WO2021119931A1 - Procédé et appareil de calcul de signal de vibration de moteur, terminal et support d'enregistrement - Google Patents

Procédé et appareil de calcul de signal de vibration de moteur, terminal et support d'enregistrement Download PDF

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Publication number
WO2021119931A1
WO2021119931A1 PCT/CN2019/125683 CN2019125683W WO2021119931A1 WO 2021119931 A1 WO2021119931 A1 WO 2021119931A1 CN 2019125683 W CN2019125683 W CN 2019125683W WO 2021119931 A1 WO2021119931 A1 WO 2021119931A1
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Prior art keywords
time
motor
braking
target
starting
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PCT/CN2019/125683
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English (en)
Chinese (zh)
Inventor
郑亚军
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瑞声声学科技(深圳)有限公司
瑞声科技(新加坡)有限公司
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Priority to PCT/CN2019/125683 priority Critical patent/WO2021119931A1/fr
Publication of WO2021119931A1 publication Critical patent/WO2021119931A1/fr

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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

Definitions

  • This application relates to the technical field of motors and signal processing, and in particular to a method, device, terminal, and storage medium for calculating vibration signals of a motor.
  • the motor As a transducer based on the principle of electromagnetic induction, the motor is widely used in portable devices. Among them, the linear motor can have abundant vibration effects and has a stable working state. Based on the principle of electromagnetic induction, the electromechanical equations of linear motors are very easy to obtain, which provides a lot of room for linear motor designers and vibration effect designers. At the same time, in terms of user experience, a richer tactile experience effect can be obtained. And because linear motors have clear electromechanical equations, the transfer relationship between output and input is very clear.
  • the method for formulating the vibration effect of a linear motor is as follows: based on the explicit output of the linear motor and the transfer relationship between the output, it is determined by a vibration intensity equalization algorithm.
  • a vibration intensity equalization algorithm due to the limitation of hardware output voltage capability and motor performance, in the process of designing the vibration waveform of the linear motor, the design may be unreasonable, causing the linear motor's balanced voltage to be too large and unusable.
  • the present application provides a method, device, terminal, and storage medium for calculating the vibration signal of the motor, which are used to solve the problem of unreasonable design of the vibration signal of the motor in the prior art, resulting in an excessively large equalization voltage.
  • an embodiment of the present application provides a method for calculating a vibration signal of a motor, including:
  • the limit capacity parameter includes the theoretical shortest starting time and the theoretical shortest braking time of the motor, and the target starting time of the motor is determined according to the theoretical shortest starting time and the pre-starting time , Determining the target braking time of the motor according to the theoretical shortest braking time and the pre-braking time;
  • a target vibration signal of the motor within a preset amplitude range is generated.
  • the obtaining the limit capacity parameter of the motor includes:
  • the theoretical shortest starting time and the theoretical shortest braking time are calculated based on the electromechanical equation corresponding to the motor.
  • the determining the theoretical shortest starting time and the theoretical shortest braking time based on the electromechanical equation of the motor includes:
  • the time to zero is regarded as the theoretical shortest braking time, including:
  • m is the mass of the load F
  • R e is the static resistance
  • m is the mass of the motor oscillator
  • c is the damping coefficient of the motor
  • k is the spring constant of the spring motor
  • ⁇ is a constant
  • g is the acceleration due to gravity
  • V p is the amplitude of the vibration signal to be processed
  • s 1 is the starting vibration intensity
  • s 2 is the braking vibration intensity.
  • the determining the target starting time and target braking time of the motor according to the theoretical shortest starting time and the theoretical shortest braking time includes:
  • the theoretical shortest starting time is used as the target starting time
  • the theoretical shortest braking time is taken as the target braking time.
  • generating a target vibration signal of the motor within a preset amplitude range includes:
  • the waveform of the vibration signal to be processed is changed based on the target start time and target braking time to obtain the target vibration signal.
  • the method further includes:
  • a corresponding drive signal is generated based on the target vibration signal, and the motor drive load is controlled to vibrate according to the drive signal.
  • an embodiment of the present application provides a calculation device for a vibration signal of a motor, including:
  • the signal receiving module is used to receive the vibration signal to be processed
  • a data acquisition module for acquiring the theoretical shortest starting time and theoretical shortest braking time of the motor according to the electromechanical equation of the motor; and acquiring the starting vibration intensity, pre-start time, braking vibration intensity, and pre-brake time of the motor;
  • the data comparison module is used to compare the size between the pre-start time of the motor and the theoretical shortest starting time, and to compare the size between the pre-braking time of the motor and the theoretical shortest braking time to determine the motor
  • the signal generating module is configured to generate a target vibration signal of the motor within a preset amplitude range based on the target starting time, the target braking time, the starting vibration intensity, and the braking vibration intensity.
  • an embodiment of the present application also provides a terminal, including a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and the processor executes the computer program when the computer program is executed.
  • a terminal including a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and the processor executes the computer program when the computer program is executed. The steps of the calculation method of the motor vibration signal as described above.
