WO2021134342A1 - 马达体验失真指标的测试方法、电子设备及存储介质 - Google Patents

马达体验失真指标的测试方法、电子设备及存储介质 Download PDF

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WO2021134342A1
WO2021134342A1 PCT/CN2019/130173 CN2019130173W WO2021134342A1 WO 2021134342 A1 WO2021134342 A1 WO 2021134342A1 CN 2019130173 W CN2019130173 W CN 2019130173W WO 2021134342 A1 WO2021134342 A1 WO 2021134342A1
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motor
voltage signal
distortion
testing
frequency voltage
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PCT/CN2019/130173
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English (en)
French (fr)
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郭璇
向征
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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/CN2019/130173 priority Critical patent/WO2021134342A1/zh
Publication of WO2021134342A1 publication Critical patent/WO2021134342A1/zh

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    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer

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  • the invention relates to the technical field of motor distortion testing, in particular to a testing method, electronic equipment and storage medium for a motor experience distortion index.
  • the motor is one of the core providing devices for tactile feedback.
  • haptic feedback designers often need to know the distortion of the target motor at each frequency in advance, so as to better integrate with the signal design work.
  • single-frequency signals with a constant voltage (such as a motor rated voltage) and different frequencies are usually used for distortion testing.
  • this kind of distortion test method excites very small displacement and vibration of the vibrator.
  • these deviations from the motor resonance Frequent frequency points usually use a larger voltage for excitation.
  • this excitation voltage is much larger than the voltage during the distortion test. Therefore, the distortion test method in the related art cannot reflect the distortion situation of the motor in actual application.
  • the object of the present invention is to provide a test method for the motor experience distortion index, which can reflect the distortion condition of the motor in actual application.
  • a testing method for motor experience distortion index includes the following steps:
  • the motor parameters are linear parameters or non-linear parameters
  • the motor parameters are linear parameters.
  • the expression of the transfer function of the single-frequency voltage signal and the predicted displacement is:
  • u e is the voltage of the single-frequency signal
  • Bl electromagnetic force coefficient of the motor R m is a coefficient of the damper mechanical resistance
  • R e is a DC motor impedance
  • m t is the mass of the sub-Mada Zhen
  • k t is the spring rate
  • s Laplace variable
  • x is the predicted displacement.
  • the expression of the nonlinear differential equation of the motor is:
  • Bl is the motor electromagnetic force coefficient
  • R m is the damper resistance coefficient
  • k t is the spring stiffness coefficient
  • u e is the voltage of the single-frequency voltage signal
  • Le is the motor voice coil inductance
  • i is the motor voice coil current
  • m t is the mass of the sub-Mada Zhen
  • R e is a DC motor impedance
  • x is the displacement of the sub-Mada Zhen
  • t is time.
  • the expression of the nonlinear differential equation of the motor is written as the expression of the state space, and the expression of the state space is:
  • the amplitude of the single-frequency voltage signal is adjusted by linear scaling, and the expression of linear scaling is:
  • X is the maximum value of the predicted displacement
  • X tar is the target displacement value
  • A is the amplitude of the single-frequency voltage signal before adjustment
  • a new is the amplitude of the single-frequency voltage signal after adjustment
  • a max is the motor excitation limit voltage signal The amplitude.
  • the step of obtaining vibration data includes:
  • the digital signal is processed to obtain the vibration data of the motor.
  • the voltage value of the single-frequency voltage signal is greater than zero and not greater than the motor excitation limit voltage value.
  • the expression of the total harmonic distortion of the motor is:
  • N denotes the observed frequency distortion measurement up to N-order harmonic distortion
  • energy P i represents the i-th harmonic components.
  • the present invention also provides an electronic device that includes a memory and a processor, and a computer program that can be run on the processor is stored in the memory, and the computer program is a test program for a motor experience distortion index, When the processor executes the test program for the motor experience distortion index, the method for testing any one of the above-mentioned motor experience distortion indicators is implemented.
  • the present invention also provides a storage medium, the storage medium is a computer-readable storage medium, and a computer program is stored thereon.
  • the computer program is a test program for a motor experience distortion index, and the motor experiences a distortion index test program. When executed by the processor, the method for testing the motor experience distortion index described in any one of the above is realized.
  • the method for testing motor experience distortion indicators provided by the present invention has the beneficial effect of adaptively adjusting the amplitude of the single-frequency voltage signal so that the signal excitation displacement at the test frequency reaches the target displacement, thereby reflecting the actual motor
  • the distortion during application is more suitable for actual application requirements.
