WO2022000600A1

WO2022000600A1 - Motor parameter test method

Info

Publication number: WO2022000600A1
Application number: PCT/CN2020/103093
Authority: WO
Inventors: 郭璇
Original assignee: 瑞声声学科技(深圳)有限公司
Priority date: 2020-06-30
Filing date: 2020-07-20
Publication date: 2022-01-06
Also published as: CN111965537B; CN111965537A

Abstract

A motor parameter test method. The method comprises the steps: providing a motor unit which serves as an optimal motor and at least comprises a vibrator, the motor unit being provided on a tool, and applying an excitation signal to the motor unit to generate vibrator displacement; respectively applying N groups of first excitation signals having different voltage values to the motor unit to obtain N groups of first parameter samples, and forming a first sample library, N being a positive integer and greater than 1; applying a third excitation signal having a preset voltage value to the motor unit, and collecting an actually measured tool acceleration of the motor unit; and simulating a simulation tool acceleration of the motor unit according to the plurality of first parameter samples, comparing the simulation tool acceleration with the actually measured tool acceleration to obtain an error, and selecting the first sample parameter having the minimum error as the optimal parameter of the motor.

Description

Motor parameter test method

【Technical field】

The invention relates to the technical field of automatic control, in particular to a method for finding optimal parameters of a motor.

【Background technique】

With the development and popularization of various consumer electronic devices such as smart phones and smart wearables, people's requirements for tactile experience are also increasing day by day. At present, the main haptic feedback technology is realized by the linear motor (LRA) providing rich vibration, so the vibration performance of the motor has a direct and great impact on the haptic experience.

Linear motors are the core devices for haptic feedback. Generally speaking, classical second-order models can be used for accurate modeling and analysis, so as to achieve rich haptic effect designs. However, the actual motor unit has more or less nonlinearity, which shows that the parameters in the classical model are not constant constants, but curves that may change with the displacement of the oscillator. Therefore, how to find a set of optimal classical model modeling parameters under the objective fact of nonlinear parameters, so as to achieve accurate motor modeling effect, is an important content, which also affects the design of the actual motor effect. a crucial impact.

Therefore, it is necessary to provide an accurate method for finding the optimal parameters of the motor.

[Content of the invention]

The purpose of the present invention is to provide a method for finding optimal parameters of a motor, and to solve how to provide an accurate method for finding optimal parameters of a motor.

The technical scheme of the present invention is as follows: a motor parameter testing method, the method comprises the steps:

Provide a motor unit that is an optimal motor and at least includes a vibrator, the motor unit is arranged on a tool, and an excitation signal is applied to the motor unit to generate a vibrator displacement;

Applying N groups of first excitation signals with different voltage values to the motor unit respectively to obtain N groups of first parameter samples, and forming a first sample library, where N is a positive integer and N>1;

A third excitation signal with a preset voltage value is applied to the motor unit, and the measured tooling acceleration of the motor unit is collected;

According to the first parameter sample in the first sample library, the simulated tooling acceleration of the motor unit is simulated respectively, and the error between the simulated tooling acceleration and the measured tooling acceleration is calculated;

The first parameter sample with the smallest error is selected as the optimal parameter of the single motor.

More preferably, the method for presetting the voltage value of the third excitation signal includes the steps of:

Selecting a group of first parameter samples in the first sample library as sampling parameters;

Applying a plurality of second excitation signals with different frequency values to the motor unit respectively to generate a plurality of second oscillator displacements corresponding to different frequency values, and forming a displacement capability curve of the second oscillator displacement with respect to the different frequency values;

Extracting several groups of second parameter samples consisting of frequency values and displacements of the second oscillators corresponding to the frequency values according to the displacement capability curve, and forming a second sample library;

A single-frequency displacement waveform is constructed according to several second parameter samples in the second sample library, and displacement equalization is performed according to the sampling parameters to obtain voltage values corresponding to the frequency values of several second parameter samples as third parameter samples , and form the third sample library.