  • an embodiment of the present application also provides a computer-readable storage medium, including computer instructions, which when run on a computer, cause the computer to execute the steps of the method for calculating the vibration signal of the motor as described above.
  • device, terminal and storage medium of the motor vibration signal determine the starting vibration intensity, pre-start time and braking vibration intensity, and pre-brake time of the motor through the vibration signal to be processed; and obtain the theoretical minimum starting time of the motor And the theoretical minimum braking time to determine the target start time and target braking time of the motor, so as to generate the target vibration signal of the motor within the preset range based on the target start time, target braking time, start vibration intensity and braking vibration intensity.
  • This embodiment compares the motor’s pre-start time with the theoretical shortest starting time, and pre-brake time with the theoretical shortest braking time to determine the motor’s target starting time and target braking time, thereby designing the target of the motor within the preset range Vibration signal, avoid the situation that the equalization voltage is too large due to the unreasonable design of the motor vibration signal.
  • Figure 1 is a schematic diagram of the positions of the motor and the load in an embodiment
  • Fig. 2 is a schematic flow chart of the method for calculating the vibration signal of the motor in an embodiment
  • Fig. 3 is a schematic diagram of a vibration signal waveform of the motor in an embodiment
  • FIG. 4 is a schematic diagram of the determination process of the target start time and the target braking time in an embodiment
  • FIG. 5 is a schematic structural diagram of the calculation device of the motor vibration signal in an embodiment
  • Fig. 6 is a schematic diagram of the internal structure of a computer device running the above calculation method of motor vibration signal in an embodiment.
  • the control signal refers to the voltage signal, and the voltage signal controls the operation of the motor.
  • a method for calculating the vibration signal of the motor is specially proposed.
  • the implementation of the method can rely on a computer program, which can run on a computer system based on the von Neumann system.
  • the calculation method of the motor vibration signal of this embodiment is suitable for a linear motor, for example, an electronic device that obtains a vibration tactile sensation through the vibration of the linear motor.
  • a linear motor for example, an electronic device that obtains a vibration tactile sensation through the vibration of the linear motor.
  • the figure shows the position between the linear motor 200 and the load 300; the process of driving the load 300 by the linear motor 200 is: inputting a driving signal to the linear motor 200, such as a voltage signal; The 200 drives the load 300 to vibrate, so as to realize the vibration feedback when the mobile phone screen is pressed by the linear motor 200 to drive the load.
  • the calculation method of the motor vibration signal of this embodiment can realize the optimization processing of the input vibration signal intensity of the linear motor, so as to obtain a reasonable voltage waveform and improve the design efficiency of the vibration signal.
  • the method for calculating the motor vibration signal includes steps S11-S13:
  • Step S11 Receive a vibration signal to be processed, and determine the starting vibration intensity, pre-start time, braking vibration intensity, and pre-brake time of the motor based on the to-be-processed vibration signal.
  • the vibration signal to be processed is used to control the vibration of the motor, and is specifically output to the motor through a hardware device such as a charger, such as a voltage signal.
  • a hardware device such as a charger, such as a voltage signal.
  • the motor has a fixed starting vibration intensity and a fixed braking vibration intensity to ensure the safety and stability of the motor's work. Therefore, the starting vibration intensity, pre-start time, braking vibration intensity, and pre-brake time of the motor can be determined based on the received vibration signal to be processed.
  • the figure is a schematic diagram of a waveform diagram of the vibration signal to be processed in an alternative embodiment.
  • the starting vibration intensity of the motor is 1G
  • the pre-start time is 20ms, indicating that the vibration intensity of the motor needs to reach 1G from 0G at rest to 1G after 20ms to complete the motor starting process.
  • the braking vibration intensity is 1G
  • the pre-brake time is 30ms, which means that the motor's braking process is completed after the motor has reduced the vibration intensity from 1G to 0G after 30ms.
  • the starting vibration intensity, pre-start time, brake vibration intensity, and pre-brake time of the above-mentioned motors are specifically set according to the standard motor vibration intensity standards in the field.
  • the start-up vibration intensity, pre-start time and brake vibration of different motors The intensity and pre-brake time are fixed and different.
  • the to-be-processed vibration signal of the motor is adjusted according to actual needs to obtain an optimized basis for the to-be-processed vibration waveform, thereby
  • the vibration waveform to be processed is controlled within the actual capacity of the motor, which is beneficial to improve the design efficiency of the vibration signal of the motor.
  • Step S12 Obtain the limit capacity parameter of the motor, the limit capacity parameter includes the theoretical shortest starting time and the theoretical shortest braking time of the motor, and determining the theoretical shortest starting time and the pre-starting time of the motor
  • the target start time is determined according to the theoretical shortest braking time and the pre-brake time to determine the target braking time of the motor.
  • the shortest time for the motor excitation load to reach the start-up vibration intensity from standstill is recorded as the theoretical shortest start-up time.
  • Standstill refers to the state where the vibration intensity of the motor is zero;
  • the shortest time for the motor excitation load to decrease from the start-up vibration intensity to zero is recorded as the theoretical The shortest braking time;
  • the target start-up time refers to the length of time for the motor excitation load to reach the start intensity after the vibration signal to be processed is optimized according to the actual needs.
  • the target braking time refers to the vibration signal to be processed after the motor excites the load to vibrate from the brake after the vibration signal is optimized according to the actual demand
