WO2021031208A1 - 基于马达振动加速度的信号均衡方法、装置及存储介质 - Google Patents

基于马达振动加速度的信号均衡方法、装置及存储介质 Download PDF

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WO2021031208A1
WO2021031208A1 PCT/CN2019/102071 CN2019102071W WO2021031208A1 WO 2021031208 A1 WO2021031208 A1 WO 2021031208A1 CN 2019102071 W CN2019102071 W CN 2019102071W WO 2021031208 A1 WO2021031208 A1 WO 2021031208A1
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voltage
signal
motor
output voltage
vibration acceleration
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French (fr)
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秦英明
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AAC Technologies Holdings Shenzhen Co Ltd
AAC Technologies Pte Ltd
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AAC Acoustic Technologies Shenzhen Co Ltd
AAC Technologies Pte Ltd
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
    • G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
    • G01P15/097—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by vibratory elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/20—Controlling the acceleration or deceleration
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage

Definitions

  • the present invention relates to signal equalization technology of vibration acceleration, and in particular to a signal equalization method, device and storage medium based on motor vibration acceleration.
  • the maximum load-bearing voltage of the signal power amplifier of the existing linear motor is limited. When the voltage exceeds the withstand limit of the signal power amplifier, the signal power amplifier cannot work normally, resulting in poor vibration efficiency of the linear motor.
  • the embodiment of the present invention provides a signal equalization method, device and storage medium based on motor vibration acceleration, which can keep the voltage value of the linear motor within the maximum bearing range of the signal power amplifier.
  • the first aspect of the embodiments of the present invention provides a signal equalization method based on motor vibration acceleration, the method including:
  • Step S10 Calculate the motor excitation signal according to the expected target acceleration signal
  • Step S20 Obtain the output voltage according to the motor excitation signal, and set the maximum output voltage of the signal power amplifier device as a voltage threshold;
  • Step S30 Determine whether the output voltage is less than the voltage threshold. When the output voltage is greater than or equal to the voltage threshold, perform step S40; when the output voltage is less than the voltage threshold, perform step S50;
  • Step S40 reducing the output voltage to a safe voltage
  • Step S50 According to the output voltage or the safe voltage, the excitation voltage is calculated by the voltage peak area reduction method.
  • step S50 includes:
  • Step S501 Calculate the output voltage or the safety voltage according to the voltage peak area reduction method to obtain the vibration displacement L1, and set a displacement threshold;
  • Step S502 Determine whether the vibration displacement L1 is greater than the displacement threshold, when the vibration displacement L1 is less than or equal to the displacement threshold, obtain the output voltage V1; when the vibration displacement L1 is greater than the displacement threshold, go to step S503;
  • Step S503 Reduce the output voltage or the safety voltage according to the maximum working displacement threshold of the motor, and calculate the voltage peak area reduction method for the reduced output voltage or safety voltage to obtain the vibration displacement L2 until when the vibration displacement L2 is less than or equal to the displacement threshold , Get the output voltage V2.
  • step S40 is specifically:
  • the part where the output voltage exceeds the voltage threshold is reduced in proportion to reduce the output voltage to within the maximum output voltage range of the signal power amplifier device and output a safe voltage.
  • the method further includes: obtaining basic parameters of the motor.
  • the calculation of the excitation voltage by the voltage peak area reduction method in step S50 includes:
  • Step S5011 Input the original signal X and the threshold value L;
  • X is the output voltage value of step S30 or step S40, and the threshold value L is the maximum vibration displacement of the motor;
  • Step S5012 Determine an error array V with the same length as the original signal X, and set the initial value of V to 0;
  • Step S5013 Traverse the original signal X, and determine the value of V(i) according to the magnitude of X(i) and L;
  • V(i) X(i)-L;
  • V(i) X(i)+L
  • Step S5014 Pass the error signal V(i) through a low-pass FIR filter to obtain V';
  • the calculation of the motor excitation signal according to the desired target acceleration signal in the step S10 is specifically:
  • b 1 a, b 2 a, a 1 d, and b 2 d are all intermediate parameter values, and b 1 a, b 2 a, a 1 d, and b 2 d are respectively passed through formulas (2), ( 3), (4), (5) means:
  • ⁇ and C t are also intermediate parameter values, and ⁇ and C t are expressed by formulas (6) and (7) respectively:
  • k d represents an elastic coefficient of the motor
  • m d represents the sub-Mada Zhen mass
  • R e represents motor resistance
  • C d denotes a motor mechanical damping
  • ⁇ 0 represents total damping of the motor
  • ⁇ d , ⁇ 0 and ⁇ d are also intermediate parameter values, and ⁇ d , ⁇ 0 and ⁇ d are expressed by formulas (8), (9), (10), respectively:
  • a second aspect of the embodiments of the present invention provides a signal equalization device based on motor vibration acceleration.
