unit is described.

Based on the above technical solution, the above solution provided by the embodiment of the present invention is to perform rapid braking on the linear motor in the first braking stage. When the back electromotive force of the linear motor is less than the rapid braking threshold, the second braking stage is entered. In the second braking stage, fine-tuning braking is performed on the linear motor, which realizes rapid and effective braking of the linear motor.

BRIEF DESCRIPTION

In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only This is an embodiment of the present invention. For a person of ordinary skill in the art, without paying any creative labor, other drawings may be obtained according to the provided drawings.

FIG. 1 is a schematic flowchart of a linear motor driving chip braking method disclosed in an embodiment of the application;

2 is a schematic block diagram of the automatic braking process of the linear motor driving chip braking method provided by an embodiment of the application;

3 is a schematic flowchart of a method for driving a chip brake by a linear motor according to another embodiment of the application;

4 is a schematic diagram of a test position of a linear motor back EMF provided by an embodiment of the application;

5 is a schematic structural diagram of a linear motor-driven chip brake device provided by an embodiment of the application.

detailed description

The technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative labor fall into the protection scope of the present invention.

In order to realize the short and crisp braking of the linear motor, this application provides a method for automatically realizing the linear motor driving chip braking. The realization process of the automatic braking method is divided into two stages: the first braking stage AUTOBRAKE0 and the second braking stage AUTOBRAKE1. Among them, the AUTOBRAKE0 stage is used to realize rapid braking of the LRA motor, and the amplitude of the braking pulse can be set by a register. The AUTOBRAKE1 stage is used to implement fine-tuning braking of the LRA motor to achieve a better braking effect. The amplitude of the braking pulse is calculated by the obtained BEMF (Back Electro Motive Force) value. The period and direction of the brake pulse are obtained by monitoring the BEMF value of the LRA motor in real time. The number of brake pulses is obtained by comparing the fast brake threshold, fine-tuning the brake threshold and the monitored BEMF value. By optimizing the setting of the above braking parameters, the LRA motor can brake quickly and effectively under different application environments and different shock intensity.

FIG. 1 is a schematic flowchart of a method for driving a chip brake by a linear motor according to an embodiment of the application. Referring to FIG. 1, the method includes:

Step S101: Determine whether the preset value of the first enable signal is the first preset value;

In the technical solution disclosed in the embodiments of the present application, the first preset value may be 1, the first enable signal is a signal used to characterize entering the first braking phase AUTOBRAKE0, if the first enable signal The value of 1 indicates that the device can enter the first braking stage AUTOBRAKE0. If the value of the first enable signal is not 1, it indicates that the device cannot enter the first braking stage. The user can set the first brake according to requirements. The value of the enable signal, for example, if the user wants to automatically brake the linear motor, the value of the first enable signal is configured to 1, if the user does not need to automatically brake the linear motor, the The value of the first enable signal is configured as 0.

It is not difficult to understand that the first preset value corresponding to the first enable signal used to characterize entering the first braking stage AUTOBRAKE0 may also be other values, and the user can set correspondingly as needed.

Step S102: brake the linear motor according to the amplitude of the first brake pulse;

This step is the braking action performed in the first braking stage. Specifically, the first braking pulse may be a periodic signal. For example, as shown in FIG. 2, the first braking pulse signal is a filtered square wave signal. The first brake pulse may be composed of a positive pulse A+ and a negative pulse A-, and the amplitude direction of the first brake pulse is opposite to the direction of the back EMF of the linear motor, that is, if the back EMF is in the positive half Cycle, the first braking pulse is negative pulse A-, if the back-EMF is in the negative half cycle, the first braking pulse is positive pulse A+; wherein, in the first braking phase AUTOBRAKE0, the first braking pulse The amplitude of the brake pulse can be set according to user needs, and its design value is usually larger. For example, in the technical solution disclosed in the embodiment of the present application, the amplitude of the first brake pulse and the overdrive of the linear motor The amplitude is the same, so as to realize rapid braking of the linear motor, after the first braking stage, the operating state of the linear motor basically meets the braking requirements;

