WO2022110413A1 - 确定马达非线性参数的方法、装置、设备和存储介质 - Google Patents
确定马达非线性参数的方法、装置、设备和存储介质 Download PDFInfo
- Publication number
- WO2022110413A1 WO2022110413A1 PCT/CN2020/138329 CN2020138329W WO2022110413A1 WO 2022110413 A1 WO2022110413 A1 WO 2022110413A1 CN 2020138329 W CN2020138329 W CN 2020138329W WO 2022110413 A1 WO2022110413 A1 WO 2022110413A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- motor
- vibrator
- measurement value
- acceleration
- nonlinear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
Definitions
- the present invention relates to the field of microelectromechanical technology, and in particular, to a method, an apparatus, a computer device and a non-volatile computer-readable storage medium for determining a non-linear parameter of a motor.
- motors are widely used as haptic feedback actuators in electronic devices such as smartphones, watches, and tablet computers.
- the classical second-order model of the motor can meet the design requirements of the application and haptic feedback effect.
- the classical second-order model-based model is often used.
- the application cannot meet the demand.
- the solutions for obtaining the nonlinear parameters of the motor provided in the current technology mainly use the excitation signal to excite the motor to vibrate and then collect the voltage and current measurement values.
- the target value of the nonlinear parameters of the motor is obtained by adaptive filtering, but this method is still difficult to accurately estimate the nonlinear parameters of the motor in the nonlinear model.
- a method of determining a non-linear parameter of a motor comprising:
- K m (x) K m0 +K m1 x+K m2 x 2 +K m3 x 3 +K m4 x 4
- Rm (v) Rm0 + Rm1v + Rm2v2 .
- An apparatus for determining non-linear parameters of a motor comprising:
- a model construction module for constructing a nonlinear model containing the nonlinear parameters of the motor
- a measurement value acquisition module configured to drive the motor to vibrate by using the excitation signal, and acquire the measurement value of the voltage at both ends of the motor, the measurement value of the motor current and the measurement value of the acceleration of the motor vibrator under the vibration state;
- a velocity and displacement obtaining module configured to obtain the velocity and displacement of the vibrator of the motor based on the measured value of the acceleration of the vibrator of the motor
- a system of equations building module for building an overdetermined system of equations associated with the nonlinear model based on the nonlinear model
- a nonlinear parameter obtaining module configured to fit the overdetermined equation system according to the voltage measurement value, the motor current measurement value and the motor oscillator acceleration measurement value to obtain the nonlinear parameter
- K m (x) K m0 +K m1 x+K m2 x 2 +K m3 x 3 +K m4 x 4
- Rm (v) Rm0 + Rm1v + Rm2v2 .
- a computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:
- a nonlinear model including the nonlinear parameters of the motor; use the excitation signal to drive the motor to vibrate, and obtain the measured value of the voltage at both ends of the motor, the measured value of the motor current and the measured value of the acceleration of the motor vibrator under the vibration state; based on the measurement of the acceleration of the motor vibrator obtain the vibrator velocity and displacement of the motor; construct an overdetermined equation system associated with the nonlinear model based on the nonlinear model; Fit the overdetermined equation system to obtain the nonlinear parameters; wherein, the nonlinear model is expressed as:
- K m (x) K m0 +K m1 x+K m2 x 2 +K m3 x 3 +K m4 x 4
- Rm (v) Rm0 + Rm1v + Rm2v2 .
- a nonlinear model including the nonlinear parameters of the motor; use the excitation signal to drive the motor to vibrate, and obtain the measured value of the voltage at both ends of the motor, the measured value of the motor current and the measured value of the acceleration of the motor vibrator under the vibration state; based on the measurement of the acceleration of the motor vibrator obtain the vibrator velocity and displacement of the motor; construct an overdetermined equation system associated with the nonlinear model based on the nonlinear model; Fit the overdetermined equation system to obtain the nonlinear parameters; wherein, the nonlinear model is expressed as:
- K m (x) K m0 +K m1 x+K m2 x 2 +K m3 x 3 +K m4 x 4
- Rm (v) Rm0 + Rm1v + Rm2v2 .