  • FIG. 1 is a flowchart of a method for testing a motor experience distortion index provided by the present invention
  • Figure 2 is a schematic diagram of the system characteristic modeling of the motor
  • Figure 3 is a schematic diagram of the structure of the motor in a laboratory tooling environment
  • FIG. 4 is a schematic diagram of a typical excitation signal of a test method for a motor experience distortion index provided by the present invention
  • FIG. 5 is a comparison diagram of the multi-frequency point continuous distortion test signal and the conventional constant voltage distortion test result of the test method for the motor experience distortion index provided by the present invention.
  • a test method of motor experience distortion index including the following steps:
  • Fig. 2 is a schematic diagram of the system characteristic modeling of the motor.
  • the signals, parameters and components in the circuit shown in Fig. 2 are defined as follows: u e is the single-frequency voltage signal voltage, Bl electromagnetic force coefficient of the motor, R m is a coefficient of the damper mechanical resistance, R e is a DC motor impedance, m t is the mass of the sub-Mada Zhen, k t is the spring rate, x is the displacement prediction, L e is a motor sound Coil inductance, i is the current in the voice coil of the motor, x is the displacement of the motor vibrator, v is the speed of the motor vibrator, and F is the electromagnetic force.
  • the real-time amplitude of the single-frequency voltage signal is A sin(2 ⁇ st), where A is the voltage signal amplitude, s is the test frequency, and t is the time.
  • the voltage value of the single-frequency voltage signal is greater than zero and not greater than the motor excitation limit voltage value.
  • the motor excitation limit voltage refers to the maximum voltage value that can be used when actually energizing the motor (or the maximum voltage value to ensure that the motor is not shelled), and its value is generally slightly larger than the rated voltage.
  • hardware devices such as power amplifiers, etc. limit the output voltage to below 9V.
  • Forecasting methods can include the following two:
  • u e is the voltage of the single-frequency signal
  • Bl electromagnetic force coefficient of the motor R m is a coefficient of the damper mechanical resistance
  • R e is a DC motor impedance
  • m t is the mass of the sub-Mada Zhen
  • k t is the spring rate
  • s is Laplace variable
  • x is the predicted displacement
  • Bl is the motor electromagnetic force coefficient
  • R m is the damper resistance coefficient
  • k t is the spring stiffness coefficient
  • u e is the voltage of the single-frequency voltage signal
  • Le is the motor voice coil inductance
  • i is the motor voice coil current
  • m t is the mass of the sub-Mada Zhen
  • R e is a DC motor impedance
  • x is the displacement of the sub-Mada Zhen
  • t is time.
  • the expression of the nonlinear differential equation of the motor is written as the expression of the state space, and the expression of the state space is:
  • the prediction method of Method 1 is only suitable for the displacement prediction under the linear parameters of the motor, and the nonlinearity of the motor is ignored.
  • the predicted value of the displacement may be quite different from the actual value;
  • the prediction method of Method 2 is suitable for linear and non-linear motors. Displacement prediction under linear parameters, and the predicted value of the displacement is closer to the actual value.
  • the prediction method of Method 2 is used to predict the predicted displacement of the motor vibrator under the excitation of the single-frequency voltage signal.
  • the amplitude of the single-frequency voltage signal is adjusted by linear scaling, and the expression of linear scaling is:
  • X is the maximum value of the predicted displacement
  • X tar is the target displacement value
  • A is the amplitude of the single-frequency voltage signal before adjustment
  • a new is the amplitude of the single-frequency voltage signal after adjustment
  • a max is the motor excitation limit voltage signal The amplitude.
  • Vibration data acquisition steps include:
  • the digital signal is processed to obtain the vibration data of the motor.
  • the motor can be fixed not only to the tooling, but also to the mobile phone or other loads; for the measurement of vibration data (that is, acceleration), the accelerometer and other measuring equipment can be fixed to the tooling, or fixed to the tool. On other loads connected to the motor.
  • vibration data that is, acceleration
  • the accelerometer and other measuring equipment can be fixed to the tooling, or fixed to the tool. On other loads connected to the motor.
  • FIG. 3 it is a schematic diagram of the structure of the motor in a laboratory tooling environment.
