WO2021103150A1 - 电动机制动信号生成方法、装置和电机制动方法 - Google Patents
电动机制动信号生成方法、装置和电机制动方法 Download PDFInfo
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- WO2021103150A1 WO2021103150A1 PCT/CN2019/124572 CN2019124572W WO2021103150A1 WO 2021103150 A1 WO2021103150 A1 WO 2021103150A1 CN 2019124572 W CN2019124572 W CN 2019124572W WO 2021103150 A1 WO2021103150 A1 WO 2021103150A1
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- signal
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- braking
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- 238000000034 method Methods 0.000 title claims abstract description 69
- 230000002194 synthesizing effect Effects 0.000 claims abstract description 5
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 28
- 230000015654 memory Effects 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 238000003786 synthesis reaction Methods 0.000 claims description 4
- 230000004044 response Effects 0.000 description 12
- 230000000694 effects Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000011089 mechanical engineering Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
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Classifications
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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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/02—Details of stopping control
Definitions
- the present invention relates to the field of motor technology, and in particular to a method, device, system, medium, and motor braking method for generating a motor braking signal.
- Electric motors are ubiquitous in daily life, for example, consumer electronics in daily life and large machinery in mechanical engineering.
- a large motor in mechanical engineering mainly plays a role in providing mechanical energy and driving the operation of the machine, while a small motor in electronic products in daily life mainly plays a role in providing vibration and enhances The role of user experience.
- the solution to reduce after vibration is more responsible, and the effect is not good.
- the main purpose of the present invention is to provide a method, device, system, medium and motor braking method for generating a motor braking signal, aiming to solve the technical problems of the existing solutions for removing the residual vibration of the motor that are complicated and not effective.
- embodiments of the present disclosure provide a method for generating a motor brake signal, and the method for generating a motor brake signal includes:
- the motor braking signal is synthesized according to the first driving signal and the braking signal.
- the first driving signal and the first feedback signal satisfying a preset condition include:
- the first feedback signal is zero.
- the intercepting a segment of the first feedback signal after the end of the first driving signal includes:
- the first feedback signal After the first driving signal ends, when the first feedback signal is zero, intercept the first feedback signal of length L, and the period of the first feedback signal of length L is the half period of the first feedback signal Integer multiples.
- the generating the braking signal according to the intercepted segment of the first feedback signal includes:
- a weighted calculation is performed on the intercepted segment of the first feedback signal to obtain a braking signal.
- said synthesizing a motor braking signal according to the first driving signal and the braking signal includes:
- the time at which the first feedback signal is intercepted is the starting point, and the braking signal is combined into the first driving signal, and the obtained signal is the motor braking signal.
- the obtaining the first driving signal includes:
- the second driving signal is set to zero at time T1 or time T1' to obtain the first driving signal.
- the present invention also provides a motor braking method, the motor braking method includes:
- the motor brake signal is used to drive the motor to brake the motor after running, wherein the motor brake signal is generated using the motor brake signal generation method according to the embodiment of the first aspect of the present invention.
- the present invention also provides a motor braking signal generating device, the motor braking signal generating device includes:
- the first signal acquisition module is used to acquire the first driving signal
- the second signal acquisition module is configured to acquire the first feedback signal fed back by the motor according to the first driving signal, wherein the first driving signal and the first feedback signal satisfy a preset condition;
- An interception module for intercepting a segment of the first feedback signal after the first drive signal ends
- a signal generation module which is used to generate a braking signal according to the intercepted segment of the first feedback signal
- the signal synthesis module is used to synthesize a motor braking signal according to the first driving signal and the braking signal.
- the present invention also provides a motor braking signal generation system, the motor braking signal generation system includes:
- Memory used to store the motor braking signal generation program
- the processor is configured to implement the motor braking signal generation method according to the embodiment of the first aspect of the present invention when executing the motor braking signal generation program.
- the present invention also provides a medium, the medium is a computer-readable storage medium, the medium stores a motor brake signal generation program, and the motor brake signal generation program is executed by a processor to realize this
- the method for generating a brake signal of a motor according to an embodiment of the invention.
- the solution of the present invention obtains the vibration response characteristics of the motor through the first feedback signal, so that the obtained motor braking signal can accurately reduce the after vibration of the motor during braking.
- the method of the present application is suitable for All motor systems can reduce the residual vibration of the motor at a very low cost without changing the hardware structure.
- the solution is simple and easy to implement, and the feedback signal can accurately reflect the vibration response characteristics of the motor, making the braking effect better.
- Fig. 1 is a schematic flowchart of a method for generating a brake signal of a motor provided by a first embodiment of the present invention.
- Fig. 2 is a schematic diagram of the relationship between the first driving signal, the brake and the motor brake signal of the present invention.
- Fig. 3 is a schematic flowchart of a method for generating a brake signal of a motor provided by a second embodiment of the present invention.
- FIG. 4 is a schematic diagram of the module structure of the motor brake signal generating device provided by the third embodiment of the present invention.
- Fig. 5 is a schematic diagram of the module structure of the motor braking signal generation system provided by the fourth embodiment of the present invention.
- Fig. 6 is an effect diagram of the present invention when a motor brake signal is used for braking.
- FIG. 1 is a method for generating a motor brake signal according to a first embodiment of the application.