- the above-mentioned method, device, computer equipment and storage medium for determining the nonlinear parameters of a motor construct a nonlinear model of the nonlinear parameters of the motor, use the excitation signal to drive the motor to vibrate, and obtain the measured value of the voltage at both ends of the motor and the motor current under the vibration state.
- the measured value and the measured value of the acceleration of the motor oscillator, and then the oscillator speed and the oscillator displacement of the motor are obtained based on the measured value of the acceleration of the motor oscillator, and then the overdetermined equations associated with the nonlinear model are constructed based on the nonlinear model.
- the measured current value and the measured value of the acceleration of the motor vibrator are fitted to the overdetermined equation system to obtain the aforementioned nonlinear parameters.
- the excitation signal can be used to drive the motor to vibrate
- the voltage, current and acceleration at both ends of the motor in the vibration state can be obtained, and the measured value of the acceleration can be obtained.
- the speed and displacement of the vibrator of the motor are obtained, and the overdetermined equations associated with the nonlinear model are fitted to obtain the nonlinear parameters of the motor, which improves the accuracy and efficiency of determining the nonlinear parameters of the motor during the motor test.
- FIG. 1 is an application environment diagram of a method for determining a non-linear parameter of a motor in one embodiment
- FIG. 2 is a schematic flowchart of a method for determining a non-linear parameter of a motor in one embodiment
- FIG. 3 is a structural block diagram of an apparatus for determining a non-linear parameter of a motor in one embodiment
- FIG. 4 is a diagram of the internal structure of a computer device in one embodiment.
- the method for determining the nonlinear parameters of a motor can be applied to the application environment shown in FIG. 1 , and the application environment may include a computer device 140 , a capture card 150 , a power amplifier 160 , a signal amplifier 170 , and a motor to be tested 110 .
- the computer device 140 can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, etc.;
- the motor 110 can include LRA (Linear Resonance Actuator, linear motor), which belongs to a kind of linear motor applied to smart phones .
- the motor 110 can be placed on the sponge 130 to improve the testing accuracy of the motor 110 .
- a tool 120 can be placed between the motor 110 and the sponge 130 , so that the tool 120 can be used to support the motor 110 , and the motor vibrator acceleration data can be collected during the motor 110 test.
- the tester can generate the excitation signal of the motor 110 in the computer device 140, the excitation signal is generally a digital signal, the excitation signal is converted from the digital signal to the analog signal through the acquisition card 150, and then the The power amplifier 160 loads the excitation signal to the two ends of the motor 110 for excitation to drive the motor 110 to vibrate.
- the measured value of the voltage at both ends of the motor 110, the measured value of the motor current and the measured value of the acceleration of the motor vibrator can be obtained.
- the computer device 140 may obtain the vibrator velocity and the vibrator displacement of the motor 110 based on the motor vibrator acceleration measurement value, and based on the constructed nonlinear model including the motor non-linear parameters, construct a non-linear
- the overdetermined equations associated with the model fit the overdetermined equations according to the measured voltage, motor current and acceleration of the motor oscillator to obtain nonlinear parameters.
- the method for determining the nonlinear parameters of the motor provided by the present invention can be implemented, so that after driving the motor 110 to vibrate with the excitation signal on the computer device 140, the voltage, current and acceleration at both ends of the motor 110 in the vibration state can be obtained, and the acceleration can be obtained by using the acceleration signal.
- the measured value obtains the vibrator speed and the vibrator displacement of the motor 110, so as to fit the overdetermined equations associated with the nonlinear model to obtain the motor nonlinear parameters, and improve the accuracy and accuracy of determining the nonlinear parameters of the motor 110 during the testing process of the motor 110.
- Efficiency helps to shorten the test time of the nonlinear parameters of the motor.
- Using the nonlinear model for signal design can improve the similarity between the simulated signal and the measured signal, and provide support for the design of accurate haptic feedback effects.