  • the single-frequency voltage signal with the adjusted amplitude is output on the computer terminal PC; the digital electrical signal is converted into an analog electrical signal through the acquisition card; the analog electrical signal is loaded on the two ends of the motor through the power amplifier for excitation;
  • the accelerometer collects acceleration; the acceleration data is amplified by a signal amplifier; the analog signal is converted into a digital signal through the acquisition card, which is input to the PC for processing, and finally the measurement result of the vibration data is obtained. Comparing the vibration data with the expected vibration data during design, it can be found that the vibration data under the excitation of the single-frequency voltage signal after adjusting the amplitude is closer to the expected vibration data in terms of absolute value or waveform.
  • Total harmonic distortion indicates that when the power amplifier is working, the second and third harmonics caused by the inevitable oscillation of the circuit or other resonances are superimposed on the actual input signal.
  • the output signal at the output end is not simply the same component as the input signal. It is a signal that includes harmonic components.
  • the comparison between these extra harmonic components and the actual input signal, expressed as a percentage, is called total harmonic distortion.
  • N denotes the observed frequency distortion measurement up to N-order harmonic distortion
  • energy P i represents the i-th harmonic components.
  • Fig. 5 is a comparison diagram between the multi-frequency point continuous distortion test signal and the conventional constant voltage distortion test result of the test method for the motor experience distortion index provided by the present invention, wherein curve I is a conventional constant voltage distortion test curve diagram; curve II is provided by the present invention
  • the test method of the motor experience distortion index is shown in Figure 4 for the distortion test curve under the excitation signal. From the comparison between the curve I and the curve II in FIG. 5, it can be seen that the result of the method for testing the motor experience distortion index provided by the present invention can better reflect the distortion situation in actual application.
  • the present invention also provides an electronic device that includes a memory and a processor, and a computer program that can be run on the processor is stored in the memory, and the computer program is a test program for a motor experience distortion index
  • the processor executes the test program of the motor experience distortion index, the above-mentioned testing method of the motor experience distortion index is implemented.
  • the electronic device may be a series of electronic devices such as cloud servers, mobile phones, computers, tablets, analog-to-digital (digital-to-analog) conversion equipment, power amplification equipment and signal amplification equipment, and the electronic equipment includes but is not limited to processing And storage.
  • the electronic device may include more or fewer components, or a combination of certain components, or different components; for example, the electronic device may also include input and output devices, network access devices, Bus and so on.
  • the so-called processor can be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the memory may be an internal storage unit of the electronic device, such as a hard disk or a memory of the electronic device.
  • the memory may also be an external storage device of the electronic device, such as a plug-in hard disk equipped on the electronic device, a smart memory card (Smart Media Card, SMC), a Secure Digital (SD) card, and a flash memory. Card (Flash Card), etc.
  • the memory may also include not only an internal storage unit of the electronic device, but also an external storage device.
  • the memory is used to store the computer program and other programs and data required by the electronic device.
  • the memory can also be used to temporarily store data that has been output or will be output.
  • the present invention also provides a storage medium.
  • the storage medium is a computer-readable storage medium, on which a computer program is stored.
  • the computer program is a test program for a motor experience distortion index, and the motor experiences a distortion index test. When the program is executed by the processor, the above-mentioned testing method of the motor experience distortion index is realized.
  • the computer-executable instructions of the storage medium provided in the embodiment of the present invention are not limited to the method operations described above, and may also perform related operations in the method provided in any embodiment of the present invention.
  • the present invention can be implemented by software and necessary general-purpose hardware, of course, it can also be implemented by hardware, but in many cases the former is a better implementation. .
  • the technical solution of the present invention essentially or the part that contributes to the prior art can be embodied in the form of a software product.
  • the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk.
  • Read-only memory Read-Only Memory, ROM
  • random access memory Random Access Memory, RAM
  • flash memory FLASH
  • hard disk or optical disk etc., including several instructions to make an electronic device (which can be a personal computer, A server, or a network device, etc.) execute the method described in each embodiment of the present invention.