More preferably, according to each third parameter sample in the third sample library, a third excitation signal with different voltage values is respectively applied to the motor unit, and some measured voltages and some measured voltages at both ends of the motor unit are retrieved. Tooling acceleration constitutes the fourth sample library;

According to each first parameter sample in the first sample library, several simulated tooling accelerations of the motor unit are obtained by simulation respectively, and the simulated tooling acceleration and the measured tooling in the fourth sample library are obtained by calculation. Acceleration error.

More preferably, the calculation expression of the error is:

in,

err=accf-acm; where,

EVM represents the error between the simulated tool acceleration and the measured tool acceleration, accf represents the simulated tool acceleration, and acm represents the measured tool acceleration.

More preferably, an error curve about different frequency values is formed according to the errors corresponding to several first parameter samples, and the first parameter sample corresponding to the error curve with the smallest error is selected as the optimal parameter of the motor unit.

More preferably, the parameters of the first parameter sample at least include motor resistance, motor inductance, vibrator mass, electromagnetic force coefficient, spring stiffness coefficient and motor damping.

More preferably, the motor unit generates a first vibrator displacement under the action of the first excitation signal, the first sample parameter of the motor unit is calculated by the first vibrator displacement, and the first parameter sample is calculated. The function expression is:

in,

a first excitation signal u represents the value of the voltage applied across the motor monomers, i denotes a first excitation signal value of the current through the motor monomers, x represents the displacement of the vibrator, R _e represents a Motor resistance, L _e represents the motor inductance, B1 represents the electromagnetic force coefficient, m represents the vibrator mass, K _ms represents the spring stiffness coefficient, and R _ms represents the motor damping.

More preferably, a fourth excitation signal with a rated voltage value is applied to the motor unit once to obtain the measured vibration amount of the motor unit, and several groups of first parameter samples in the first sample library are extracted to simulate respectively. The simulated vibration amount corresponding to the rated voltage value of the single motor is obtained, and a set of first parameter samples whose simulated vibration amount is closest to the measured vibration amount are selected as sampling parameters.

More preferably, the motor unit has a physical limit displacement, and the displacement of the second vibrator is less than or equal to the physical limit displacement.

More preferably, a single-frequency displacement waveform with the second oscillator displacement as the amplitude is constructed according to the frequency values of several second parameter samples in the second sample library.

The beneficial effect of the present invention is that: by applying first excitation signals of different voltage values to the selected motor monomers to obtain first parameter samples as a plurality of parameters to be screened, and simulating the simulation of the motor monomers according to the plurality of first parameter samples The tooling acceleration is compared with the measured tooling acceleration to find the error, and the first sample parameter with the smallest error is selected as the optimal parameter of the motor.

【Description of drawings】

Fig. 1 is the method flow schematic diagram of the present invention;

Fig. 2 is the displacement capability curve schematic diagram of the present invention;

3 is a schematic diagram of the second parameter sample selected in FIG. 2 by the present invention;

4 is a schematic diagram of a single-frequency displacement waveform of the present invention;

5 is a schematic diagram of a voltage waveform of a third parameter sample corresponding to FIG. 4;

FIG. 6 is a schematic diagram of the voltage waveform of the steady state segment corresponding to FIG. 5;

7 is a schematic diagram of errors corresponding to different first parameter samples in an embodiment of the present invention;

FIG. 8 is a schematic diagram of the testing principle of the motor unit of the present invention.

【detailed description】

The present invention will be further described below with reference to the accompanying drawings and embodiments.

The present invention provides a motor parameter testing method, see FIG. 1 , the method includes:

Step S10: providing a motor unit 10 as an optimal motor;

More preferably, the motor unit 10 includes at least a vibrator, and the vibrator is used to generate vibration, and the vibration will generate displacement of the vibrator. In this embodiment, from a batch of qualified motor units 10 produced in a factory, a motor unit 10 that is an optimal motor is screened out through strict procedures.

More preferably, in this embodiment, the motor unit 10 is arranged on a tool, and an excitation signal is applied to the motor unit 10 to generate a vibrator displacement, and various parameters are calculated by collecting the data of the motor unit 10 .