- a method of determining a non-linear parameter of a motor is provided, the method may be performed by the computer device 140 in FIG. 1, the method includes the following steps:
- Step S201 constructing a nonlinear model including the nonlinear parameters of the motor.
- Part of the parameters in the classical second-order model of the motor 110 are expressed as nonlinear parameters (that is, not constant during the motion of the motor oscillator) to constitute the nonlinear model of the motor 110 .
- all the nonlinear parameters included in the nonlinear model can be used as the nonlinear parameters to be estimated.
- the nonlinear parameters may be represented by polynomials.
- the computer device 140 may construct a nonlinear model including the nonlinear parameters of the motor, and obtain the polynomial representation corresponding to the nonlinear parameters.
- the nonlinear parameters can be approximated by polynomials that vary with one or some variables, and the polynomials have corresponding coefficients of each order.
- the classical second-order model of the motor 110 can be represented by the following equations (1) and (2):
- the formula (1) is an electrical equation
- the formula (2) is a mechanical equation.
- u is the voltage across the motor
- i is the motor current
- x is the displacement of the motor vibrator
- v is the speed of the motor vibrator
- a is the acceleration of the motor vibrator
- Re is the motor resistance
- L e is the motor inductance
- Bl is the motor electromagnetic force coefficient
- m represents the mass of the motor vibrator
- K m represents the motor spring stiffness coefficient
- R m represents the motor damping.
- nonlinear parameters Le, Bl , Rm and Km .
- These nonlinear parameters can be approximated as polynomial forms with variables such as oscillator displacement, oscillator velocity, and oscillator acceleration. In some engineering applications, some nonlinear parameters with less influence can be ignored.
- the present invention ignores the neglected influence of the motor inductance L e in the above formula (1), and uses the displacement x and the speed v to calculate the motor electromagnetic force coefficient Bl, the motor spring stiffness coefficient K m and the motor damping R m through polynomials.
- the nonlinear model of the motor 110 can be expressed by the following equations (3) and (4):
- equations (3) and (4) are nonlinear expressions of electrical equations and mechanical equations, respectively, that is, the nonlinear model of the motor 110 may include electrical equations and mechanical equations; wherein, the nonlinear parameters include the motor electromagnetic force coefficient B1 , the motor spring stiffness coefficient K m and the motor damping R m , respectively expressed as:
- K m (x) K m0 +K m1 x+K m2 x 2 +K m3 x 3 +K m4 x 4 (6)
- Rm (v) Rm0 + Rm1v + Rm2v2 (7)
- the above equations (5) to (7) are respectively the polynomial representation of the motor electromagnetic force coefficient B1, the motor spring stiffness coefficient K m and the motor damping R m , and B1 0 to B1 4 are the coefficients of each order of the motor electromagnetic force coefficient B1 , the vibrator displacement x is the variable corresponding to the motor electromagnetic force coefficient B1, and similarly, K m0 to K m4 are the coefficients of each order of the motor spring stiffness coefficient K m , and the vibrator displacement x is the variable corresponding to the motor spring stiffness coefficient K m , R m0 to R m2 are the coefficients of each order of the motor damping R m , and the speed v is the variable corresponding to the motor damping R m .
- the computer device 140 can obtain the nonlinear model represented by the above equations (3) and (4), and the nonlinear parameters included in the nonlinear model are represented by the above equations (5) to (7).
- Step S202 using the excitation signal to drive the motor to vibrate, and obtain the measured value of the voltage at both ends of the motor, the measured value of the motor current, and the measured value of the acceleration of the motor vibrator in the vibration state.
- the computer device 140 can use the excitation signal to drive the motor 110 to vibrate, the motor 110 is in a vibrating state by the drive, and the computer device 140 obtains the measured value of the voltage at both ends of the motor 110 under the vibration state, the measured value of the motor current and the acceleration of the motor vibrator Measurements.
- the excitation signal may be generated by the computer device 140 , and the excitation signal may have various specific forms.