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Abstract

一种马达体验失真指标的测试方法，能反映马达实际应用时的失真情况，包括以下步骤：获取马达参数，马达参数为线性参数或非线性参数；选取失真测试的指定频率并生成具有指定频率的单频电压信号；根据马达的线性参数或非线性参数，预测马达振子在单频电压信号激励下的预测位移；根据马达振子的目标位移值和预测位移的最大值调整单频电压信号的幅值以使得预测位移的最大值逼近目标位移值；获取马达振子在调整幅值后的单频电压信号激励下的振动数据；根据振动数据计算马达失真。

Description

马达体验失真指标的测试方法、电子设备及存储介质 【技术领域】
本发明涉及马达失真测试技术领域，具体涉及一种马达体验失真指标的测试方法、电子设备及存储介质。
【背景技术】
近年来，人们对于触觉反馈的关注度越来越高。马达是触觉反馈的核心提供器件之一。为了实现特定的振动效果，触觉反馈设计师往往需要预先了解目标马达在各频率处的失真情况，以便更好的和信号设计工作相结合。
相关技术中，通常采用恒定电压(如马达额定电压)不同频率的单频信号进行失真测试。这种失真测试方法对于偏离马达谐振频率较远的频点而言，其所激发的振子位移和振动量非常小，而触觉反馈设计师在实际设计时，为了保证触觉效果，在这些偏离马达谐振频率较远的频点，通常使用较大的电压进行激励。然而，这种激励电压远大于失真测试时的电压,因此，相关技术中的失真测试方法并不能反映马达实际应用时的失真情况。
【发明内容】
本发明的目的在于提供一种马达体验失真指标的测试方法，该马达体验失真指标的测试方法能反映马达实际应用时的失真情况。
本发明的技术方案如下：
一种马达体验失真指标的测试方法，包括以下步骤：
获取马达参数，马达参数为线性参数或非线性参数；
选取失真测试的指定频率并生成具有指定频率的单频电压信号；
根据马达的线性参数或非线性参数，预测马达振子在单频电压信号激励下的预测位移；
根据马达振子的目标位移值和预测位移的最大值调整单频电压信号的 幅值以使得预测位移的最大值逼近目标位移值；
获取马达振子在调整幅值后的单频电压信号激励下的振动数据；
根据振动数据计算马达失真。
优选地，马达参数为线性参数，根据马达经典二阶模型，单频电压信号和预测位移的传递函数表达式为：
Figure PCTCN2019130173-appb-000001
其中，
Figure PCTCN2019130173-appb-000002
u e为单频电压信号的电压，Bl为马达电磁力系数，R m为阻尼器力阻系数，R e为马达直流阻抗，m t为马达振子质量，k t为弹簧劲度系数，s为拉普拉斯变量，x为预测位移。
优选地，马达的非线性微分方程的表达式为：
Figure PCTCN2019130173-appb-000003
Figure PCTCN2019130173-appb-000004
其中，Bl为马达电磁力系数，R m为阻尼器力阻系数，k t为弹簧劲度系数，u e为单频电压信号的电压，L e为马达音圈电感，i为马达音圈中的电流，m t为马达振子质量，R e为马达直流阻抗，x为马达振子的位移，t为时间。
优选地，马达的非线性微分方程的表达式写成状态空间的表达式，状态空间的表达式为：
Figure PCTCN2019130173-appb-000005
y＝h(x)，
其中，
Figure PCTCN2019130173-appb-000006
Figure PCTCN2019130173-appb-000007
Figure PCTCN2019130173-appb-000008
h(x)＝x 1。
优选地，通过线性缩放的方式调整单频电压信号的幅值，线性缩放的表达式为：
Figure PCTCN2019130173-appb-000009
其中，X为预测位移的最大值，X tar为目标位移值，A为单频电压信号调整前的幅值，A new为单频电压信号调整后的幅值，A max为马达激励限制电压信号的幅值。
优选地，振动数据获取步骤包括：
通过加速度计采集马达的加速度数据；
将加速度数据通过信号放大器进行放大；
通过模拟数字转换器将放大后的加速度数据转化为数字信号；
对数字信号进行处理以获得马达的振动数据。
优选地，单频电压信号的电压值大于零且不大于马达激励限制电压值。
优选地，马达总谐波失真的表达式为：
Figure PCTCN2019130173-appb-000010
其中，N表示失真测试观测频率到N阶谐波失真为止；P i表示i阶谐波成分的能量。
本发明还提供一种电子设备，所述电子设备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计算机程序，所述计算机程序是马达体验失真指标的测试程序，所述处理器执行所述马达体验失真指标的测试程序时实现上述中任一项所述的马达体验失真指标的测试方法。