- the method for generating a motor brake signal can be executed by a motor brake signal generating device, which can Realized by means of hardware and/or software, the motor braking signal generation method is used to generate the motor braking signal, the motor braking signal is used to drive the motor to run, and the motor braking signal is also used to brake when needed, with extremely low energy The cost reduces the residual vibration of the motor, and the brake effect of the motor is better.
- the brake is needed, the user can stop the driving motor and make the motor brake when the user wants to brake.
- the method for generating a brake signal of a motor includes:
- the first driving signal is a signal that can drive the motor to operate normally. If a motor needs to be driven by a driving signal during normal operation, the first driving signal is a part of the driving signal.
- the first driving signal type can be represented by a sine wave and has a period and a frequency. One half of the first driving signal in one cycle is greater than zero, and the other half of the first driving signal in one cycle is less than zero.
- S12 Obtain a first feedback signal fed back by the motor according to the first driving signal, where the first driving signal and the first feedback signal satisfy a preset condition.
- the first feedback signal is the feedback current or the feedback voltage.
- the motor is driven by the first drive signal, so that the feedback signal is generated at both ends of the coil of the motor, so the first feedback signal fed back by the motor can be obtained.
- the first feedback signal can be represented by a sine wave and has a period and a frequency. One half of the first feedback signal in one period is greater than zero, and the other half of the first feedback signal in one period is less than zero.
- the first feedback signal and the first driving signal have the same period, and there is a phase difference between the first feedback signal and the first driving signal.
- the phase difference and the structural design of the motor are related to the working environment. For different motors, the phase difference between the first feedback signal and the first drive signal may be different.
- the first feedback signal can not only reflect the current (voltage) response characteristics of the motor, but also reflect the true vibration response characteristics of the motor.
- That the first driving signal, the first driving signal and the first feedback signal satisfying a preset condition includes:
- the first feedback signal is zero.
- the first feedback signal When the first driving signal is used to drive the motor, the first feedback signal will continue to live. Because there is a certain phase difference between the first driving signal and the first feedback signal, when the first driving signal is zero, the first feedback signal is not zero, and when the first feedback signal is zero, the first driving signal is not zero .
- the first driving signal of the present application ends, that is, when the first driving signal is not used for driving, the first feedback signal is exactly zero.
- the first feedback signal ends, the first feedback signal is zero, so as to ensure that there is no sudden change in the first driving signal and avoid the generation of noise or high-order resonance.
- the first feedback signal continues to be generated at both ends of the motor's coil, and the first feedback signal can also be obtained. Then, after the end of the first drive signal Intercept a section of the first feedback signal. There is no absolute limit to the time when the first feedback signal is intercepted. When the first feedback signal is intercepted, it is sufficient that the first feedback signal is still being generated. The first feedback signal cannot be intercepted when the first feedback signal is no longer generated, or when the first feedback signal continues to be zero.
- the intercepting a segment of the first feedback signal after the end of the first driving signal includes:
- the first feedback signal After the first driving signal ends, when the first feedback signal is zero, intercept the first feedback signal of length L, and the period of the first feedback signal of length L is the half period of the first feedback signal Integer multiples.
- the first feedback signal can still be obtained, and the first feedback signal continues to attenuate, and finally continues to be zero.
- the first feedback signal will be zero many times before the first feedback signal continues to be zero.
- the first feedback signal is intercepted before the first feedback signal continues to be zero. Intercepting the start time of the first signal can ensure that the motor is in an aftershock state, so that the phase of the first feedback signal is consistent with the phase of the vibration of the motor.
- the period of the first feedback signal of length L is an integer multiple of the half period of the first feedback signal, which can prevent the first feedback signal from abruptly changing. Such as a sudden change in the voltage of the first feedback signal.
- S14 Generate a braking signal according to the intercepted segment of the first feedback signal.
- the generating the braking signal according to the intercepted segment of the first feedback signal includes:
- a weighted calculation is performed on the intercepted segment of the first feedback signal to obtain a braking signal.
- the intercepted segment of the first feedback signal is the aforementioned first feedback signal of length L.
- weighting methods such as linear weighting, exponential weighting, logarithmic weighting, and trigonometric function weighting can be used. For example, if the weighting function is g(x), the first feedback signal of length L is f(x), and the braking signal is yb, then:
- the weighting function can be a fixed weighting value given by experimental experience when designing the motor, or it can be obtained by accurate calculation through a numerical model (such as a second-order model) according to the parameters of the motor.
- Intercepting the start time of the first signal can also ensure that the starting point value of the brake signal obtained after weighting is zero, which can prevent the voltage sudden change of the brake signal.
- S15 Synthesize a motor braking signal according to the first driving signal and the braking signal.
- synthesize the first drive signal and the brake signal to obtain the motor brake signal.
- synthesizing a motor brake signal according to the first drive signal and the brake signal includes:
- the motor braking signal in the present application includes a first driving signal and a braking signal.
- the first driving signal can drive the motor to run, and the braking signal can cause the motor to brake. It can be understood that the length of the first driving signal is not limited, and can be set as required, so that the motor is driven for a suitable time and brakes at the required moment.
- the first driving signal ends at the first time T1, and the time when the first feedback signal starts to be intercepted is T2, and the braking signal is combined with the first driving signal at the time T2 to obtain the motor braking signal.