- the excitation signal may include a single frequency signal, a broadband signal, or a white noise signal at the rated voltage resonance frequency of the motor 110 .
- Step S203 obtaining the speed and displacement of the motor's vibrator based on the measured value of the motor's vibrator's acceleration.
- the computer device 140 may calculate the speed of the vibrator of the motor and the displacement of the vibrator of the motor respectively based on the measured value of the acceleration of the motor vibrator according to the relationship between the acceleration, the speed and the displacement.
- the computer device 140 may perform integration processing on the measured value of the acceleration of the motor vibrator to obtain the vibrator velocity and the vibrator displacement, respectively.
- the computer device 140 can integrate the acceleration of the motor vibrator once in time to obtain the vibrator speed of the motor, and integrate the acceleration of the motor vibrator twice in time to obtain the vibrator of the motor In this way, the measurement complexity of the vibrator speed and the vibrator displacement of the motor 110 can be simplified.
- the computer device 140 can collect the acceleration measurement values of the motor vibrator of the motor 110 in a vibrating state at multiple time collection points, and then the computer device 140 can use the relationship between the speed and the acceleration to collect the motor values collected at the multiple time collection points
- the vibrator acceleration measurement value is integrated once in time to obtain the vibrator speed of the motor 110; the motor vibrator acceleration measurement value collected from multiple time collection points is integrated twice in time to obtain the vibrator displacement of the motor 110, and the motor vibrator displacement is completed.
- the acceleration is converted to the vibrator velocity and the vibrator displacement, respectively, and the vibrator velocity and the vibrator displacement data can be obtained without the need for additional velocity and displacement measurement equipment.
- Step S204 constructing an overdetermined equation system associated with the nonlinear model based on the nonlinear model.
- the overdetermined equation system refers to the equation system whose number of equations is greater than the number of unknowns.
- the computer device 140 constructs a system of overdetermined equations associated with the nonlinear model. Specifically, the computer device 140 can use the above equations (5) to (7) to express the nonlinear parameters in the nonlinear model represented by the above equations (3) and (4), so as to construct a relationship with the nonlinear model The overdetermined system of equations.
- [ ] is used to represent the th sampling point, and n represents the total number of sampling points.
- Step S205 fitting an overdetermined equation system according to the voltage measurement value, the motor current measurement value and the motor vibrator acceleration measurement value to obtain nonlinear parameters.
- the computer device 140 can solve the overdetermined equations (8) and the overdetermined equations (12) above.
- the least squares method can be used based on the known voltage measurement value of the motor 110, motor current measurement value, The motor oscillator acceleration measurements as well as the oscillator velocity and oscillator displacement fit the overdetermined equations (8) and (12) above.
- the least squares solution (16) for the nonlinear parameter coefficient matrix C e of the overdetermined equation system (8) is:
- the computer device 140 After the computer device 140 obtains the coefficients corresponding to each nonlinear parameter in the nonlinear model of the motor 110 through the above solution, the estimation process of the nonlinear parameter of the motor 110 is completed, thereby accurately and efficiently determining the coefficients in the nonlinear model.
- the nonlinear model of the motor 110 For each nonlinear parameter expressed by a polynomial, the nonlinear model of the motor 110 is used for signal design, which can improve the similarity between the simulated signal and the measured signal, and provide support for the design of precise haptic feedback effects to meet the precise haptic feedback effects. design requirements.
- the computer device 140 can obtain the constructed nonlinear model of the nonlinear parameters of the motor, use the excitation signal to drive the motor 110 to vibrate, and obtain the measured value of the voltage at both ends of the motor 110 and the motor current under the vibration state. measurement value and the motor vibrator acceleration measurement value, then the computer device 140 obtains the motor's vibrator velocity and the vibrator displacement based on the motor vibrator acceleration measurement value, and then the computer device 140 constructs an overdetermined equation system associated with the nonlinear model based on the nonlinear model, and The overdetermined equations are fitted according to the aforementioned voltage measurement value, the motor current measurement value and the motor oscillator acceleration measurement value to obtain the aforementioned nonlinear parameters.