本发明还提供一种存储介质，所述存储介质为计算机可读存储介质存， 其上储有计算机程序，所述计算机程序是马达体验失真指标的测试程序，所述马达体验失真指标的测试程序被处理器执行时实现上述中任一项中任一项所述的马达体验失真指标的测试方法。
与相关技术相比，本发明提供的马达体验失真指标的测试方法的有益效果在于：通过适应性调整单频电压信号的幅值，使测试频率处的信号激励位移达到目标位移，从而反映马达实际应用时的失真情况，这样更贴合实际应用需求。
【附图说明】
图1为本发明提供的马达体验失真指标的测试方法的流程图；
图2为马达的系统特征建模示意图；
图3为马达在实验室工装环境下的结构示意图；
图4为本发明提供的马达体验失真指标的测试方法的一种典型激励信号示意图；
图5为本发明提供的马达体验失真指标的测试方法多频点连续失真测试信号与常规恒定电压失真测试结果的比较图。
【具体实施方式】
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部份实施例，而不是全部的实施例。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。
请结合参阅图1至图5，一种马达体验失真指标的测试方法，包括以下步骤：
S1、获取马达参数，马达参数为线性参数或非线性参数。
具体地，在时域上对马达的系统特征建立数学模型，图2为马达的系统特征建模示意图，图2所示电路中的信号、参数和器件定义如下：u e为单频电压信号的电压，Bl为马达电磁力系数，R m为阻尼器力阻系数，R e为 马达直流阻抗，m t为马达振子质量，k t为弹簧劲度系数，x为预测位移，L e为马达音圈电感，i为马达音圈中的电流，x为马达振子的位移，v为马达振子的速度，F为电磁力。
S2、选取失真测试的指定频率并生成具有指定频率的单频电压信号。单频电压信号的实时振幅为A sin(2πst)，其中，A为电压信号幅值，s为测试频率，t为时间。
单频电压信号的电压值大于零且不大于马达激励限制电压值。其中，马达激励限制电压是指实际激励马达时可以使用的最大电压值(或者说，保证马达不打壳的最大电压值)，其数值一般而言略大于额定电压。比如硬件设备(如功率放大器等)会对输出电压进行限制在9V以下。
若需要测试多频点的失真情况，则改变失真测试的指定频率进行不同频点测试信号生成。
S3、根据马达的线性参数或非线性参数，预测马达振子在单频电压信号激励下的预测位移。
预测方法可以包括如下两种：
方法一、当马达参数为线性参数时，根据马达经典二阶模型，单频电压信号和预测位移的传递函数表达式为：
Figure PCTCN2019130173-appb-000011
其中，
Figure PCTCN2019130173-appb-000012
u e为单频电压信号的电压，Bl为马达电磁力系数，R m为阻尼器力阻系数，R e为马达直流阻抗，m t为马达振子质量，k t为弹簧劲度系数，s为拉普拉斯变量，x为预测位移；
方法二、马达的非线性微分方程的表达式为：
Figure PCTCN2019130173-appb-000013
Figure PCTCN2019130173-appb-000014
其中，Bl为马达电磁力系数，R m为阻尼器力阻系数，k t为弹簧劲度系数，u e为单频电压信号的电压，L e为马达音圈电感，i为马达音圈中的电流， m t为马达振子质量，R e为马达直流阻抗，x为马达振子的位移，t为时间。在本实施例中，优选地，将马达的非线性微分方程的表达式写成状态空间的表达式，状态空间的表达式为：
Figure PCTCN2019130173-appb-000015
y＝h(x)
，
其中，
Figure PCTCN2019130173-appb-000016
Figure PCTCN2019130173-appb-000017
Figure PCTCN2019130173-appb-000018
h(x)＝x 1。
在已知单频电压信号的电压u e的情况下，可以通过方法一和方法二的表达式求出对应的马达预测位移。
其中，方法一的预测方法只适用于马达线性参数下的位移预测，且忽略了马达的非线性，位移的预测值与实际值可能存在较大差异；方法二的预测方法适用于马达线性和非线性参数下的位移预测，且位移的预测值与实际值更为接近。
在本实施例中，优选地，根据马达的非线性参数，并采用方法二的预测方法预测马达振子在单频电压信号激励下的预测位移。
S4、根据马达振子的目标位移值和预测位移的最大值调整单频电压信号的幅值以使得预测位移的最大值逼近目标位移值。
作为本发明的一种实施方式，通过线性缩放的方式调整单频电压信号的幅值，线性缩放的表达式为：
Figure PCTCN2019130173-appb-000019