  • the device includes a memory and a processor.
  • the memory stores a signal based equalization program that can be run on the processor.
  • the signal equalization program is based on the motor vibration acceleration, and when the signal equalization program is executed by the processor, the steps of the signal equalization method based on the motor vibration acceleration are implemented.
  • a third aspect of the embodiments of the present invention provides a storage medium, the storage medium stores a signal equalization program based on motor vibration acceleration, and the signal equalization program based on motor vibration acceleration can be executed by one or more processors, In order to realize the steps of the signal equalization method based on the motor vibration acceleration.
  • the desired target acceleration signal is calculated according to the equalization method, the motor excitation signal is obtained and the output voltage is obtained, and then the output voltage is compared with the maximum output voltage of the signal power amplifier device to improve the safety of the output voltage; Then according to the voltage peak area reduction method, a safer output voltage is obtained by calculating the output voltage and the maximum working displacement threshold of the motor.
  • FIG. 1 is a schematic flowchart of a signal equalization method based on motor vibration acceleration provided by an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a method for reducing a voltage peak region in step S50 in FIG. 1;
  • FIG. 3 is a specific flowchart of step S50 in FIG. 2;
  • FIG. 4 is a schematic diagram of the internal structure of a signal equalization device based on motor vibration acceleration provided by an embodiment of the present invention.
  • FIG. 1 is a schematic flowchart of a signal equalization method based on motor vibration acceleration provided by the first embodiment.
  • a signal equalization method based on motor vibration acceleration, applied to the motor field, and the method includes:
  • Step S10 Calculate the motor excitation signal according to the expected target acceleration signal
  • the method further includes: obtaining basic parameters of the motor;
  • the basic parameters include the maximum vibration displacement of the motor
  • the calculation of the motor excitation signal according to the desired target acceleration signal in the step S10 is specifically:
  • b 1 a, b 2 a, a 1 d, and b 2 d are all intermediate parameter values, and b 1 a, b 2 a, a 1 d, and b 2 d are respectively passed through formulas (2), ( 3), (4), (5) means:
  • [rho] is an intermediate parameter value C t, C t, and the public do [rho], (7) represented by the equation (6):
  • k d represents an elastic coefficient of the motor
  • m d represents the sub-Mada Zhen mass
  • R e represents motor resistance
  • C d denotes a motor mechanical damping
  • ⁇ 0 represents total damping of the motor
  • ⁇ d , ⁇ 0 and ⁇ d are also intermediate parameter values, and ⁇ d , ⁇ 0 and ⁇ d are expressed by formulas (8), (9), (10), respectively:
  • the value of Q d is 2;
  • Step S20 Obtain the output voltage according to the motor excitation signal, and set the maximum output voltage of the signal power amplifier device as a voltage threshold;
  • Step S30 Determine whether the output voltage is less than the voltage threshold. When the output voltage is greater than or equal to the voltage threshold, perform step S40; when the output voltage is less than the voltage threshold, perform step S50;
  • Step S40 reducing the output voltage to a safe voltage
  • step S40 is specifically:
  • the part where the output voltage exceeds the voltage threshold is reduced in proportion to reduce the output voltage to the maximum output voltage range of the signal power amplifier device, and output a safe voltage; this can prevent the voltage of the linear motor from exceeding the maximum load voltage of the signal power amplifier and make it linear
  • the motor achieves haptics vibration effect.
  • Step S50 According to the output voltage or the safe voltage, the excitation voltage is calculated by the voltage peak area reduction method.