  • the acquisition of the target starting time and the target braking time includes the following steps:
  • Step S21 Obtain the time period for the motor excited load from standstill to reach the starting vibration intensity as the theoretical shortest start time; and Step S22: Obtain the time period during which the motor excited load brakes from the braking vibration intensity to zero as the theoretical shortest braking time.
  • the theoretical shortest starting time and theoretical shortest braking time are calculated based on the electromechanical equation corresponding to the motor; among them, the electromechanical equation is:
  • m is the mass of the motor oscillator
  • c is the damping coefficient of the motor
  • k is the spring-elastic coefficient of the motor
  • R e is a motor static resistance
  • L e is the inductance of the motor
  • x is the transducer displacement
  • Is the vibrator speed Is the acceleration of the vibrator
  • i is the drive current of the motor
  • u is the sinusoidal voltage of the drive motor
  • t is the time from the standstill to the start of the motor.
  • the motor is driven by a driving sinusoidal signal with an amplitude of V p , then the theoretical shortest starting time can be based on the formula:
  • This embodiment determines the theoretical shortest starting time and the theoretical shortest braking time based on the electromechanical equation corresponding to the motor, and can accurately obtain the theoretical shortest starting time of the motor under its specified starting vibration intensity, and obtain the motor under the specified braking vibration intensity
  • the theoretical shortest braking time of braking to zero is conducive to improving the optimization effect of the motor vibration signal.
  • the quick braking and quick starting actions of the motor can be adjusted, that is, the time of quick braking and quick starting can be adjusted to ensure that the theoretical shortest Within the range of the starting time and the theoretical shortest braking time, avoid damage to the motor caused by too fast starting time and/or braking time, ensure the safe use of the motor, and reduce the maintenance cost and service life of the motor.
  • Step S23 Compare the theoretical minimum starting time with the pre-start time to determine the target starting time of the motor; and Step S24: Compare the theoretical minimum braking time with the pre-brake time to determine the target braking time of the motor.
  • this embodiment compares the obtained theoretical shortest starting time and the pre-start time to determine the target starting time of the motor; this embodiment compares the obtained theoretical shortest braking time and the pre-braking time between the magnitudes. Compare to determine the target braking time of the motor.
  • the pre-start time t 1 is taken as the target starting time of the motor; when the pre-start time t 1 is less than or equal to the theoretical shortest starting time t f0_RT , the theoretical The shortest starting time t f0_RT is used as the target starting time of the motor. That is, when t 1 > t f0_RT , the target start time is t 1 ; when t 1 ⁇ t f0_RT, the target start time is t f0_RT .
  • the pre-brake time t 2 is used as the target braking time of the motor; when the pre-brake time t 2 is less than or equal to the theoretical shortest braking time t f0_BT , the theoretical shortest braking time As the target braking time of the motor. That is, when t 2 > t f0_BT , the target braking time is t 2 ; when t 2 ⁇ t f0_BT, the target braking time is t f0_BT .
  • the starting vibration intensity of the motor is 1G
  • the pre-start time is 20ms
  • the braking vibration intensity is 1G
  • the pre-brake time is 30ms; assuming that the theoretical shortest start is calculated based on the above electromechanical equations time of 15ms, the theoretical minimum braking time is 35ms, i.e., the driving voltage V p input of the motor, the load mass m f and a motor own characteristics (e.g., static resistance R e, electromagnetic coefficient BL, the startup vibration intensity s 1, the brake vibration intensity s 2 etc.)
  • the theoretical shortest starting time and theoretical shortest braking time are calculated. Since 20ms>15ms, 20ms is used as the target starting time of the motor, and since 30ms ⁇ 35ms, 35ms is used as the target braking time of the motor.
  • This embodiment compares the theoretical shortest starting time and the pre-start time, the theoretical shortest braking time and the pre-brake time to determine the target starting time and the target braking time of the motor, which can ensure the motor's vibration during the control of the motor.
  • the signal is within the preset range, so that the preset vibration effect can be obtained during the process of controlling the motor to drive the load to vibrate.
  • Step S13 Based on the target starting time, the target braking time, the starting vibration intensity, and the braking vibration intensity, a target vibration signal of the motor within a preset amplitude range is generated.
  • the target vibration signal is used to control the motor-driven load to vibrate to achieve a preset vibration effect.
  • the range of t 1 and t 2 is changed. Based on the fact that the starting vibration intensity and braking vibration intensity of the motor are unchanged, then at this time The waveforms of the vibration signals to be processed in the t 1 time period and the t 2 time period are changed.
  • the waveform of the vibration signal to be processed can be changed based on the target starting time and the target braking time to obtain the corresponding target vibration signal, achieving the effect that the motor drives the load to vibrate through the target vibration signal, and obtaining the preset vibration effect. Specifically, if the vibration intensity amplitude of the vibration signal to be processed is s and the resonant frequency is f 0 , then the resonant frequency f 0 of the vibration signal to be processed is changed according to the determined target start time or target braking time, and the actual change is at The frequency of the vibration signal to be processed in the time period t 1 and the time period t 2.
  • the pre-start time is greater than the theoretical shortest starting time, and/or the pre-brake time is greater than the theoretical shortest braking time, the waveform of the vibration signal to be optimized will be maintained, and the vibration signal to be optimized will not be processed. Optimize the vibration signal to make any changes.
  • a target specific vibration signal calculated by applying equalization method according to the basic parameters of the motor driving signal of the motor (e.g., static resistance R e, electromagnetic coefficient BL).