其中，X为预测位移的最大值，X tar为目标位移值，A为单频电压信号调整前的幅值，A new为单频电压信号调整后的幅值，A max为马达激励限制电压信号的幅值。
S5、获取马达振子在调整幅值后的单频电压信号激励下的振动数据。
振动数据获取步骤包括：
通过加速度计采集马达的加速度数据；
将加速度数据通过信号放大器进行放大；
通过模拟数字转换器将放大后的加速度数据转化为数字信号；
对数字信号进行处理以获得马达的振动数据。
在实施时，马达不仅可以固定于工装上，也可以固定于手机中或其他负载上；对于振动数据(也即是加速度)的测量，可以将加速度计等测量设备固定在工装上，或者固定在与马达相连接的其他负载上。
如图3所示，其为马达在实验室工装环境下的结构示意图。具体地，将调整幅值后的单频电压信号在电脑端PC进行输出；通过采集卡将数字电信号转化为模拟电信号；经过功率放大器，将模拟电信号加载于马达两端进行激励；通过加速度计采集加速度；将加速度数据通过信号放大器进行放大；通过采集卡将模拟信号转化为数字信号，输入PC端处理，最终得到振动数据的测量结果。该振动数据与设计时的期望振动数据进行比较，可以发现调整幅值后的单频电压信号激励下的振动数据不论是在绝对数值上，还是波形上，都更加接近期望振动数据。
S6、根据振动数据计算马达失真。
如果需要研究马达稳态响应的失真情况，可以使用回采加速度稳态响应段数据进行计算马达失真；如果需要研究马达包含瞬态响应的失真，可以使用回采加速度的全部数据进行计算马达失真。
以总谐波失真为例，如果需要研究马达稳态响应的失真情况，可以使用回采加速度稳态响应段数据进行计算总谐波失真；如果需要研究马达包含瞬态响应的失真，可以使用回采加速度的全部数据进行计算总谐波失真。
总谐波失真表明功放工作时，由于电路不可避免的振荡或其他谐振产 生的二次，三次谐波与实际输入信号叠加，在输出端输出的信号就不单纯是与输入信号完全相同的成分，而是包括了谐波成分的信号，这些多余出来的谐波成分与实际输入信号的对比，用百分比来表示就称为总谐波失真。
具体地，马达总谐波失真的表达式为：
Figure PCTCN2019130173-appb-000020
其中，N表示失真测试观测频率到N阶谐波失真为止；P i表示i阶谐波成分的能量。
图5为本发明提供的马达体验失真指标的测试方法多频点连续失真测试信号与常规恒定电压失真测试结果的比较图，其中，曲线Ⅰ为常规恒定电压失真测试曲线图；曲线Ⅱ本发明提供的马达体验失真指标的测试方法在图4所示的激励信号下的失真测试曲线图。由图5的曲线Ⅰ和曲线Ⅱ的对比可知，本发明提供的马达体验失真指标的测试方法所得结果更能体现实际应用时的失真情况。
应理解，上述实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。
本发明还提供了一种电子设备，所述电子设备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计算机程序，所述计算机程序是马达体验失真指标的测试程序，所述处理器执行所述马达体验失真指标的测试程序时实现上述所述的马达体验失真指标的测试方法。
所述电子设备可以是云端服务器、手机、电脑、平板电脑、模数(数模)转换设备、功率放大设备和信号放大设备等等一系列的电子设备，且所述电子设备包括但不仅限于处理器和存储器。本领域技术人员可以理解，所述电子设备可以包括更多或更少的部件，或者组合某些部件，或者不同的部件；例如，所述电子设备还可以包括输入输出设备、网络接入设备、总线等。
所称处理器可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
所述存储器可以是所述电子设备的内部存储单元，例如电子设备的硬盘或内存。所述存储器也可以是所述电子设备的外部存储设备，例如所述电子设备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，所述存储器还可以既包括所述电子设备的内部存储单元，也包括外部存储设备。所述存储器用于存储所述计算机程序以及所述电子设备所需的其他程序和数据。所述存储器还可以用于暂时地存储已经输出或者将要输出的数据。
本发明还提供了一种存储介质，所述存储介质为计算机可读存储介质存，其上储有计算机程序，所述计算机程序是马达体验失真指标的测试程序，所述马达体验失真指标的测试程序被处理器执行时实现上述所述的马达体验失真指标的测试方法。
当然，本发明实施例所提供的存储介质，其计算机可执行指令不限于如上所述的方法操作，还可以执行本发明任意实施例所提供的方法中的相关操作。
通过以上关于实施方式的描述，所属领域的技术人员可以清楚地了解到，本发明可借助软件及必需的通用硬件来实现，当然也可以通过硬件实现，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如计算机的软盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(RandomAccess Memory，RAM)、闪存(FLASH)、硬盘或光盘等，包括若干指令用以使得一台电子设备(可以是个人计算机，服务器，或者网络设备 等)执行本发明各个实施例所述的方法。