- a motor brake signal is generated according to each drive signal, and multiple motor brake signals corresponding to the drive signal need to be generated in total.
- the motor braking signal generation method provided in this embodiment uses the first feedback signal to obtain the vibration response characteristics of the motor, so that the obtained motor braking signal can accurately reduce the after vibration of the motor during braking.
- the method of this application is suitable for All motor systems, without changing the hardware structure, can reduce the residual vibration of the motor at a very low cost, and the feedback signal can accurately reflect the vibration response characteristics of the motor, making the braking effect better.
- the second embodiment of the present application also provides a method for generating a motor brake signal. Based on the foregoing embodiment, this embodiment provides a solution for obtaining a first drive signal.
- the motor brake signal Generation methods include:
- the preset second driving signal is a signal that can drive the motor to operate normally. If a motor needs to be driven by a driving signal during normal operation, the second driving signal is a part of the driving signal.
- the second driving signal is similar to a sine wave and has a period and a frequency. Within a period, half of the second driving signal is greater than zero, and half of the second driving signal is less than zero. It can be understood that the second driving signal may not be an integer multiple of its period.
- the second feedback signal is the feedback current or the feedback voltage.
- the second driving signal is used to drive the motor, and the feedback signal is generated at both ends of the coil of the motor, so the second feedback signal fed back by the motor can be obtained.
- the second feedback signal is similar to a sine wave and has a period and a frequency. Within a period, half of the second feedback signal is greater than zero, and half of the second feedback signal is less than zero.
- the second feedback signal and the second drive signal have the same period, and there is a certain phase difference between the second feedback signal and the second drive signal.
- the phase difference and the structural design of the motor are related to the working environment. For different motors, the phase difference between the second feedback signal and the second drive signal may be different.
- the second feedback signal can not only reflect the current (voltage) response characteristics of the motor, but also reflect the true vibration response characteristics of the motor.
- the desired braking moment is the moment when the user wants to brake.
- the second driving signal and the second feedback signal may not be zero, or one of the signals may be zero. If early braking is desired, the latest time T1 at which the second feedback signal before the desired braking time is zero is acquired; if it is desired to delay braking, the latest time T1' at which the second feedback signal is zero after the desired braking time is acquired. It can be understood that if the second feedback signal is exactly zero when the braking time is expected, it can be considered that the braking time is time T1 or time T1'.
- S23 Make the second drive signal zero at time T1 or time T1' to obtain the first drive signal.
- the second drive signal is set to zero at time T1, and the result is the first drive signal. If it is desired to delay braking, the second drive signal is set to zero at time T1', and then the first drive signal is obtained. It can be understood that the first driving signal is a part of the first braking signal.
- S25 Intercept a segment of the first feedback signal after the end of the first driving signal.
- S26 Generate a braking signal according to the intercepted segment of the first feedback signal.
- the method for generating a motor brake signal provided in this embodiment can quickly obtain the first brake signal, so as to quickly obtain the motor brake signal.
- the third embodiment of the present application provides a motor brake signal generating device for calibrating a camera and an inertial sensor, the camera and the inertial sensor are fixedly connected, and the motor brake signal generating device 30 can implement the motor braking signal generating method of the above-mentioned embodiment, and the motor braking signal generating device 30 includes:
- the first signal acquisition module 31 is configured to acquire the first driving signal
- the second signal acquisition module 32 is configured to acquire the first feedback signal fed back by the motor according to the first driving signal, where the first driving signal and the first feedback signal satisfy a preset condition;
- the intercepting module 33 is configured to intercept a segment of the first feedback signal after the first driving signal ends;
- the signal generating module 34 is configured to generate a braking signal according to the intercepted segment of the first feedback signal
- the signal synthesis module 35 is used for synthesizing a motor braking signal according to the first driving signal and the braking signal.
- the motor brake signal generating device obtained by the third embodiment of the present application obtains the vibration response characteristics of the motor through the first feedback signal, so that the obtained motor brake signal can accurately reduce the after vibration of the motor during braking.
- the method is suitable for all motor systems. Without changing the hardware structure, the residual vibration of the motor is reduced at a very low cost, and the feedback signal can accurately reflect the vibration response characteristics of the motor, so that the braking effect is better.
- the first signal acquisition module 31 includes:
- the first obtaining unit is configured to obtain a second feedback signal fed back by the motor according to a preset second drive signal
- the second acquiring unit is used to acquire the latest time T1 at which the second feedback signal before the expected braking time is zero, or
- the signal generating unit is used to make the second drive signal zero at time T1 or time T1' to obtain the first drive signal.
- the intercepting module 33 is specifically configured to intercept the first feedback signal of length L when the first feedback signal is zero after the first drive signal ends, and the period of the first feedback signal of length L is An integer multiple of the half period of the first feedback signal.
- the signal generating module 34 is specifically configured to perform a weighted calculation on the intercepted segment of the first feedback signal to obtain the braking signal.
- the signal synthesis module 35 is specifically configured to intercept the first feedback signal as the starting point after the first drive signal, merge the brake signal into the first drive signal, and the obtained signal is the Motor brake signal.
- the above products can execute the method for generating a motor brake signal provided by any embodiment of the present application, and have the corresponding functional modules and beneficial effects for implementing the method for generating a motor brake signal.