Step S20 : respectively applying N groups of first excitation signals with different voltage values to the motor unit 10 to obtain N groups of first parameter samples, and forming a first sample library, where N is a positive integer and N>1;

Specifically, N groups of first excitation signals are respectively applied to the motor unit 10, the voltage values of the N groups of first excitation signals are different, and the motor unit 10 generates a first oscillator displacement under the action of the first excitation signal, The displacement data of the first vibrator is collected, and N groups of first parameter samples corresponding to different voltage values are obtained, and the N groups of first parameter samples form a first sample library. In this embodiment, let N=7, and collect 7 sets of first parameter samples corresponding to different voltage values.

More preferably, the functional expression of the first parameter sample is:

Wherein, u represents the voltage value of the first excitation signal applied to both ends of the motor unit 10, i represents the current value of the first excitation signal passing through the motor unit 10, and x represents the displacement of the first vibrator , R _e represents the motor resistance, L _e represents the motor inductance, Bl represents a coefficient of said electromagnetic force, m represents the mass of the oscillator, K _ms represents the spring rate, R _ms represents the motor damping.

Step S30: selecting a group of first parameter samples in the first sample library as sampling parameters;

More preferably, a fourth excitation signal with a rated voltage value is applied to the motor unit 10 once to obtain the measured vibration amount of the motor unit 10, and a number of samples are extracted from the N groups of first parameter samples in the first sample library. A set of first parameter samples is used, and the simulated vibration amount of the motor unit 10 corresponding to the rated voltage value is simulated respectively through several sets of the first parameter samples.

More preferably, a set of first parameter samples whose simulated vibration amount is closest to the actual measured vibration amount are selected as sampling parameters.

Step S40: applying a plurality of second excitation signals with different frequency values to the motor unit 10 respectively to generate a plurality of second oscillator displacements corresponding to different frequency values, and forming a displacement capability curve of the second oscillator displacement with respect to different frequency values;

Specifically, a plurality of second excitation signals are respectively applied to the motor unit 10, and the frequency values of the second excitation signals are different, thereby generating a plurality of second oscillator displacements, and the plurality of second oscillator displacements correspond to different frequency values, and , referring to FIG. 2 , a displacement capability curve of several second oscillator displacements with respect to different frequency values is formed. Since the motor unit 10 has a physical limit displacement, the displacement of the second vibrator in the displacement capability curve is less than or equal to the physical limit displacement.

Specifically, in the actual application scenario of the motor unit 10, the voltage value of the second excitation signal will limit the displacement of the second vibrator of the motor unit 10, for example, the voltage value is less than 9V, and at the same time, the motor unit 10 itself also has a physical limit displacement, thereby further limiting the displacement of the second vibrator that can be achieved by the motor unit 10 under the action of the second excitation signal. When the displacement capability curve is formed, the theoretical displacement of the second vibrator and the actual physical limit displacement pass through two The displacement of the second vibrator on the corresponding displacement capability curve is obtained by taking the minimum value. The displacement of the second oscillator on the displacement capability curve is defined as Y=min(Y1, Y2). Among them, Y1 is the second oscillator displacement that the motor unit 10 can theoretically achieve under the action of the second excitation signal of 9V single frequency, and Y2 is the actual physical limit displacement of the motor. By traversing different frequencies, the corresponding motor unit 10 can be obtained. Displacement capability curves of the second excitation signal at different frequency values.

Step S50: extracting several groups of second parameter samples consisting of frequency values and displacements of the second oscillators corresponding to the frequency values according to the displacement capability curve, and forming a second sample library;

Specifically, referring to FIG. 3 , each group of frequency values and the displacement of the second oscillator corresponding to the frequency value are formed into second parameter samples according to the displacement capability curve, and several groups of second parameter samples are extracted to form a second sample library.