- the use of the excitation signal to drive the motor to vibrate in the above step S202 to obtain the measured value of the voltage at both ends of the motor, the measured value of the motor current and the measured value of the acceleration of the motor vibrator in the vibration state may include:
- the motor is supported by the tool, and the measured value of the acceleration of the motor oscillator is calculated by measuring the measured value of the acceleration of the tool.
- the motor 110 can be supported by the tool 120 , so that the computer device 140 can calculate the acceleration measurement value of the motor vibrator by measuring the acceleration measurement value of the tool 120 .
- the acceleration measurement value of the tooling piece 120 and the motor vibrator acceleration measurement value satisfy the following relationship:
- a f is the acceleration of the fixture 120
- m f is the mass of the fixture 120
- m is the mass of the motor vibrator
- a is the acceleration of the motor vibrator.
- the above method may further include the following steps:
- a signal amplifier is used to amplify the acceleration measurement value of the tooling piece 120 .
- the magnification of the signal amplifier is generally 1-10 times, etc., the purpose is to reduce the data quantization error of the analog-to-digital conversion at the acquisition card.
- the acceleration measurement value collected from the fixture 120 can be transmitted to the computer device 140 through the signal amplifier 170 and the acquisition card 150.
- the acceleration measurement value received by the signal amplifier 170 is the acceleration measurement value of the fixture 120, while What the computer device 140 needs is a measurement of the motor vibrator acceleration.
- the signal amplifier 170 can be used to complete the conversion from the acceleration measurement value of the tool 120 to the motor vibrator acceleration measurement value, that is, the signal amplifier 170 is used to amplify the acceleration measurement value of the tool 120, and the signal amplifier 170 amplifies the The multiple can be set to 1-10 times to reduce the data quantization error of analog-to-digital conversion at the acquisition card.
- steps in the above flow chart are shown in sequence according to the arrows, these steps are not necessarily executed in the sequence shown by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in the above flow chart may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but may be executed at different times. The execution sequence of these steps or stages It is also not necessarily performed sequentially, but may be performed alternately or alternately with other steps or at least a portion of a step or phase within the other steps.
- an apparatus for determining a non-linear parameter of a motor is provided, and the apparatus 300 may include:
- a model construction module 301 configured to construct a nonlinear model including the nonlinear parameters of the motor
- the measurement value acquisition module 302 is used to drive the motor to vibrate by using the excitation signal, and acquire the measurement value of the voltage at both ends of the motor, the measurement value of the motor current and the measurement value of the acceleration of the motor vibrator under the vibration state;
- a velocity displacement obtaining module 303 configured to obtain the velocity and displacement of the vibrator of the motor based on the measured value of the acceleration of the vibrator of the motor;
- an equation system building module 304 for building an overdetermined equation system associated with the nonlinear model based on the nonlinear model
- a nonlinear parameter obtaining module 305 configured to fit the overdetermined equation system according to the voltage measurement value, the motor current measurement value and the motor oscillator acceleration measurement value, to obtain the nonlinear parameter;
- K m (x) K m0 +K m1 x+K m2 x 2 +K m3 x 3 +K m4 x 4
- Rm (v) Rm0 + Rm1v + Rm2v2 .
- the velocity displacement obtaining module 303 is further configured to perform integration processing on the acceleration measurement value of the motor vibrator to obtain the vibrator velocity and the vibrator displacement, respectively.
- the excitation signal is a single frequency signal or a white noise signal.
- the nonlinear parameter obtaining module 305 is further configured to fit the overdetermined system of equations using the least squares method.
- the measurement value acquisition module 302 is further configured to support the motor by a tool, and calculate the acceleration measurement value of the motor vibrator by measuring the acceleration measurement value of the tool, and the acceleration measurement value of the tool
- the above-mentioned apparatus 300 further includes: an amplification processing module, configured to perform amplification processing on the acceleration measurement value of the tooling by using a signal amplifier, and the amplification factor of the signal amplifier is 1-10 times.