- the fourth embodiment of the present application provides a motor braking signal generation system, and the motor braking signal generation system can execute the motor braking signal generation method described in the above embodiments.
- the motor braking signal generation system includes:
- processors 41 and memory 42 are taken as an example in the figure.
- the processor 41 and the memory 42 may be connected by a bus or in other ways, and the connection by a bus is taken as an example in the figure.
- the memory 42 can be used to store non-volatile software programs and non-volatile computer-executable programs, such as a method for generating a motor brake signal in the above-mentioned embodiment of the present application Corresponding program instructions.
- the processor 41 executes various functional applications and data processing of a method for generating a brake signal of a motor by running the non-volatile software program instructions stored in the memory 42, that is, realizing an electric mechanism in the above method embodiment Dynamic signal generation method.
- the memory 42 may include a program storage area and a data storage area, where the program storage area may store an operating system, an application program required by at least one function, and the like.
- the memory 42 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.
- the memory 42 may optionally include memories remotely provided with respect to the processor 41, and these remote memories may be connected to the processor 41 through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
- the program instructions are stored in the memory 42, and when executed by the one or more processors 41, each step of a method for generating a motor brake signal in any of the foregoing method embodiments is executed.
- the above-mentioned product can execute the method provided in the above-mentioned embodiment of the present application, and has the corresponding beneficial effect of the execution method.
- the method provided in the foregoing embodiment of this application please refer to the method provided in the foregoing embodiment of this application.
- the embodiment of the present application also provides a medium, the medium is a computer-readable storage medium, the medium stores a motor brake signal generation program, and the motor brake signal generation program is executed by a processor to realize the present application
- the method for generating a brake signal of a motor according to any one of the embodiments.
- the computer-readable storage medium involved in this application includes random access memory (RAM), memory, read-only memory (Read-Only Memory, ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, Hard disk, removable disk, Compact Disc Read-Only Memory (CD-ROM), or any other form of storage medium known in the technical field.