  • calculating the excitation voltage by the method of reducing the voltage peak area in the step S50 includes:
  • Step S5011 Input the original signal X and the threshold value L;
  • X is the output voltage value of step S30 or step S40, and the threshold value L is the maximum vibration displacement of the motor;
  • Step S5012 Determine an error array V with the same length as the original signal X, and set the initial value of V to 0;
  • Step S5013 Traverse the original signal X, and determine the value of V(i) according to the magnitude of X(i) and L;
  • V(i) X(i)-L;
  • V(i) X(i)+L
  • Step S5014 Pass the error signal V(i) through a low-pass FIR filter to obtain V';
  • the step S50 includes:
  • Step S501 Calculate the output voltage or the safety voltage according to the voltage peak area reduction method to obtain the vibration displacement L1, and set a displacement threshold;
  • Step S502 Determine whether the vibration displacement L1 is greater than the displacement threshold. When the vibration displacement L1 is less than or equal to the displacement threshold, obtain the output voltage V1; when the vibration displacement L1 is greater than the displacement threshold, go to step S503;
  • Step S503 Reduce the output voltage or the safety voltage according to the maximum working displacement threshold of the motor, and calculate the voltage peak area reduction method for the reduced output voltage or safety voltage to obtain the vibration displacement L2 until when the vibration displacement L2 is less than or equal to the displacement threshold , To obtain the output voltage V2;
  • the displacement threshold of the linear motor is the maximum displacement of the linear motor.
  • the safety distance of the linear motor is 90% of the maximum displacement, thereby ensuring the stability of the linear motor during operation; Specifically, when the safety distance is less than or equal to the displacement threshold, the output voltage is obtained, and the linear motor is excited by the signal power amplification device; when the safety distance is greater than the displacement threshold, the output voltage is reduced according to the maximum working displacement threshold of the motor, and the reduced output voltage Calculate the voltage peak area reduction method to obtain the safety distance until the output voltage is obtained when the safety distance is less than or equal to the displacement threshold.
  • a second aspect of the embodiments of the present invention provides a signal equalization device based on motor vibration acceleration.
  • the device includes a memory and a processor.
  • the memory stores a signal based equalization program that can be run on the processor.
  • the signal equalization program is based on the motor vibration acceleration, and when the signal equalization program is executed by the processor, the steps of the signal equalization method based on the motor vibration acceleration are implemented.
  • FIG. 4 is a schematic diagram of the internal structure of the signal equalization device based on motor vibration acceleration provided by an embodiment of the present invention.
  • the signal equalization device based on the vibration acceleration of the motor may be a PC (Personal Computer, personal computer), or a terminal device such as a smart phone, a tablet computer, and a portable computer.
  • the signal equalization device based on motor vibration acceleration at least includes a memory 1, a processor 2, a communication bus 3, and a network interface 4.
  • the memory 1 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc.
  • the memory 1 may be an internal storage unit of a signal equalization device based on motor vibration acceleration, such as a hard disk of the signal equalization device based on motor vibration acceleration.
  • the memory 1 may also be an external storage device of a signal equalization device based on motor vibration acceleration, such as a plug-in hard disk equipped on a signal equalization device based on motor vibration acceleration, and a smart memory card (SmartMedia Card, SMC). ), Secure Digital (SD) card, Flash Card, etc.
  • SmartMedia Card SmartMedia Card, SMC
  • SD Secure Digital
  • the memory 1 may also include both an internal storage unit of the signal equalization device based on motor vibration acceleration and an external storage device.
  • the memory 1 can be used not only to store application software and various data installed in the signal equalization device based on the vibration acceleration of the motor, such as the code of the signal equalization program based on the vibration acceleration of the motor, etc., but also to temporarily store what has been output or will be output The data.
  • the processor 2 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip, for running the program code or processing stored in the memory 1 Data, such as executing a signal equalization program based on motor vibration acceleration.
  • CPU central processing unit
  • controller microcontroller
  • microprocessor or other data processing chip
  • the communication bus 3 is used to realize the connection and communication between these components.
  • the network interface 4 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface), and is usually used to establish a communication connection between the signal equalization device based on motor vibration acceleration and other electronic devices.
  • a standard wired interface such as a WI-FI interface
  • WI-FI interface wireless interface
  • the signal equalization device based on motor vibration acceleration may also include a user interface.
  • the user interface may include a display (Display), an input unit such as a keyboard (Keyboard), and the optional user interface may also include a standard wired interface, wireless interface.
  • the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode, organic light emitting diode) touch device, etc.