Step S103: Determine whether the back electromotive force (BEMF) of the linear motor has a zero-free time less than or equal to a first set time. When the back electromotive force (BEMF) is less than or equal to the first set time, it is less than or equal to the first set time. When the time is set, step S104 is executed, otherwise, step S109 is executed;

When the linear motor needs to be controlled to perform an automatic braking action, the back electromotive force of the linear motor is obtained, and the zero-free time of the back-EMF is obtained according to the waveform of the back-EMF. When the zero-free time of the back-EMF is less than or equal to a preset When the time is over, the linear motor needs to be braked and the subsequent actions are continued to be performed. When the zero-free time of the back-EMF exceeds the preset time, there is no need to brake the linear motor, and step S109 is performed;

Step S104: Determine whether the value of the back EMF is less than the preset fast braking threshold, and when the value of the back EMF is not less than the preset fast braking threshold, return to step S102; when the value of the back EMF is less than the preset fast braking threshold When the fast braking threshold is reached, step S105 is executed;

In the technical solution disclosed in the embodiment of the application, it is judged whether to enter the second braking stage according to the comparison result of the value of the back electromotive force and the preset rapid braking threshold. In this step, the rapid braking The size of the threshold value can be set according to user needs. In actual use, the user can adjust the size of the fast braking threshold value according to the braking effect. In this step, when the value of the back electromotive force is not less than the preset value, When the fast braking threshold is set, it indicates that the braking process is still in the first braking stage. Return to step S102. When the value of the back electromotive force is less than the preset fast braking threshold, it indicates that the braking process has entered the second braking stage, and step S105 is executed. ；

Step S105: Determine whether the value of the preset second enable signal is the second preset value, and when the value of the second enable signal is the second preset value, perform step S106;

In an optional solution, the second preset value may be 1. It is not difficult to understand that the second preset value corresponding to the second enable signal used to characterize the entry into the second braking phase AUTOBRAKE1 may also be other values, and the user can set correspondingly according to needs.

In this step, the second preset value may be 1. When the value of the back electromotive force is less than the preset rapid braking threshold, it indicates that the braking process has entered the second braking stage, and when the second braking stage is entered After that, first determine whether the value of the second enable signal is 1. The second enable signal is a signal used to characterize entering the second braking phase AUTOBRAKE1. If the value of the second enable signal is 1, It indicates that the device can enter the second braking stage AUTOBRAKE1. If the value of the second enable signal is not 1, it indicates that the device cannot enter the second braking stage and directly exits the automatic braking process. The user can set the value of the second enable signal according to requirements. For example, if the user wants to automatically brake the linear motor, the value of the second enable signal is configured as 1, if the user does not need to If the linear motor performs automatic braking, the value of the second enable signal is configured to be zero.

In the technical solution disclosed in the embodiments of the present application, the user can set the value of the first enable signal and the second enable signal according to requirements, and the two can be independent of each other. At this time, when the value of the first enable signal is not 1. At this time, it can be determined whether the value of the second enable signal is 1. Of course, the value of the second enable signal may also be correlated with the first enable signal, that is, at this time, the value of the first enable signal may be 0 or 1, when the first enable signal When the value of the enable signal is 0, the value of the second enable signal can only be 0, and when the value of the first enable signal can be 1, the value of the second enable signal can be 0 or 1. That is, the automatic braking process can only perform the first braking stage without performing the second braking stage, or both the first braking stage and the second braking stage can be performed, but it cannot be performed without performing the first braking stage Go directly to the second braking stage;

Step S106: brake the linear motor according to the amplitude of the second brake pulse, the amplitude of the second brake pulse is smaller than the amplitude of the first brake pulse;