Step S60: Construct a single-frequency displacement waveform according to a plurality of second parameter samples in the second sample library, and perform displacement equalization according to the sampling parameters to obtain voltage values corresponding to the frequency values of a plurality of the second parameter samples as the first parameter. Three-parameter samples, and form a third sample library;

More preferably, refer to FIG. 4 to FIG. 6 , wherein the abscissa of the drawings represents "sampling point", which can be understood as the number of data in the signal sequence. Specifically, a single-frequency displacement waveform with the second oscillator displacement as the amplitude is constructed according to the frequency values of several second parameter samples in the second sample library.

More preferably, according to the sampling parameters, the second excitation signal is simulated to act on the motor unit 10 to form a simulated oscillator displacement, and the balanced oscillator displacement is obtained by performing equalization processing on the simulated oscillator displacement and the second oscillator displacement. Substituting the equalized oscillator displacement into the functional expression of the first parameter sample to obtain a voltage value corresponding to the frequency value of the second parameter sample as a third parameter sample, wherein the excitation corresponding to the oscillator displacement is obtained through displacement equalization The voltage value of the signal is known in the art, and is not specifically developed in the present invention.

More preferably, several second parameter samples correspond to several third parameter samples, and several third parameter samples form a third sample library.

Step S70 : respectively applying third excitation signals with different voltage values to the motor unit 10 according to each third parameter sample in the third sample library, and recovering a number of measured voltages and a number of voltages across the motor unit 10 The measured acceleration of the tooling constitutes the fourth sample library;

Specifically, third excitation signals with different voltage values are respectively applied to the motor unit 10, and the different voltage values correspond to different third parameter samples in the third sample library. The motor unit 10 generates vibration under the action of the third excitation signal, and the vibration is transmitted to the tooling. The measured acceleration of the tooling can be collected by the accelerometer, and the measured voltage across the motor unit 10 can be collected by the voltmeter.

Specifically, more preferably, referring to FIG. 8 , the motor unit 10 is arranged on the tooling 20 , the motor unit 10 is electrically connected to the computer terminal 40 , and the computer terminal 40 is integrated with a collection device for converting digital signals into analog signals. A power amplifier is arranged between the capture card and the motor unit 10 , the power amplifier is electrically connected to both ends of the motor unit 10 , and a shockproof sponge 30 is provided at one end of the tooling 20 away from the motor unit 10 . The excitation signal is output from the computer terminal 40 in the form of a digital signal, and the digital signal is converted into an analog signal through the acquisition card. The analog signal is amplified by the power amplifier and loaded on both ends of the motor unit 10. The motor unit 10 plays the role of the excitation signal. Vibration is generated down, the vibration is transmitted to the tooling 20, the corresponding tooling acceleration data can be measured using the accelerometer, and the accelerometer is connected with the power amplifier, so that the tooling acceleration data is input to the computer terminal 40 through the power amplifier and the acquisition card for observation. and processing, so as to obtain the measured acceleration of the tooling of the motor unit 10 .

Step S80: According to each first parameter sample in the first sample library, a number of simulated tool accelerations of the motor unit 10 are obtained by simulation respectively, and the simulated tool acceleration and the fourth sample library are obtained by calculation. The error of the measured tooling acceleration;

More preferably, the calculation expression of the error is:

in,

err=accf-acm; where,

Step S90: Select the first parameter sample with the smallest error as the optimal parameter of the motor unit 10.

More preferably, according to the errors corresponding to several first parameter samples, an error curve for different frequency values is formed. Referring to FIG. 7 , the first parameter sample corresponding to the error curve with the smallest error is selected as the motor unit 10 . optimal parameters.

Thereby, by applying the first excitation signals of different voltage values to the selected motor unit 10 to obtain first parameter samples as a plurality of parameters to be screened, and simulating the simulated tool acceleration of the motor unit 10 according to the plurality of first parameter samples , and compared with the measured acceleration of the tooling to find the error, and select the first sample parameter with the smallest error as the optimal parameter of the motor.

The above are only the embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, improvements can be made without departing from the inventive concept of the present invention, but these belong to the present invention. scope of protection.