- RAM random access memory
- ROM read-only memory
- EEPROM electrically programmable ROM
- electrically erasable programmable ROM electrically erasable programmable ROM
- registers Hard disk, removable disk, Compact Disc Read-Only Memory (CD-ROM), or any other form of storage medium known in the technical field.
- the method, device, system, and medium for generating a motor braking signal of the present invention have a good braking effect when braking the motor, which effectively reduces the after-vibration of the motor.
- the present application also provides a motor braking method.
- the motor braking method includes: using a motor braking signal to drive the motor so as to brake the motor after running, wherein the motor braking signal adopts any one of the above-mentioned motor braking signals in this application.
- the motor braking signal generation method described in the embodiment is generated.
- the length of the first driving signal is not limited, and can be set as required, so that the motor is driven for a suitable time and brakes are performed at the required moment.
- the solution of the present invention obtains the vibration response characteristics of the motor through the first feedback signal, so that the obtained motor braking signal can accurately reduce the after vibration of the motor during braking.
- the method of the present application is suitable for All motor systems, without changing the hardware structure, can reduce the residual vibration of the motor at a very low cost, and the feedback signal can accurately reflect the vibration response characteristics of the motor, making the braking effect better.
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Abstract
一种电动机制动信号生成方法、装置、系统、介质和电机制动方法。电动机制动信号生成方法包括：获取第一驱动信号（S11）；根据第一驱动信号获取电机反馈的第一反馈信号，其中，所述第一驱动信号和所述第一反馈信号满足预设条件（S12）；在所述第一驱动信号结束后截取一段第一反馈信号（S13）；根据截取的一段第一反馈信号生成刹车信号（S14）；根据所述第一驱动信号和所述刹车信号合成电动机制动信号（S15）。该方法具有能精确地降低电机余振、方案简单的优点。
Description
本发明涉及电机技术领域，尤其涉及一种电动机制动信号生成方法、装置、系统、介质和电机制动方法。
电机在日常生活中无处不在，例如，日常生活中的消费类电子产品和机械工程中的大型机械。电机作为将电能转化为机械能的器件，在机械工程中的大型电机主要起到提供机械能，带动机械运转的作用，而在日常生活中的电子产品中的小型电机主要起到提供震感的效果，提升用户体验的作用。无论是何种电机在运行时时，在撤去驱动信号后，电机会在惯性作用下产生余振。余振会使电机的使用效果较差。然而，现有技术中，减少余振的方案较为负责，且效果并不好。
因此，有必要提供一种新的方案以解决上述问题。
本发明的主要目的在于提供一种电动机制动信号生成方法、装置、系统、介质和电机制动方法，旨在解决现有的去除电机余振方案复杂且效果不好的技术问题。
第一方面，本公开实施例提供了一种电动机制动信号生成方法，所述电动机制动信号生成方法包括：
获取第一驱动信号；
根据第一驱动信号获取电机反馈的第一反馈信号，其中，所述第一驱动信号和所述第一反馈信号满足预设条件；
在所述第一驱动信号结束后截取一段第一反馈信号；
根据截取的一段第一反馈信号生成刹车信号；
根据所述第一驱动信号和所述刹车信号合成电动机制动信号。
优选地，所述第一驱动信号和所述第一反馈信号满足预设条件包括：
所述第一驱动信号结束时，所述第一反馈信号为零。
优选地，所述在所述第一驱动信号结束后截取一段第一反馈信号包括：
所述第一驱动信号结束后，所述第一反馈信号为零时，截取长度L的第一反馈信号，所述长度L的第一反馈信号的周期为所述第一反馈信号的半周期的整数倍。
优选地，所述根据截取的一段第一反馈信号生成刹车信号包括：