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)

  1. 一种马达体验失真指标的测试方法，其特征在于，包括以下步骤：
    获取马达参数，马达参数为线性参数或非线性参数；
    选取失真测试的指定频率并生成具有指定频率的单频电压信号；
    根据马达的线性参数或非线性参数，预测马达振子在单频电压信号激励下的预测位移；
    根据马达振子的目标位移值和预测位移的最大值调整单频电压信号的幅值以使得预测位移的最大值逼近目标位移值；
    获取马达振子在调整幅值后的单频电压信号激励下的振动数据；
    根据振动数据计算马达失真。
  2. 根据权利要求1所述的马达体验失真指标的测试方法，其特征在于，马达参数为线性参数，根据马达经典二阶模型，单频电压信号和预测位移的传递函数表达式为：
    Figure PCTCN2019130173-appb-100001
    其中，
    Figure PCTCN2019130173-appb-100002
    u e为单频电压信号的电压，Bl为马达电磁力系数，R m为阻尼器力阻系数，R e为马达直流阻抗，m t为马达振子质量，k t为弹簧劲度系数，s为拉普拉斯变量，x为预测位移。
  3. 根据权利要求1所述的马达体验失真指标的测试方法，其特征在于，马达的非线性微分方程的表达式为：
    Figure PCTCN2019130173-appb-100003
    Figure PCTCN2019130173-appb-100004
    其中，Bl为马达电磁力系数，R m为阻尼器力阻系数，k t为弹簧劲度系数，u e为单频电压信号的电压，L e为马达音圈电感，i为马达音圈中的电流，m t为马达振子质量，R e为马达直流阻抗，x为马达振子的位移，t为时间。
  4. 根据权利要求3所述的马达体验失真指标的测试方法，其特征在于， 马达的非线性微分方程的表达式写成状态空间的表达式，状态空间的表达式为：
    Figure PCTCN2019130173-appb-100005
    y＝h(x)
    ，
    其中，
    Figure PCTCN2019130173-appb-100006
    Figure PCTCN2019130173-appb-100007
    Figure PCTCN2019130173-appb-100008
    h(x)＝x 1。
  5. 根据权利要求1-4中任一项所述的马达体验失真指标的测试方法，其特征在于，通过线性缩放的方式调整单频电压信号的幅值，线性缩放的表达式为：
    Figure PCTCN2019130173-appb-100009
    其中，X为预测位移的最大值，X tar为目标位移值，A为单频电压信号调整前的幅值，A new为单频电压信号调整后的幅值，A max为马达激励限制电压信号的幅值。
  6. 根据权利要求1所述的马达体验失真指标的测试方法，其特征在于，振动数据获取步骤包括：
    通过加速度计采集马达的加速度数据；
    将加速度数据通过信号放大器进行放大；
    通过模拟数字转换器将放大后的加速度数据转化为数字信号；
    对数字信号进行处理以获得马达的振动数据。
  7. 根据权利要求1所述的马达体验失真指标的测试方法，其特征在于, 单频电压信号的电压值大于零且不大于马达激励限制电压值。
  8. 根据权利要求1所述的马达体验失真指标的测试方法，其特征在于,马达总谐波失真的表达式为：
    Figure PCTCN2019130173-appb-100010
    其中，N表示失真测试观测频率到N阶谐波失真为止；P i表示i阶谐波成分的能量。
  9. 一种电子设备，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计算机程序，其特征在于，所述计算机程序是马达体验失真指标的测试程序，所述处理器执行所述马达体验失真指标的测试程序时实现权利要求1-8中任一项所述的马达体验失真指标的测试方法。
  10. 一种存储介质，所述存储介质为计算机可读存储介质存，其上储有计算机程序，其特征在于：所述计算机程序是马达体验失真指标的测试程序，所述马达体验失真指标的测试程序被处理器执行时实现如权利要求1-8中任一项所述的马达体验失真指标的测试方法。
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