- each module in the above-mentioned apparatus for determining non-linear parameters of a motor may be implemented in whole or in part by software, hardware and combinations thereof.
- the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
- a computer device is provided, the internal structure of which can be shown in FIG. 4 .
- the computer device 400 includes a processor 401, a memory, a communication interface 402, a display screen 403, and an input device 404 connected by a system bus.
- the processor 401 of the computer device is used to provide computing and control capabilities.
- the memory of the computer device includes a non-volatile storage medium 405 and an internal memory 406 .
- the nonvolatile storage medium 405 stores an operating system 4051 and a computer program 4052 .
- the internal memory 406 provides an environment for the execution of the operating system 4051 and the computer program 4052 in the non-volatile storage medium.
- the communication interface 402 of the computer device is used for wired or wireless communication with an external terminal, and the wireless communication can be realized by WIFI, operator network, NFC (Near Field Communication) or other technologies.
- the computer program 4052 when executed by the processor 401, implements a method of determining non-linear parameters of a motor.
- the display screen 403 of the computer equipment may be a liquid crystal display screen or an electronic ink display screen, and the input device 404 of the computer equipment may be a touch layer covered on the display screen 403 , or a button or a trackball provided on the shell of the computer equipment 400 . Or a trackpad, or an external keyboard, trackpad, or mouse, etc.
- FIG. 4 is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device 400 to which the solution of the present invention is applied.
- the specific computer device 400 may include more or fewer components than shown, or combine certain components, or have a different arrangement of components.
- a computer device including a memory and a processor, where a computer program is stored in the memory, and the processor implements the steps in the foregoing method embodiments when the processor executes the computer program.
- a non-volatile computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps in the foregoing method embodiments.
- any reference to memory, storage, database or other media used in the various embodiments provided by the present invention may include at least one of non-volatile and volatile memory.
- Non-volatile memory may include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, or optical memory, and the like.