  • the display can also be appropriately called a display screen or a display unit, which is used to display the information processed in the signal equalization device based on the vibration acceleration of the motor and to display the visualized user interface.
  • Figure 4 only shows a signal equalization device based on motor vibration acceleration with components 1-4 and a signal equalization program based on motor vibration acceleration. Those skilled in the art can understand that the structure shown in Figure 4 does not constitute a The definition of the signal equalization device for the vibration acceleration of the motor may include fewer or more components than shown, or a combination of certain components, or a different component arrangement.
  • the memory 1 stores a signal equalization program based on the motor vibration acceleration; when the processor 2 executes the signal equalization program based on the motor vibration acceleration stored in the memory 1, The steps of implementing the above-mentioned signal equalization method based on motor vibration acceleration.
  • a third aspect of the embodiments of the present invention provides a storage medium, the storage medium stores a signal equalization program based on motor vibration acceleration, and the signal equalization program based on motor vibration acceleration can be executed by one or more processors, In order to realize the steps of the signal equalization method based on the motor vibration acceleration.
  • the computer program product includes one or more computer instructions.
  • the computer can be a general-purpose computer, a dedicated computer, a computer network, or other programmable devices.
  • the computer instruction can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium.
  • the computer instruction can be transmitted from a website, computer, server, or data center through a cable (Such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) to another website site, computer, server or data center.
  • a cable such as coaxial cable, optical fiber, digital subscriber line (DSL)
  • wireless such as infrared, wireless, microwave, etc.
  • the computer-readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a server or data center integrated with one or more available media.
  • the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, and a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)).