  • the equalization method refers to judging whether the waveform of the driving voltage exceeds the maximum voltage. If the driving voltage waveform has a value exceeding the maximum working voltage of the motor, the driving voltage is calculated and replaced with a local signal to ensure that the driving voltage is not higher than the maximum output voltage.
  • the calculation method of the motor vibration signal of this embodiment realizes the adjustment of the local waveform of the vibration signal to be processed based on the target starting time, starting vibration intensity, target braking time, and braking vibration intensity, so as to avoid the limitation of the hardware output voltage capability and
  • the limitation of motor performance improves the accuracy of the motor's vibration signal design; at the same time, according to the drive voltage within the preset range, the motor can be controlled to vibrate the load within the preset range.
  • an embodiment of the present application provides a motor vibration signal calculation device 100, as shown in FIG. 5, including: a signal receiving module 101 for receiving vibration signals to be processed; a data acquisition module 102 for calculating motor vibration signals
  • the electromechanical equation obtains the theoretical shortest starting time and the theoretical shortest braking time of the motor; as well as the starting vibration intensity, pre-start time and braking vibration intensity, and pre-brake time of the motor; the data comparison module 103 is used to compare the pre-start time and the pre-brake time of the motor.
  • the motor vibration signal calculation device 100 of this embodiment receives the vibration signal to be processed through the signal receiving module 101, that is, controls the motor to drive the load to vibrate through the vibration signal to be processed; in order to ensure that the vibration signal to be processed is within the preset vibration intensity range
  • the signal acquisition data module 102 obtains the theoretical shortest starting time and the theoretical shortest braking time of the motor according to the electromechanical equation of the motor; and obtains the starting vibration intensity, pre-start time and braking of the motor Vibration intensity and pre-brake time; according to the data comparison module 103, the size between the pre-start time and the theoretical shortest starting time, as well as the size between the pre-brake time of the motor and the theoretical shortest braking time, is used to determine the motor’s Target starting time and target braking time; the signal generation module 104 can generate a target vibration signal of the motor within a preset range based on the target starting time, target braking time, starting vibration intensity, and
  • device, terminal and storage medium of the motor vibration signal determine the starting vibration intensity, pre-start time and braking vibration intensity, and pre-brake time of the motor through the vibration signal to be processed; and obtain the theoretical shortest start-up time of the motor Time and theoretical minimum braking time are used to determine the target starting time and target braking time of the motor, so as to generate the target vibration signal of the motor within the preset range based on the target starting time, target braking time, starting vibration intensity and braking vibration intensity.
  • This embodiment compares the motor’s pre-start time with the theoretical shortest starting time, and pre-brake time with the theoretical shortest braking time to determine the motor’s target starting time and target braking time, thereby designing the target of the motor within the preset range Vibration signal, avoid the situation that the equalization voltage is too large due to the unreasonable design of the motor vibration signal.
  • Fig. 6 shows an internal structure diagram of a computer device in an embodiment.
  • the computer device may specifically be a server or a terminal.
  • the computer device includes a processor, a memory, and a network interface connected through a system bus.
  • the memory includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium of the computer device stores an operating system, and may also store a computer program.
  • the processor can enable the processor to implement a method for calculating the vibration signal of the motor.
  • a computer program can also be stored in the internal memory, and when the computer program is executed by the processor, the processor can execute the calculation method of the vibration signal of the motor.
  • FIG. 6 is only a block diagram of part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied.
  • the specific computer device may It includes more or fewer components than shown in FIG. 6, or combines certain components, or has a different component arrangement.
  • the method for calculating the vibration signal of the motor provided in the present application can be implemented in the form of a computer program, and the computer program can be run on the computer device as shown in FIG. 6.
  • the memory of the computer device may store various program modules that make up the calculation device of the motor vibration signal. For example, the data comparison module 103 and so on.
  • a computer device including a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the following steps: Process the vibration signal, determine the starting vibration intensity, pre-start time, braking vibration intensity, and pre-brake time of the motor based on the to-be-processed vibration signal; obtain the limit capacity parameter of the motor, the limit capacity parameter including the theory of the motor.
  • the shortest starting time and the theoretical shortest braking time, the target starting time of the motor is determined according to the theoretical shortest starting time and the pre-start time, and the target starting time of the motor is determined according to the theoretical shortest braking time and the pre-brake time Braking time; based on the target starting time, the target braking time, the starting vibration intensity and the braking vibration intensity, a target vibration signal of the motor within a preset amplitude range is generated.
  • Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Channel (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
  • SRAM static RAM
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDRSDRAM double data rate SDRAM
  • ESDRAM enhanced SDRAM
  • SLDRAM synchronous chain Channel
  • memory bus Radbus direct RAM
  • RDRAM direct memory bus dynamic RAM
  • RDRAM memory bus dynamic RAM