This step is the braking action performed in the second braking stage. Specifically, the second braking pulse may be a periodic signal. For example, as shown in FIG. 2, the second braking pulse signal is a filtered square wave signal. The second brake pulse may be composed of a positive pulse A+ and a negative pulse A-, and the amplitude direction of the second brake pulse is opposite to the direction of the back electromotive force, that is, if the back electromotive force is in a positive half cycle , The second brake pulse is a negative pulse A-, if the back electromotive force is in a negative half cycle, the second brake pulse is a positive pulse A+; wherein, in the second brake phase AUTOBRAKE1, the second brake The amplitude of the pulse can be set according to user needs. Of course, in order to maintain the stability of the braking process, the amplitude of the second brake pulse can also follow the changes in the amplitude of the back electromotive force, so that the second brake pulse The amplitude decreases as the amplitude of the back electromotive force decreases. For example, the amplitude of the second braking pulse and the amplitude of the back electromotive force are in a positive proportional relationship, that is, the ratio of the amplitude of the second braking pulse to the amplitude of the back electromotive force is a preset braking Factor. At this time, when the magnitude of the back EMF is calculated, the product of the magnitude of the back EMF and the braking factor is used as the magnitude of the second braking pulse.

Step S107: Determine whether the zero-free time of the back-EMF of the linear motor is less than or equal to a second set time, and when the back-EMF zero-free time is less than or equal to the second set time, step S108 is executed;

When it is necessary to control the linear motor to perform an automatic braking action, obtain the back electromotive force of the linear motor, and obtain the zero-free time of the back-EMF according to the waveform of the back-EMF; when the zero-free time of the back-EMF is less than or equal to the second When setting the time, it is necessary to perform a braking action on the linear motor and continue to perform subsequent actions. When the zero-free time of the back electromotive force exceeds the second set time, there is no need to perform a braking action on the linear motor, and step S109 is performed;

Step S108: Determine whether the value of the back-EMF is less than the preset fine-tuning braking threshold, and when the value of the back-EMF is not less than the preset fine-tuning braking threshold, execute step S106, and when the value of the back-EMF is less than the preset When the brake threshold is fine-tuned, step S109 is executed;

In the technical solution disclosed in the embodiment of the present application, it is determined whether the second braking stage is over through the comparison result of the value of the back electromotive force and the preset fine-tuning braking threshold. In this step, the fine-tuning braking The threshold value can be set according to user needs. In actual use, the user can adjust the size of the fine-tuned braking threshold value according to the braking effect. In this step, when the value of the back electromotive force is not less than the preset value, When the fine-tuned braking threshold is set, it indicates that the braking process is still in the second braking stage, and step S106 is executed. When the value of the back-EMF is less than the preset fine-tuned braking threshold, it indicates that the second braking stage has ended, and step S109 is executed;

Step S109: End the automatic braking action.

It can be seen from the above solution that the flow chart of the linear motor automatic braking process proposed by the present invention includes two stages, AUTOBRAKE0 and AUTOBRAKE1. When the linear motor is automatically braked, it first enters the AUTOBRAKE0 brake phase. In the AUTOBRAKE0 braking phase, if the real-time monitoring of the linear motor BEMF value does not exceed the first set time of the system, the automatic braking process ends. When the linear motor BEMF value does not exceed the zero time is less than or equal to the first set time of the system, continue Perform quick braking action. When the linear motor BEMF value is less than the fast brake threshold, enter the AUTOBRAKE1 brake phase. In the braking phase of AUTOBRAKE1, if the real-time monitoring of the BEMF value of the LRA motor does not exceed zero for the second set time of the system, or the enable signal corresponding to AUTOBRAKE1 is 0, or the monitored BEMF value is less than the fine-tuning braking threshold, the automatic braking process is terminated Otherwise, continue to perform the fine-tuning braking action, and through the combination of quick braking and fine-tuning braking, the short and crisp braking effect of the linear motor is realized.

Refer to Figure 2, in the automatic braking process, the first braking cycle uses the linear motor drive chip's preset motor cycle (t_drv1*2), and the number of the second and subsequent braking cycles is monitored by the linear motor's BEMF amplitude Value, calculate the corresponding braking period, as shown in t_drv2, t_drv3, t_drv4, etc. shown in Figure 2. During the braking process, the number of braking pulses is automatically adjusted according to the amplitude of BEMF. By real-time calculation of the braking period and the number of suitable braking pulses, the braking effect tends to be perfect.