  • the disclosed system, device, and method may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the unit is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of this application essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , Including several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method in each embodiment of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code .

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Abstract

一种基于马达振动加速度的信号均衡方法、装置及存储介质，所述方法包括：步骤S10：根据期望的目标加速度信号计算出马达激励信号；步骤S20：根据马达激励信号获取输出电压，并设定信号功率放大设备的最大输出电压为电压阈值；步骤S30：判断输出电压是否小于电压阈值，当输出电压大于或等于电压阈值，则执行步骤S40；当输出电压小于电压阈值时，则执行步骤S50；步骤S40：将输出电压降低至安全电压；步骤S50：根据所述输出电压或者安全电压，通过电压峰值区域降低方法计算出激励电压。上述方法能够提高输出电压的安全性。

Description

基于马达振动加速度的信号均衡方法、装置及存储介质 技术领域
本发明涉及振动加速度的信号均衡技术，尤其涉及一种基于马达振动加速度的信号均衡方法、装置及存储介质。
背景技术
现有的线性马达的信号功率放大器的最大承载电压有限，当电压超过信号功率放大器的承受极限时，信号功率放大器不能正常工作导致线性马达振动效差。
发明内容
本发明实施例提供一种基于马达振动加速度的信号均衡方法、装置及存储介质，可以使线性马达的电压数值保持在信号功率放大器的最大承载范围内。
本发明实施例第一方面提供了一种基于马达振动加速度的信号均衡方法，所述方法包括：
步骤S10：根据期望的目标加速度信号计算出马达激励信号；
步骤S20：根据马达激励信号获取输出电压，并设定信号功率放大设备的最大输出电压为电压阈值；
步骤S30：判断输出电压是否小于电压阈值，当输出电压大于或等于电压阈值，则执行步骤S40；当输出电压小于电压阈值时，则执行步骤S50；
步骤S40：将输出电压降低至安全电压；
步骤S50：根据所述输出电压或者安全电压，通过电压峰值区域降低方法计算出激励电压。
可选地，所述步骤S50包括：
步骤S501：根据电压峰值区域降低方法对输出电压或者安全电压计算，获得振动位移L1，并设定一位移阈值；
步骤S502：判断振动位移L1是否大于位移阈值，当振动位移L1小于或等于位移阈值时，获得输出电压V1；当振动位移L1是否大于位移阈值时，进入步骤S503；
步骤S503：根据马达最大工作位移门限缩小输出电压或者安全电压，并对缩小后的输出电压或者安全电压进行电压峰值区域降低方法计算，得出振动位移L2，直到当振动位移L2小于或等于位移阈值，获得输出电压V2。
可选地，所述步骤S40具体为：
对输出电压超过电压阈值的部分进行等比例缩小，使输出电压降低至信号功率放大设备最大输出电压范围内，输出安全电压。
可选地，所述步骤S10前还包括：获取马达的基本参数。
可选地，所述步骤S50中通过电压峰值区域降低方法计算出激励电压包括：
步骤S5011：输入原始信号X和门限值L；
其中X为步骤S30或步骤S40的输出电压值，门限值L为马达最大振动位移；
步骤S5012：确定与原始信号X等长的误差数组V，V的初始值设为 0；
步骤S5013：遍历原始信号X，根据X(i)与L的大小确定V(i)的数值；
如果X(i)的绝对值小于L，V(i)＝0；
如果X(i)＞L，V(i)＝X(i)-L；
如果X(i)≤-L，V(i)＝X(i)+L；
步骤S5014：将误差信号V(i)通过低通FIR滤波器，得到V'；
步骤S5015：获取限幅后的信号X'，X'＝X-V'。
可选地，所述步骤S10中根据期望的目标加速度信号计算出马达激励信号具体为：
确定期望的目标加速度信号与激励信号的关系，如以下公式(1)表示：
Figure PCTCN2019102071-appb-000001
其中，为了便于计算，b 1a、b 2a、a 1d以及b 2d均是中间参数值，b 1a、b 2a、a 1d以及b 2d分别通过公式(2)、(3)、(4)、(5)表示：
Figure PCTCN2019102071-appb-000002
Figure PCTCN2019102071-appb-000003
Figure PCTCN2019102071-appb-000004
Figure PCTCN2019102071-appb-000005
其中，为了便于计算，ρ和C t也是中间参数值，ρ和 C t分别通过公式(6)、(7)表示：
Figure PCTCN2019102071-appb-000006
Figure PCTCN2019102071-appb-000007
其中，k d表示马达弹性系数，m d表示马达振子质量；R e表示马达电阻；C d表示马达机械阻尼；Φ 0表示马达总阻尼；
其中，为了便于计算，ρ d、ω 0以及ω d也是中间参数值，ρ d、ω 0以及ω d分别通过公式(8)、(9)、(10)表示：
Figure PCTCN2019102071-appb-000008
Figure PCTCN2019102071-appb-000009
ω d≈0.5ω 0  （10）
其中，Q d取值为2。