对截取的一段第一反馈信号进行加权计算，以得到刹车信号。
优选地，所述根据所述第一驱动信号和所述刹车信号合成电动机制动信号包括：
在第一驱动信号后，截取所述第一反馈信号的时刻为起始点，合并所述刹车信号进入所述第一驱动信号，得到的信号为所述电动机制动信号。
优选地，所述获取第一驱动信号包括：
根据预设的第二驱动信号获取电机反馈的第二反馈信号；
获取期望刹车时刻前的第二反馈信号为零的最近时刻T1，或
获取期望刹车时刻后的第二反馈信号为零的最近时刻T1’；
使所述第二驱动信号在时刻T1或时刻T1’为零，以得到所述第一驱动信号。
第二方面，本发明还提供一种电机制动方法，所述电机制动方法包括：
使用电动机制动信号驱动电机，以使所述电机运转后刹车，其中，所述电动机制动信号采用本发明第一方面实施例所述的电动机制动信号生成方法生成。
第三方面，本发明还提供一种电动机制动信号生成装置，所述电动机制动信号生成装置包括：
第一信号获取模块，用于获取第一驱动信号；
第二信号获取模块，用于根据第一驱动信号获取电机反馈的第一反馈信号，其中所述第一驱动信号和所述第一反馈信号满足预设条件；
截取模块，用于在所述第一驱动信号结束后截取一段第一反馈信号；
信号生成模块，用于根据截取的一段第一反馈信号生成刹车信号；
信号合成模块，用于根据所述第一驱动信号和所述刹车信号合成电动机制动信号。
第四方面，本发明还提供一种电动机制动信号生成系统，所述电动机制动信号生成系统包括：
存储器，用于存储电动机制动信号生成程序；
处理器，用于执行所述电动机制动信号生成程序时实现本发明第一方面实施例所述的电动机制动信号生成方法。
第五方面，本发明还提供一种介质，所述介质为计算机可读存储介质，所述介质中存储有电动机制动信号生成程序，所述电动机制动信号生成程序被处理器执行时实现本发明第一方面实施例所述的电动机制动信号生成方法。
与现有技术相比，本发明的方案，通过第一反馈信号，来获取电机的振动响应特性，从而得到的电动机制动信号在刹车时能精确地降低电机余振，本申请的方法适用于所有电机的系统，在不改变硬件结构的情况下，极低成本的降低电机余振，方案简单，容易实现，且反馈信号能准确的反应出电机的振动响应特征，使刹车效果更优。
图1为本发明第一实施例提供的电动机制动信号生成方法的流程示意图。
图2为本发明的第一驱动信号、刹车和电动机制动信号相互关系的的示意图。
图3为本发明第二实施例提供的电动机制动信号生成方法的流程示意图。
图4为本发明第三实施例提供的电动机制动信号生成装置的模块结构示意图。
图5为本发明第四实施例提供的电动机制动信号生成系统的模块结构示意图。
图6为本发明的使用电动机制动信号进行刹车时的效果图。
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。
本发明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。
请参阅图1，图1为本申请第一实施例提供的一种电动机制动信号生成方法，该电动机制动信号生成方法可由电动机制动信号生成装置来执行，该电动机制动信号生成装置可通过硬件和/或软件的方式来实现，电动机制动信号生成方法用于生成电动机制动信号，电动机制动信号用于驱动电机运转，电动机制动信号还用于在需要时刻刹车，能极低成本的降低电机余振，电机刹车效果更优。需要的时刻刹车，即为用户想刹车时即可停止驱动电机运转，使电机刹车。该电动机制动信号生成方法包括：
S11：获取第一驱动信号。
第一驱动信号为能驱动电机正常运行的信号。如一个电机在正常运行时，需要通过一个驱动信号驱动，则第一驱动信号为该驱动信号的一部分。第一驱动信号类可以用正弦波表示，具有周期和频率，第一驱动信号在一个周期内的一半时间大于零，第一驱动信号在一个周期内的另一半时间小于零。
S12：根据第一驱动信号获取电机反馈的第一反馈信号，其中，所述第一驱动信号和所述第一反馈信号满足预设条件。
第一反馈信号为反馈电流或者反馈电压。通过第一驱动信号去驱动电机，使电机的线圈两端产生反馈信号，因此即可获取电机反馈的第一反馈信号。第一反馈信号可以用正弦波表示，具有周期和频率，第一反馈信号在一个周期内的一半时间大于零，第一反馈信号在一个周期内的另一半时间小于零。第一反馈信号和第一驱动信号的周期相同，第一反馈信号和第一驱动信号之间存在相位差。该相位差和电机的结构设计与工作环境有关。对于不同的电机，第一反馈信号和第一驱动信号之间的相位差可能不同。第一反馈信号不仅能体现出电机的电流（电压）响应特征，还可以反映电机真实的振动响应特征。
其中，所述第一驱动信号所述第一驱动信号和所述第一反馈信号满足预设条件包括：
所述第一驱动信号结束时，所述第一反馈信号为零。
在使用第一驱动信号驱动电机时，会持续活的到第一反馈信号。由于第一驱动信号和第一反馈信号存在一定的相位差，故在第一驱动信号为零时，第一反馈信号不为零，在第一反馈信号为零时，第一驱动信号不为零。本申请的第一驱动信号在结束时，也即不使用第一驱动信号驱动，第一反馈信号正好为零。第一驱动信号结束时，所述第一反馈信号为零，目的在于保证第一驱动信号没有突变，避免噪声或高阶谐振的产生。
S13：在所述第一驱动信号结束后截取一段第一反馈信号。
在第一驱动信号结束时，由于电机的不是立刻停止运行，电机的线圈两端还继续有第一反馈信号产生，还能够获取到第一反馈信号，则可在所述第一驱动信号结束后截取一段第一反馈信号。开始截取第一反馈信号的时刻不做绝对限定，截取第一反馈信号时，满足第一反馈信号还在产生即可。不能在第一反馈信号不再产生，不能在第一反馈信号持续为零时截取第一反馈信号。
优选地，在所述第一驱动信号结束后截取一段第一反馈信号包括：
所述第一驱动信号结束后，所述第一反馈信号为零时，截取长度L的第一反馈信号，所述长度L的第一反馈信号的周期为所述第一反馈信号的半周期的整数倍。
在第一驱动信号结束时，还能继续获取到第一反馈信号，第一反馈信号持续衰减，最终持续为零。在第一信号结束后，到第一反馈信号持续为零前，第一反馈信号会多次为零。在第一信号结束后，到第一反馈信号持续为零前，截取第一反馈信号。截取第一信号的开始时间，能保证电机处于余震状态，使第一反馈信号的相位与电机振动的相位一致。长度L的第一反馈信号的周期为所述第一反馈信号的半周期的整数倍，能防止第一反馈信号突变。如第一反馈信号的电压突变。
S14：根据截取的一段第一反馈信号生成刹车信号。
具体的，所述根据截取的一段第一反馈信号生成刹车信号包括：
对截取的一段第一反馈信号进行加权计算，以得到刹车信号。