Referring to FIG. 3, in the technical solution disclosed in the embodiment of the present application, before step S101 is performed, it is possible to determine whether to enter the automatic braking process by judging the linear motor drive waveform and the automatic brake enable signal. Specifically, Referring to Fig. 3, before step S101 is executed, the method further includes:

Step S301: Determine whether the linear driving waveform playback of the linear motor is over, if yes, go to step S302;

In this step, when the linear driving waveform of the linear motor is played, it indicates that the linear motor needs to enter the braking phase. During the braking phase, the linear motor can be controlled to automatically brake, of course, it can also not be braked, or the user can manually Braking, etc. At this time, step S302 needs to be entered to determine whether automatic braking is required.

Step S302: Determine whether the automatic braking signal is valid, and when the automatic braking signal is valid, execute step S101;

In this step, the validity of the automatic braking signal can be set by setting the automatic braking signal to 0, 1. For example, when the automatic braking signal is 1, it indicates that it is valid, and when it is 0 Indicate that it is invalid. When it is invalid, it indicates that it does not need to enter the automatic braking process.

In the technical solutions disclosed in the above-mentioned embodiments of the present application, when it is determined that the value of the first enable signal is not 1, for example, its value is 0, which indicates that the system does not need to perform a quick braking action. Step S105 is directly entered to determine its value. Whether to perform fine-tuning braking action, when the value of the second enable signal is not 1, for example, when the judgment result is 0, it indicates that the automatic braking process is over and the automatic braking process is exited. Moreover, when it is determined that the zero-free time of the back electromotive force of the linear motor exceeds the set time, it indicates that the automatic braking process is over and the automatic braking action is exited. In this solution, the user can set the value of the first enable signal and the second enable signal according to requirements, and the two can be independent of each other. At this time, when the value of the first enable signal is not 1, it can be determined that the Whether the value of the second enable signal is 1. Of course, the value of the second enable signal may also be correlated with the first enable signal, that is, at this time, the value of the first enable signal may be 0 or 1, when the first enable signal When the value of the enable signal is 0, the value of the second enable signal can only be 0, and when the value of the first enable signal can be 1, the value of the second enable signal can be 0 or 1.

Further, due to the different models of linear motors, the amplitudes of the second brake pulses required by them are also different. In the technical solutions disclosed in the embodiments of the present application, before performing the method, the following methods can also be used to determine the Braking factor:

The model identification of the linear motor is read from the storage device of the linear motor, and the braking factor matching the model identification is retrieved from a preset mapping table. Of course, the amplitude of the first brake pulse can also be retrieved through the preset mapping table.

Further, in the technical solution disclosed in the embodiments of the present application, when measuring the amplitude of the back electromotive force, the measurement can be carried out in the following manner: it is determined whether the back electromotive force has exited the zero-crossing area, if so, start timing, when When the set time arrives, measure the amplitude of the back EMF at the current moment. The specific principle is shown in Figure 4. In Figure 4, the sine wave signal represents the back EMF waveform of the linear motor, and the square wave represents the brake pulse. T _DRV represents the period of the brake pulse. ZC_DET represents the zero-crossing area of the back electromotive force. A detection point is set at a fixed position after the zero-crossing area to detect the amplitude of the back electromotive force of the linear motor at that moment. Real-time monitoring of the amplitude of the back electromotive force during the entire braking process. In the AUTOBRAKE0 braking phase, when the amplitude of the back-EMF is less than the fast braking threshold, enter the fine-tuning AUTOBRAKE1 braking phase. In the braking phase of AUTOBRAKE1, when the amplitude of the back electromotive force is less than the fine-adjusted braking threshold, the automatic braking process ends.