本发明实施例第二方面提供了一种基于马达振动加速度的信号均衡装置，所述装置包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的基于信号均衡程序，所述信号均衡程序基于马达振动加速度，所述信号均衡程序被所述处理器执行时实现上述基于马达振动加速度的信号均衡方法的步骤。
本发明实施例第三方面提供了一种存储介质，所述存储介质上存储有 基于马达振动加速度的信号均衡程序，所述基于马达振动加速度的信号均衡程序可被一个或者多个处理器执行，以实现上述基于马达振动加速度的信号均衡方法的步骤。
上述实施例中，根据均衡方法对期望的目标加速度信号进行计算，获取马达激励信号并获取输出电压，然后对该输出电压与信号功率放大设备的最大输出电压进行比较，提高输出电压的安全性；再根据电压峰值区域降低方法对输出电压计算以及马达最大工作位移门限获得更加安全的输出电压。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本发明一实施例提供的基于马达振动加速度的信号均衡方法的流程示意图；
图2为图1中步骤S50的电压峰值区域降低方法的流程示意图；
图3为图2中步骤S50的具体流程图；
图4为本发明一实施例提供的基于马达振动加速度的信号均衡装置的内部结构示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体 实施例仅用以解释本发明，并不用于限定本发明。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
需要说明的是，在本发明中涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
请参看图1，图1为第一实施方式提供的一种基于马达振动加速度的信号均衡方法的流程示意图。一种基于马达振动加速度的信号均衡方法，应用于马达领域，所述方法包括：
步骤S10：根据期望的目标加速度信号计算出马达激励信号；
可选地，所述步骤S10前还包括：获取马达的基本参数；
其中，基本参数包括马达的最大振动位移；
可选地，所述步骤S10中根据期望的目标加速度信号计算出马达激励信号具体为：
确定期望的目标加速度信号与激励信号的关系，如以下公式(1)表示：
Figure PCTCN2019102071-appb-000010
其中，为了便于计算，b 1a、b 2a、a 1d以及b 2d均是中间参数值，b 1a、b 2a、a 1d以及b 2d分别通过公式(2)、(3)、(4)、(5)表示：
Figure PCTCN2019102071-appb-000011
Figure PCTCN2019102071-appb-000012
Figure PCTCN2019102071-appb-000013
Figure PCTCN2019102071-appb-000014
其中，为了便于计算，ρ和C t也是中间参数值，ρ和C t公别通过公式(6)、(7)表示：
Figure PCTCN2019102071-appb-000015
Figure PCTCN2019102071-appb-000016
其中，k d表示马达弹性系数，m d表示马达振子质量；R e表示马达电阻；C d表示马达机械阻尼；Φ 0表示马达总阻尼；
其中，为了便于计算，ρ d、ω 0以及ω d也是中间参数值，ρ d、ω 0以及ω d分别通过公式(8)、(9)、(10)表示：
Figure PCTCN2019102071-appb-000017
Figure PCTCN2019102071-appb-000018
ω d≈0.5ω 0  (10)
其中，Q d取值为2；
步骤S20：根据马达激励信号获取输出电压，并设定信号功率放大设备的最大输出电压为电压阈值；
步骤S30：判断输出电压是否小于电压阈值，当输出电压大于或等于电压阈值，则执行步骤S40；当输出电压小于电压阈值时，则执行步骤S50；
步骤S40：将输出电压降低至安全电压；
可选地，所述步骤S40具体为：
对输出电压超过电压阈值的部分进行等比例缩小，使输出电压降低至信号功率放大设备最大输出电压范围内，输出安全电压；这样能够避免线性马达的电压超过信号功率放大器的最大承载电压，使线性马达达到haptics振动效果。
步骤S50：根据所述输出电压或者安全电压，通过电压峰值区域降低方法计算出激励电压。
请参看图2，可选地，所述步骤S50中通过电压峰值区域降低方法计算出激励电压包括：
步骤S5011：输入原始信号X和门限值L；
其中X为步骤S30或步骤S40的输出电压值，门限值L为马达最大振动位移；
步骤S5012：确定与原始信号X等长的误差数组V，V的初始值设为0；
步骤S5013：遍历原始信号X，根据X(i)与L的大小确定V(i)的数值；
如果X(i)的绝对值小于L，V(i)＝0；
如果X(i)＞L，V(i)＝X(i)-L；
如果X(i)≤-L，V(i)＝X(i)+L；
步骤S5014：将误差信号V(i)通过低通FIR滤波器，得到V'；
步骤S5015：获取限幅后的信号X'，X'＝X-V'；通过电压峰值区域降低方法(Crest Factor Reduction)，进一步保证了输出电压的安全性，避免电压过高的现象发生。
请参看图3，可选地，所述步骤S50包括：
步骤S501：根据电压峰值区域降低方法对输出电压或者安全电压计算，获得振动位移L1，并设定一位移阈值；
步骤S502：判断振动位移L1是否大于位移阈值，当振动位移L1小于或等于位移阈值时，获得输出电压V1；当振动位移L1是否大于位移阈值 时，进入步骤S503；
步骤S503：根据马达最大工作位移门限缩小输出电压或者安全电压，并对缩小后的输出电压或者安全电压进行电压峰值区域降低方法计算，得出振动位移L2，直到当振动位移L2小于或等于位移阈值，获得输出电压V2；