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  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

L'invention concerne un procédé de calcul d'un signal de vibration de moteur, comprenant : la réception d'un signal de vibration à traiter, et la détermination, sur la base dudit signal de vibration, de l'intensité de vibration de départ, du temps de pré-démarrage, de l'intensité de vibration de freinage et du temps de pré-freinage d'un moteur ; l'obtention du temps de démarrage le plus court théorique et le temps de freinage le plus court théorique du moteur, et la détermination d'un temps de démarrage cible et d'un temps de freinage cible du moteur en fonction du temps de démarrage le plus court théorique, du temps de pré-démarrage, du temps de freinage le plus court théorique et du temps de pré-freinage du moteur ; et la génération d'un signal de vibration cible du moteur dans une plage d'amplitude prédéfinie sur la base du temps de démarrage cible, du temps de freinage cible, de l'intensité de vibration de démarrage et de l'intensité de vibration de freinage. La présente invention concerne en outre un appareil de calcul d'un signal de vibration de moteur, un terminal et un support d'enregistrement lisible par ordinateur.
PCT/CN2019/125683 2019-12-16 2019-12-16 Procédé et appareil de calcul de signal de vibration de moteur, terminal et support d'enregistrement WO2021119931A1 (fr)

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CN109327166A (zh) * 2017-07-24 2019-02-12 通用汽车环球科技运作有限责任公司 用于以单个马达位置信号操作马达的系统和方法
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CN110380664A (zh) * 2019-06-24 2019-10-25 瑞声科技(新加坡)有限公司 一种马达振动控制方法、装置及计算机可读存储介质

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013065236A1 (fr) * 2011-11-04 2013-05-10 ヤマハ発動機株式会社 Moteur linéaire et dispositif de transport linéaire
CN105579930A (zh) * 2013-09-26 2016-05-11 富士通株式会社 驱动控制装置、电子设备以及驱动控制方法
US20180017413A1 (en) * 2016-07-18 2018-01-18 Delphi Technologies, Inc. Rotor position sensor signal correction
CN109327166A (zh) * 2017-07-24 2019-02-12 通用汽车环球科技运作有限责任公司 用于以单个马达位置信号操作马达的系统和方法
CN108325806A (zh) * 2017-12-29 2018-07-27 瑞声科技(新加坡)有限公司 振动信号的生成方法及装置
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