截取的一段第一反馈信号，即为前述的长度L的第一反馈信号。对长度L的第一反馈信号进行加权计算时，可以采用线性加权、指数加权、对数加权、三角函数加权等加权方式。例如，加权函数为g(x)，长度L的第一反馈信号为f(x)，刹车信号为yb，则：
yb= f(x)* g(x) （1）
其中，加权函数可以是在设计电机时，试验经验给出固定的加权值，也可以根据电机的参数，通过数值模型（例如二阶模型）进行精确的计算得到。
截取第一信号的开始时间，也能保证加权后得到的刹车信号的起始点值为零，能防止刹车信号的电压突变。
S15：根据所述第一驱动信号和所述刹车信号合成电动机制动信号。
请参阅图2，把第一驱动信号和刹车信号合成，即可得到电动机制动信号。具体的，根据所述第一驱动信号和所述刹车信号合成电动机制动信号包括：
在第一驱动信号后，截取所述第一反馈信号的时刻为起始点，合并所述刹车信号进入所述第一驱动信号，得到的信号为所述电动机制动信号。即本申请的电动机制动信号包括第一驱动信号和刹车信号，第一驱动信号能驱动电机运行，刹车信号能使电机刹车。可以理解第一驱动信号的长度不做限定，可根据需要进行设置，从而使电机驱动合适的时间，在需要的时刻进行刹车。
例如，第一驱动信号在第一时刻T1结束，开始截取所述第一反馈信号的时刻为T2，把刹车信号合并在T2时刻的第一驱动信号中，即可得到电动机制动信号。可以理解，在一个电机需要多个驱动信号进行驱动时，会根据每个驱动信号生成一个电动机制动信号，共需生成多个和驱动信号对应的多个电动机制动信号。
本实施例提供的电动机制动信号生成方法，通过第一反馈信号，来获取电机的振动响应特性，从而得到的电动机制动信号在刹车时能精确地降低电机余振，本申请的方法适用于所有电机的系统，在不改变硬件结构的情况下，极低成本的降低电机余振，且反馈信号能准确的反应出电机的振动响应特征，使刹车效果更优。
请参阅图3，本申请第二实施例也提供了一种电动机制动信号生成方法，本实施例以前述实施例为基础，提供了一种获取第一驱动信号的方案，该电动机制动信号生成方法包括：
S21：根据预设的第二驱动信号获取电机反馈的第二反馈信号。
预设的第二驱动信号为能驱动电机正常运行的信号。如一个电机在正常运行时，需要通过一个驱动信号驱动，则第二驱动信号为该驱动信号的一部分。第二驱动信号类似于正弦波，具有周期和频率，在一个周期内，第二驱动信号一半时间大于零，第二驱动信号一半时间小于零。可以理解，第二驱动信号可以不是其周期的整数倍。
第二反馈信号为反馈电流或者反馈电压。使用第二驱动信号去驱动电机，电机的线圈两端即产生反馈信号，因此即可获取电机反馈的第二反馈信号。第二反馈信号类似于正弦波，具有周期和频率，在一个周期内，第二反馈信号一半时间大于零，第二反馈信号一半时间小于零。第二反馈信号和第二驱动信号的周期相同，第二反馈信号和第二驱动信号之间存在一定的相位差。该相位差和电机的结构设计与工作环境有关。对于不同的电机，第二反馈信号和第二驱动信号之间的相位差可能不同。第二反馈信号不仅能体现出电机的电流（电压）响应特征，还可以反映电机真实的振动响应特征。
S22：获取期望刹车时刻前的第二反馈信号为零的最近时刻T1，或
获取期望刹车时刻后的第二反馈信号为零的最近时刻T1’。
期望的刹车时刻即用户想刹车的时刻。在期望刹车时刻时，第二驱动信号和第二反馈信号可能都不为零，也可能某一个信号为零。若希望提前刹车，则获取期望刹车时刻前的第二反馈信号为零的最近时刻T1；若希望延后刹车，则获取期望刹车时刻后的第二反馈信号为零的最近时刻T1’。可以理解，若在期望刹车时刻时，第二反馈信号正好为零，则可认为期望刹车时刻为时刻T1或时刻T1’。
S23：使所述第二驱动信号在时刻T1或时刻T1’为零，以得到所述第一驱动信号。
若希望提前刹车，则使第二驱动信号在时刻T1时为零，则得到的即为第一驱动信号。若希望延后刹车，则使第二驱动信号在时刻T1’时为零，则得到的即为第一驱动信号。可以理解，第一驱动信号为第一刹车信号的一部分。
S24：根据第一驱动信号获取电机反馈的第一反馈信号，其中，所述第一驱动信号和所述第一反馈信号满足预设条件。
S25：在所述第一驱动信号结束后截取一段第一反馈信号。
S26：根据截取的一段第一反馈信号生成刹车信号。
S27：根据所述第一驱动信号和所述刹车信号合成电动机制动信号。
本实施例提供的电动机制动信号生成方法，能快速得到第一刹车信号，以快速得到电动机制动信号。
请参阅图4，本申请第三实施例提供了一种电动机制动信号生成装置，用于给相机和惯性传感器进行标定，所述相机和惯性传感器之间固定连接，该电动机制动信号生成装置30可实现上述实施例的电动机制动信号生成方法，电动机制动信号生成装置30包括：
第一信号获取模块31，用于获取第一驱动信号；
第二信号获取模块32，用于根据第一驱动信号获取电机反馈的第一反馈信号，其中，所述第一驱动信号和所述第一反馈信号满足预设条件；
截取模块33，用于在所述第一驱动信号结束后截取一段第一反馈信号；
信号生成模块34，用于根据截取的一段第一反馈信号生成刹车信号；
信号合成模块35，用于根据所述第一驱动信号和所述刹车信号合成电动机制动信号。
本申请第三实施例提供的电动机制动信号生成装置，通过第一反馈信号，来获取电机的振动响应特性，从而得到的电动机制动信号在刹车时能精确地降低电机余振，本申请的方法适用于所有电机的系统，在不改变硬件结构的情况下，极低成本的降低电机余振，且反馈信号能准确的反应出电机的振动响应特征，使刹车效果更优。
优选地，第一信号获取模块31包括：
第一获取单元，用于根据预设的第二驱动信号获取电机反馈的第二反馈信号；
第二获取单元，用于获取期望刹车时刻前的第二反馈信号为零的最近时刻T1，或
获取期望刹车时刻后的第二反馈信号为零的最近时刻T1’；
信号生成单元，用于使所述第二驱动信号在时刻T1或时刻T1’为零，以得到所述第一驱动信号。
优选地，截取模块33，具体用于所述第一驱动信号结束后，所述第一反馈信号为零时，截取长度L的第一反馈信号，所述长度L的第一反馈信号的周期为所述第一反馈信号的半周期的整数倍。
优选地，信号生成模块34，具体用于对截取的一段第一反馈信号进行加权计算，以得到刹车信号。
优选地，信号合成模块35，具体用于在第一驱动信号后，截取所述第一反馈信号的时刻为起始点，合并所述刹车信号进入所述第一驱动信号，得到的信号为所述电动机制动信号。
上述产品可执行本申请任意实施例所提供的电动机制动信号生成方法，具备执行电动机制动信号生成方法相应的功能模块和有益效果。
请参阅图5，本申请第四实施例提供了一种电动机制动信号生成系统，电动机制动信号生成系统能够执行以上实施例所述的电动机制动信号生成方法。该电动机制动信号生成系统包括：