Corresponding to the above method, referring to FIG. 5, the application also discloses a linear motor driving chip brake device. Referring to FIG. 5, the device may include:

Quick brake unit 100 and fine-tuned brake unit 200;

The specific working process of the quick braking unit 100 corresponds to steps S101-S104 in the above method, and is used for:

When the linear motor needs to perform an automatic braking action, it is determined whether the value of the preset first enable signal is the first preset value; when the value of the first enable signal is the first preset value, according to the first The amplitude of the brake pulse brakes the linear motor; it is judged whether the zero-free time of the back EMF of the linear motor exceeds the set time; when the zero-free time of the back EMF is less than or equal to the set time, the back EMF is determined Whether the value of is less than the preset fast braking threshold; when the value of the back electromotive force is less than the preset fast braking threshold, output a trigger signal to the fine-tuning braking unit;

The specific working process of the fine adjustment brake unit 200 corresponds to the steps S105-S108 in the above method, and is used for:

When the trigger signal output by the quick brake unit is acquired, it is determined whether the value of the preset second enable signal is the second preset value; when the value of the second enable signal is the second preset value , Brake the linear motor according to the amplitude of the second brake pulse, the amplitude of the second brake pulse is smaller than the amplitude of the first brake pulse; determine whether the back electromotive force of the linear motor has zero but zero time Exceed the set time; when the back-EMF zero-free time is less than or equal to the set time, determine whether the value of the back-EMF is less than the preset fine-tuning braking threshold; when the value of the back-EMF is less than the preset fine-tuning braking At the threshold, the automatic braking action ends.

The first preset value may be 1, and the second preset value may be 1. In the above embodiment, the first preset value corresponding to the first enable signal is 1, and the second preset value corresponding to the second enable signal is 1. The preset value is 1 for explanation. It is not difficult to understand that the first preset value corresponding to the first enable signal may be other values, and the second preset value corresponding to the second enable signal may be other values.

Corresponding to the above method, the above device may further include:

Corresponding to the above method, the quick brake unit and the fine-tuned brake unit are also used for:

When it is determined that the value of the second enable signal is not 1, exit the automatic braking action;

When it is determined that the zero-free time of the back electromotive force of the linear motor exceeds the set time, the automatic braking action is exited.

Corresponding to the above method, the fine-tuning brake unit is also used for:

Obtaining the value of the back electromotive force of the linear motor;

Corresponding to the above method, the above device may further include:

Braking factor calculation unit for:

For the convenience of description, when describing the above system, the functions are divided into various modules and described separately. Of course, when implementing this application, the functions of each module can be implemented in the same one or more software and/or hardware.

The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment. The system and system embodiments described above are merely illustrative, where the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is It can be located in one place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative work.

Professionals can further realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the hardware and software Interchangeability, in the above description, the composition and steps of each example have been generally described according to function. Whether these functions are executed in hardware or software depends on the specific application of the technical solution and design constraints. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

The steps of the method or algorithm described in combination with the embodiments disclosed herein can be directly implemented by hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or all areas in the technical field. Any other known storage media.

It should also be noted that in this article, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these entities or operations There is any such actual relationship or order. Moreover, the terms "include", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also those not explicitly listed Or other elements that are inherent to this process, method, article, or equipment. Without more restrictions, the element defined by the sentence "include one..." does not exclude that there are other identical elements in the process, method, article or equipment that includes the element.

The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown in this document, but should conform to the widest scope consistent with the principles and novel features disclosed in this document.

Claims

A linear motor driving chip braking method is characterized in that it comprises:

Judging whether the preset value of the first enable signal is the first preset value;

When the value of the first enable signal is a first preset value, brake the linear motor according to the amplitude of the first brake pulse;

Judging whether the non-zero time of the back electromotive force of the linear motor exceeds a first set time;

When the zero-free time of the back electromotive force is less than or equal to the first set time, judging whether the value of the back electromotive force is less than a preset fast braking threshold;

When the value of the back electromotive force is less than the preset fast braking threshold, determining whether the value of the preset second enable signal is the second preset value;

When the value of the second enable signal is a second preset value, the linear motor is braked according to the amplitude of the second brake pulse, and the amplitude of the second brake pulse is smaller than the first brake pulse The amplitude of

Determining whether the non-zero time of the back electromotive force of the linear motor exceeds a second set time;

When the zero-free time of the back electromotive force is less than or equal to the second set time, judging whether the value of the back electromotive force is less than a preset fine-tuning brake threshold;

When the value of the back electromotive force is less than the preset fine-tuning braking threshold, the automatic braking action is ended.
The linear motor-driven chip braking method of claim 1, wherein:

The first preset value is 1, and the second preset value is 1.
The linear motor driving chip braking method according to claim 2, wherein before said determining whether the value of the preset first enable signal is 1, the method further comprises:

It is judged whether the linear driving waveform playback of the linear motor is over, if it is, it is judged whether the automatic brake signal is valid, and when the automatic brake signal is valid, it is judged whether the value of the preset first enable signal is 1.
The linear motor-driven chip braking method of claim 2, wherein:

When it is determined that the value of the first enable signal is not 1, it is determined whether the value of the preset second enable signal is 1;

When it is determined that the value of the second enable signal is not 1, the automatic braking action is exited.
The linear motor driving chip braking method according to claim 2, wherein after determining that the value of the back electromotive force is less than a preset fine-tuning braking threshold, the linear motor is performed according to the amplitude of the second braking pulse Before braking, it also includes:

Obtaining the value of the back electromotive force of the linear motor;

The product of the value of the back electromotive force and the preset braking factor is used as the amplitude of the second braking pulse.
The linear motor driving chip braking method according to claim 5, wherein before the product of the value of the back electromotive force and the preset braking factor is used as the amplitude of the second braking pulse, the method further comprises:

The model identification of the linear motor is read from the storage device of the linear motor, and the braking factor matching the model identification is retrieved from a preset mapping table.
A linear motor-driven chip brake device, which is characterized by comprising:

Quick brake unit and fine-tuning brake unit;

The quick brake unit is used for:

When the linear motor needs to perform an automatic braking action, it is determined whether the value of the preset first enable signal is the first preset value; when the value of the first enable signal is the first preset value, according to the first The amplitude of the brake pulse brakes the linear motor; it is determined whether the zero-free time of the back-EMF of the linear motor exceeds the first set time; when the zero-free time of the back-EMF is less than or equal to the first set time, it is determined Whether the value of the back electromotive force is less than the preset fast braking threshold; when the value of the back electromotive force is less than the preset fast braking threshold, output a trigger signal to the fine-tuning braking unit;

The fine adjustment brake unit is used for:

When the trigger signal output by the quick brake unit is acquired, it is determined whether the value of the preset second enable signal is the second preset value; when the value of the second enable signal is the second preset value , Brake the linear motor according to the amplitude of the second brake pulse, the amplitude of the second brake pulse is smaller than the amplitude of the first brake pulse; determine whether the back electromotive force of the linear motor has zero but zero time Exceeding the second set time; when the back-EMF zero-free time is less than or equal to the second set time, determine whether the value of the back-EMF is less than the preset fine-tuning brake threshold; when the value of the back-EMF is less than the preset The automatic braking action will end when the fine-tuning brake threshold is set.
7. The linear motor-driven chip brake device of claim 7, wherein the first preset value is 1, and the second preset value is 1.
The linear motor-driven chip brake device of claim 8, further comprising:

The brake start judging unit is used to judge whether the linear drive waveform playback of the linear motor is over, and if it is, judge whether the automatic brake signal is valid. When the automatic brake signal is valid, it indicates that the brake device is to perform an automatic brake action, and The brake unit outputs a trigger signal.
The linear motor-driven chip brake device according to claim 8, wherein the quick brake unit and the fine-tuned brake unit are further used for:

When it is determined that the value of the first enable signal is not 1, it is determined whether the value of the preset second enable signal is 1;

When it is determined that the value of the second enable signal is not 1, the automatic braking action is exited.
The linear motor-driven chip brake device according to claim 8, wherein the fine adjustment brake unit is further used for:

After determining that the value of the back electromotive force is less than the preset fine-tuning braking threshold, before the braking the linear motor according to the amplitude of the second braking pulse, the method further includes:

Obtaining the value of the back electromotive force of the linear motor;

The product of the value of the back electromotive force and the preset braking factor is used as the amplitude of the second braking pulse.
The linear motor-driven chip braking device according to claim 11, further comprising: a braking factor calculation unit for:

The model identification of the linear motor is read from the storage device of the linear motor, the braking factor matching the model identification is retrieved from the preset mapping table, and the retrieved braking factor is sent to all The fine-tuning brake unit is described.