Claims

A method for testing motor parameters, comprising the steps of:

Provide a motor unit that is an optimal motor and at least includes a vibrator, the motor unit is arranged on a tool, and an excitation signal is applied to the motor unit to generate a vibrator displacement;

Applying N groups of first excitation signals with different voltage values to the motor unit respectively to obtain N groups of first parameter samples, and forming a first sample library, where N is a positive integer and N>1;

A third excitation signal with a preset voltage value is applied to the motor unit, and the measured tooling acceleration of the motor unit is collected;

According to the first parameter sample in the first sample library, the simulated tooling acceleration of the motor unit is simulated respectively, and the error between the simulated tooling acceleration and the measured tooling acceleration is calculated;

The first parameter sample with the smallest error is selected as the optimal parameter of the single motor.
The motor parameter testing method according to claim 1, wherein the method for presetting the voltage value of the third excitation signal comprises the steps of:

Selecting a group of first parameter samples in the first sample library as sampling parameters;

Applying a plurality of second excitation signals with different frequency values to the motor unit respectively to generate a plurality of second oscillator displacements corresponding to different frequency values, and forming a displacement capability curve of the second oscillator displacement with respect to the different frequency values;

Extracting several groups of second parameter samples consisting of frequency values and displacements of the second oscillators corresponding to the frequency values according to the displacement capability curve, and forming a second sample library;

A single-frequency displacement waveform is constructed according to several second parameter samples in the second sample library, and displacement equalization is performed according to the sampling parameters to obtain voltage values corresponding to the frequency values of several second parameter samples as third parameter samples , and form the third sample library.
The motor parameter testing method according to claim 2, wherein,

According to each third parameter sample in the third sample library, a third excitation signal with different voltage values is respectively applied to the motor unit, and several measured voltages and several measured tool accelerations at both ends of the motor unit are retrieved to form the first Four sample libraries;

According to each first parameter sample in the first sample library, several simulated tooling accelerations of the motor unit are obtained by simulation respectively, and the simulated tooling acceleration and the measured tooling in the fourth sample library are obtained by calculation. Acceleration error.
The motor parameter testing method according to claim 1, wherein the calculation expression of the error is:

in,

err=accf-acm; where,

EVM represents the error between the simulated tool acceleration and the measured tool acceleration, accf represents the simulated tool acceleration, and acm represents the measured tool acceleration.
The motor parameter testing method according to claim 4, wherein an error curve for different frequency values is formed according to the errors corresponding to several first parameter samples, and the first parameter sample corresponding to the error curve with the smallest error is selected as the optimal parameter of the motor unit.
The motor parameter testing method according to claim 1, wherein the parameters of the first parameter sample at least include motor resistance, motor inductance, vibrator mass, electromagnetic force coefficient, spring stiffness coefficient and motor damping.
The motor parameter testing method according to claim 6, wherein the motor unit generates a first oscillator displacement under the action of a first excitation signal, and the first oscillator displacement is used to calculate the first oscillator displacement of the motor unit. The sample parameter, the function expression for calculating the first parameter sample is:

in,

a first excitation signal u represents the value of the voltage applied across the motor monomers, i denotes a first excitation signal value of the current through the motor monomers, x represents the displacement of the vibrator, R e represents a Motor resistance, L e represents the motor inductance, B1 represents the electromagnetic force coefficient, m represents the vibrator mass, K ms represents the spring stiffness coefficient, and R ms represents the motor damping.
The motor parameter testing method according to claim 2, wherein a fourth excitation signal with a rated voltage value is applied to the motor unit once to obtain the measured vibration amount of the motor unit, and the first sample is extracted. Several groups of first parameter samples in this library are simulated respectively to obtain the simulated vibration amount corresponding to the rated voltage value of the motor unit, and a group of first parameter samples whose simulated vibration amount is closest to the measured vibration amount is selected as the sampling parameter.
The motor parameter testing method according to claim 2, wherein the motor unit has a physical limit displacement, and the displacement of the second vibrator is less than or equal to the physical limit displacement.
The motor parameter testing method according to claim 2, wherein a single-frequency displacement waveform with the second oscillator displacement as an amplitude is constructed according to the frequency values of several second parameter samples in the second sample library.