应当指出的是，线性马达的位移阈值为线性马达的最大位移量，在本实施例中，选用线性马达的安全距离为最大位移量的90％，从而保证了线性马达在工作时的稳定性；具体地，安全距离小于或等于位移阈值时，获得输出电压，通过信号功率放大设备激励线性马达；当安全距离大于位移阈值时，根据马达最大工作位移门限缩小输出电压，并对缩小后的输出电压进行电压峰值区域降低方法计算，得出安全距离，直到当安全距离小于或等于位移阈值，获得输出电压。
本发明实施例第二方面提供了一种基于马达振动加速度的信号均衡装置，所述装置包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的基于信号均衡程序，所述信号均衡程序基于马达振动加速度，所述信号均衡程序被所述处理器执行时实现上述基于马达振动加速度的信号均衡方法的步骤。
请参看图4，本发明还提供一种基于马达振动加速度的信号均衡装置，图4为本发明一实施例提供的基于马达振动加速度的信号均衡装置的内部结构示意图。
在本实施例中，基于马达振动加速度的信号均衡装置可以是PC(Personal Computer，个人电脑)，也可以是智能手机、平板电脑、便携计算机等终端设备。该基于马达振动加速度的信号均衡装置至少包括存储器 1、处理器2，通信总线3，以及网络接口4。
其中，存储器1至少包括一种类型的可读存储介质，所述可读存储介质包括闪存、硬盘、多媒体卡、卡型存储器(例如，SD或DX存储器等)、磁性存储器、磁盘、光盘等。存储器1在一些实施例中可以是基于马达振动加速度的信号均衡装置的内部存储单元，例如该基于马达振动加速度的信号均衡装置的硬盘。存储器1在另一些实施例中也可以是基于马达振动加速度的信号均衡装置的外部存储设备，例如基于马达振动加速度的信号均衡装置上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。进一步地，存储器1还可以既包括基于马达振动加速度的信号均衡装置的内部存储单元也包括外部存储设备。存储器1不仅可以用于存储安装于基于马达振动加速度的信号均衡装置的应用软件及各类数据，例如基于马达振动加速度的信号均衡程序的代码等，还可以用于暂时地存储已经输出或者将要输出的数据。
处理器2在一些实施例中可以是一中央处理器(Central Processing Unit，CPU)、控制器、微控制器、微处理器或其他数据处理芯片，用于运行存储器1中存储的程序代码或处理数据，例如执行基于马达振动加速度的信号均衡程序等。
通信总线3用于实现这些组件之间的连接通信。
网络接口4可选的可以包括标准的有线接口、无线接口(如WI-FI接口)，通常用于在该基于马达振动加速度的信号均衡装置与其他电子设备之间建立通信连接。
可选地，该基于马达振动加速度的信号均衡装置还可以包括用户接口，用户接口可以包括显示器(Display)、输入单元比如键盘(Keyboard)，可 选的用户接口还可以包括标准的有线接口、无线接口。可选地，在一些实施例中，显示器可以是LED显示器、液晶显示器、触控式液晶显示器以及OLED(Organic Light-Emitting Diode，有机发光二极管)触摸器等。其中，显示器也可以适当的称为显示屏或显示单元，用于显示在基于马达振动加速度的信号均衡装置中处理的信息以及用于显示可视化的用户界面。
图4仅示出了具有组件1-4以及基于马达振动加速度的信号均衡程序的基于马达振动加速度的信号均衡装置，本领域技术人员可以理解的是，图4示出的结构并不构成对基于马达振动加速度的信号均衡装置的限定，可以包括比图示更少或者更多的部件，或者组合某些部件，或者不同的部件布置。
在图4所示的基于马达振动加速度的信号均衡装置实施例中，存储器1中存储有基于马达振动加速度的信号均衡程序；处理器2执行存储器1中存储的基于马达振动加速度的信号均衡程序时实现上述基于马达振动加速度的信号均衡方法的步骤。
本发明实施例第三方面提供了一种存储介质，所述存储介质上存储有基于马达振动加速度的信号均衡程序，所述基于马达振动加速度的信号均衡程序可被一个或者多个处理器执行，以实现上述基于马达振动加速度的信号均衡方法的步骤。
该计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行该计算机程序指令时，全部或部分地产生按照本发明实施例该的流程或功能。该计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。该计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一计算机可读存储介质传输，例如，该计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴 电缆、光纤、数字用户线(DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。该计算机可读存储介质可以是计算机能够存储的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。该可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如固态硬盘Solid State Disk(SSD))等。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，该单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
该作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
该集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例该方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