一个或多个处理器41以及存储器42。其中，图中以一个处理器41为例。
处理器41和存储器42可以通过总线或者其他方式连接，图中以通过总线连接为例。
存储器42作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序，如本申请上述实施例中的一种电动机制动信号生成方法对应的程序指令。处理器41通过运行存储在存储器42中的非易失性软件程序指令，从而执行一种电动机制动信号生成方法的各种功能应用以及数据处理，即实现上述方法实施例中的一种电动机制动信号生成方法。
存储器42可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序等。
此外，存储器42可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器42可选包括相对于处理器41远程设置的存储器，这些远程存储器可以通过网络连接至处理器41。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述程序指令存储在所述存储器42中，当被所述一个或者多个处理器41执行时，执行上述任意方法实施例中的一种电动机制动信号生成方法的各个步骤。
上述产品可执行本申请上述实施例所提供的方法，具备执行方法相应的有益效果。未在本实施例中详尽描述的技术细节，可参见本申请上述实施例所提供的方法。
本申请实施例还提供了一种介质，所述介质为计算机可读存储介质，所述介质中存储有电动机制动信号生成程序，所述电动机制动信号生成程序被处理器执行时实现本申请任一实施例所述的电动机制动信号生成方法。
本申请所涉及的计算机可读存储介质包括随机存储器(Random Access Memory，RAM)、内存、只读存储器(Read-Only Memory，ROM)、电可编程ROM、电可擦除可编程ROM、寄存器、硬盘、可移动磁盘、紧凑型光盘只读储存器（Compact Disc Read-Only Memory，CD-ROM）、或技术领域内所公知的任意其它形式的存储介质。
请参阅图6，本发明的电动机制动信号生成方法、装置、系统、介质在对电机刹车时，刹车效果好，有效降低了电机余振。
通过以上的实施例的描述，本领域普通技术人员可以清楚地了解到各实施例可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程是可以通过计算机程序指令相关的硬件来完成。
本申请还提供一种电机制动方法，所述电机制动方法包括：使用电动机制动信号驱动电机，以使所述电机运转后刹车，其中，所述电动机制动信号采用本申请上述任一实施例所述的电动机制动信号生成方法生成。其中，第一驱动信号的长度不做限定，可根据需要进行设置，从而使电机驱动合适的时间，在需要的时刻进行刹车。
与现有技术相比，本发明的方案，通过第一反馈信号，来获取电机的振动响应特性，从而得到的电动机制动信号在刹车时能精确地降低电机余振，本申请的方法适用于所有电机的系统，在不改变硬件结构的情况下，极低成本的降低电机余振，且反馈信号能准确的反应出电机的振动响应特征，使刹车效果更优。
以上所述的仅是本发明的实施方式，在此应当指出，对于本领域的普通技术人员来说，在不脱离本发明创造构思的前提下，还可以做出改进，但这些均属于本发明的保护范围。
Claims (10)
- 一种电动机制动信号生成方法，其特征在于，所述电动机制动信号生成方法包括：获取第一驱动信号；根据第一驱动信号获取电机反馈的第一反馈信号，其中，所述第一驱动信号和所述第一反馈信号满足预设条件；在所述第一驱动信号结束后截取一段第一反馈信号；根据截取的一段第一反馈信号生成刹车信号；根据所述第一驱动信号和所述刹车信号合成电动机制动信号。
- 根据权利要求1所述的电动机制动信号生成方法，其特征在于：所述第一驱动信号和所述第一反馈信号满足预设条件包括：所述第一驱动信号结束时，所述第一反馈信号为零。
- 根据权利要求1所述的电动机制动信号生成方法，其特征在于：所述在所述第一驱动信号结束后截取一段第一反馈信号包括：所述第一驱动信号结束后，所述第一反馈信号为零时，截取长度L的第一反馈信号，所述长度L的第一反馈信号的周期为所述第一反馈信号的半周期的整数倍。
- 根据权利要求1所述的电动机制动信号生成方法，其特征在于：所述根据截取的一段第一反馈信号生成刹车信号包括：对截取的一段第一反馈信号进行加权计算，以得到刹车信号。
- 根据权利要求3所述的电动机制动信号生成方法，其特征在于：所述根据所述第一驱动信号和所述刹车信号合成电动机制动信号包括：在第一驱动信号后，截取所述第一反馈信号的时刻为起始点，合并所述刹车信号进入所述第一驱动信号，得到的信号为所述电动机制动信号。
- 根据权利要求1所述的电动机制动信号生成方法，其特征在于：所述获取第一驱动信号包括：根据预设的第二驱动信号获取电机反馈的第二反馈信号；获取期望刹车时刻前的第二反馈信号为零的最近时刻T1，或获取期望刹车时刻后的第二反馈信号为零的最近时刻T1’；使所述第二驱动信号在时刻T1或时刻T1’为零，以得到所述第一驱动信号。
- 一种电机制动方法，其特征在于，所述电机制动方法包括：使用电动机制动信号驱动电机，以使所述电机运转后刹车，其中，所述电动机制动信号采用如权利要求1~6任一项所述的电动机制动信号生成方法生成。
- 一种电动机制动信号生成装置，其特征在于，所述电动机制动信号生成装置包括：第一信号获取模块，用于获取第一驱动信号；第二信号获取模块，用于根据第一驱动信号获取电机反馈的第一反馈信号，其中所述第一驱动信号和所述第一反馈信号满足预设条件；截取模块，用于在所述第一驱动信号结束后截取一段第一反馈信号；信号生成模块，用于根据截取的一段第一反馈信号生成刹车信号；信号合成模块，用于根据所述第一驱动信号和所述刹车信号合成电动机制动信号。
- 一种电动机制动信号生成系统，其特征在于，所述电动机制动信号生成系统包括：存储器，用于存储电动机制动信号生成程序；处理器，用于执行所述电动机制动信号生成程序时实现如权利要求1至7任一项所述的电动机制动信号生成方法。
- 一种介质，所述介质为计算机可读存储介质，其特征在于：所述介质中存储有电动机制动信号生成程序，所述电动机制动信号生成程序被处理器执行时实现如权利要求1至6任一项所述的电动机制动信号生成方法。
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