需要说明的是，上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。并且本文中的术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、装置、物品或者方法不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、装置、物品或者方法所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、装置、物品或者方法中还存在另外的相同要素。
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (8)

  1. 一种基于马达振动加速度的信号均衡方法，其特征在于，所述方法包括：
    步骤S10：根据期望的目标加速度信号计算出马达激励信号；
    步骤S20：根据马达激励信号获取输出电压，并设定信号功率放大设备的最大输出电压为电压阈值；
    步骤S30：判断输出电压是否小于电压阈值，当输出电压大于或等于电压阈值，则执行步骤S40；当输出电压小于电压阈值时，则执行步骤S50；
    步骤S40：将输出电压降低至安全电压；
    步骤S50：根据所述输出电压或者安全电压，通过电压峰值区域降低方法计算出激励电压。
  2. 如权利要求1所述的基于马达振动加速度的信号均衡方法，其特征在于，所述步骤S50包括：
    步骤S501：根据电压峰值区域降低方法对输出电压或者安全电压计算，获得振动位移L1，并设定一位移阈值；
    步骤S502：判断振动位移L1是否大于位移阈值，当振动位移L1小于或等于位移阈值时，获得输出电压V1；当振动位移L1是否大于位移阈值时，进入步骤S503；
    步骤S503：根据马达最大工作位移门限缩小输出电压或者安全电压，并对缩小后的输出电压或者安全电压进行电压峰值区域降低方法计算，得出振动位移L2，直到当振动位移L2小于或等于位移阈值，获得输出电压V2。
  3. 如权利要求1所述的基于马达振动加速度的信号均衡方法，其特征在于，所述步骤S40具体为：
    对输出电压超过电压阈值的部分进行等比例缩小，使输出电压降低至信号功率放大设备最大输出电压范围内，输出安全电压。
  4. 如权利要求1所述的基于马达振动加速度的信号均衡方法，其特征在于，所述步骤S10前还包括：获取马达的基本参数。
  5. 如权利要求1所述的基于马达振动加速度的信号均衡方法，其特征在于，所述步骤S50中通过电压峰值区域降低方法计算出激励电压包括：
    步骤S5011：输入原始信号X和门限值L；
    其中X为步骤S30或步骤S40的输出电压值，门限值L为马达最大振动位移；
    步骤S5012：确定与原始信号X等长的误差数组V，V的初始值设为0；
    步骤S5013：遍历原始信号X，根据X(i)与L的大小确定V(i)的数值；
    如果X(i)的绝对值小于L，V(i)＝0；
    如果X(i)＞L，V(i)＝X(i)-L；
    如果X(i)≤-L，V(i)＝X(i)+L；
    步骤S5014：将误差信号V(i)通过低通FIR滤波器，得到V'；
    步骤S5015：获取限幅后的信号X'，X'＝X-V'。
  6. 如权利要求1所述的基于马达振动加速度的信号均衡方法，其特征在于，所述步骤S10中根据期望的目标加速度信号计算出马达激励信号具体为：
    确定期望的目标加速度信号与激励信号的关系，如以下公式(1)表示：
    Figure PCTCN2019102071-appb-100001
    其中，为了便于计算，b 1a、b 2a、a 1d以及b 2d均是中间参数值，b 1a、b 2a、a 1d以及b 2d分别通过公式(2)、(3)、(4)、(5)表示：
    Figure PCTCN2019102071-appb-100002
    Figure PCTCN2019102071-appb-100003
    Figure PCTCN2019102071-appb-100004
    Figure PCTCN2019102071-appb-100005
    其中，为了便于计算，ρ和C t也是中间参数值，ρ和C t分别通过公式(6)、(7)表示：
    Figure PCTCN2019102071-appb-100006
    Figure PCTCN2019102071-appb-100007
    其中，k d表示马达弹性系数，m d表示马达振子质量；R e表示马达电阻；C d表示马达机械阻尼；Φ 0表示马达总阻尼；
    其中，为了便于计算，ρ d、ω 0以及ω d也是中间参数值，ρ d、ω 0以及ω d分别通过公式(8)、(9)、(10)表示：
    Figure PCTCN2019102071-appb-100008
    Figure PCTCN2019102071-appb-100009
    ω d≈0.5ω 0 (10)
    其中，Q d取值为2。
  7. 一种基于马达振动加速度的信号均衡装置，其特征在于，所述装置包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的基于信号均衡程序，所述信号均衡程序基于马达振动加速度，所述信号均衡程序被所述处理器执行时实现如权利要求1至6中任一项所述的基于马达振动加速度的信号均衡方法的步骤。
  8. 一种存储介质，其特征在于，所述存储介质上存储有基于马达振动加速度的信号均衡程序，所述基于马达振动加速度的信号均衡程序可被一个或者多个处理器执行，以实现如权利要求1至6中任一项所述的基于马达振动加速度的信号均衡方法的步骤。
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