- Volatile memory may include random access memory (RAM) or external cache memory.
- the RAM may be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Optimization (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Data Mining & Analysis (AREA)
- Software Systems (AREA)
- Databases & Information Systems (AREA)
- Algebra (AREA)
- Operations Research (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
一种确定马达非线性参数的方法、装置、计算机设备和计算机可读存储介质，能够提高马达测试过程中确定马达非线性参数的精度和效率。该方法包括：构造出马达非线性参数的非线性模型（S201），利用激励信号驱动马达振动，获取振动状态下该马达的两端电压测量值、马达电流测量值以及马达振子加速度测量值（S202），然后基于马达振子加速度测量值获得马达的振子速度与振子位移（S203），接着基于非线性模型构建与该非线性模型关联的超定方程组（S204），根据前述电压测量值、马达电流测量值以及马达振子加速度测量值拟合该超定方程组，获得非线性参数（S205）。
Description
本发明涉及微机电技术领域，特别是涉及一种确定马达非线性参数的方法、装置、计算机设备和非易失性计算机可读存储介质。
随着电子设备的迅速发展，马达作为一种触觉反馈的激励器，在例如智能手机、手表和平板电脑等电子设备上得到广泛应用。
在实际应用中，马达的经典二阶模型可以满足应用和触觉反馈效果的设计需求，但是在需要精确触觉反馈效果的场景下，由于马达所固有的非线性特性，往往使得基于经典二阶模型的应用无法满足需求。目前技术中提供的获取马达非线性参数的方案，主要是采用激励信号激励马达振动后采集电压、电流测量值，根据电压、电流测量值结合马达的线参数初始值和非线性参数初始值采用自适应滤波计算得到马达的非线性参数目标值，然而这种方式仍难以对非线性模型中的马达非线性参数进行精确估计。
发明内容
基于此，有必要针对上述技术问题，提供一种确定马达非线性参数的方法、装置、计算机设备和非易失性计算机可读存储介质。
一种确定马达非线性参数的方法，所述方法包括：
构造包含马达非线性参数的非线性模型；
利用激励信号驱动马达振动，获取振动状态下所述马达的两端电压测量值、马达电流测量值以及马达振子加速度测量值；
基于所述马达振子加速度测量值获得所述马达的振子速度与位移；
基于所述非线性模型构建与所述非线性模型关联的超定方程组；
根据所述电压测量值、马达电流测量值以及所述马达振子加速度测量值拟合所述超定方程组，获得所述非线性参数；
其中，所述非线性模型表示为：
u＝R
ei+Bl(x)v
Bl(x)i＝ma+R
m(v)v+K
m(x)x
u为马达两端电压；i为马达电流；x为振子位移；v为振子速度；a为马达振子加速度；R
e为马达电阻；Bl(x)为马达电磁力系数；K
m(x)为马达弹簧劲度系数；R
m(v)为马达阻尼；m为马达振子质量；
所述非线性参数表示为：
Bl(x)＝Bl
0+Bl
1x+Bl
2x
2+Bl
3x
3+Bl
4x
4
K
m(x)＝K
m0+K
m1x+K
m2x
2+K
m3x
3+K
m4x
4
R
m(v)＝R
m0+R
m1v+R
m2v
2。
一种确定马达非线性参数的装置，包括：
模型构造模块，用于构造包含马达非线性参数的非线性模型；
测量值获取模块，用于利用激励信号驱动马达振动，获取振动状态下所述马达的两端电压测量值、马达电流测量值以及马达振子加速度测量值；
速度位移获得模块，用于基于所述马达振子加速度测量值获得所述马达的振子速度与位移；
方程组构建模块，用于基于所述非线性模型构建与所述非线性模型关联的超定方程组；
非线性参数获得模块，用于根据所述电压测量值、马达电流测量值以及所述马达振子加速度测量值拟合所述超定方程组，获得所述非线性参数；
其中，所述非线性模型表示为：
u＝R
ei+Bl(x)v
Bl(x)i＝ma+R
m(v)v+K
m(x)x
u为马达两端电压；i为马达电流；x为振子位移；v为振子速度；a为马达振子加速度；R
e为马达电阻；Bl(x)为马达电磁力系数；K
m(x)为马达弹簧劲度系数；R
m(v)为马达阻尼；m为马达振子质量；
所述非线性参数表示为：
Bl(x)＝Bl
0+Bl
1x+Bl
2x
2+Bl
3x
3+Bl
4x
4
K
m(x)＝K
m0+K
m1x+K
m2x
2+K
m3x
3+K
m4x
4
R
m(v)＝R
m0+R
m1v+R
m2v
2。
一种计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现以下步骤：
构造包含马达非线性参数的非线性模型；利用激励信号驱动马达振动，获取振动状态下所述马达的两端电压测量值、马达电流测量值以及马达振子加速度测量值；基于所述马达振子加速度测量值获得所述马达的振子速度与位移；基于所述非线性模型构建与所述非线性模型关联的超定方程组；根据所述电压测量值、马达电流测量值以及所述马达振子加速度测量值拟合所述超定方程组，获得所述非线性参数；其中，所述非线性模型表示为：
u＝R
ei+Bl(x)v
Bl(x)i＝ma+R
m(v)v+K
m(x)x
u为马达两端电压；i为马达电流；x为振子位移；v为振子速度；a为马达振子加速度；R
e为马达电阻；Bl(x)为马达电磁力系数；K
m(x)为马达弹簧劲度系数；R
m(v)为马达阻尼；m为马达振子质量；
所述非线性参数表示为：
Bl(x)＝Bl
0+Bl
1x+Bl
2x
2+Bl
3x
3+Bl
4x
4
K
m(x)＝K
m0+K
m1x+K
m2x
2+K
m3x
3+K
m4x
4
R
m(v)＝R
m0+R
m1v+R
m2v
2。
一种非易失性计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现以下步骤：
构造包含马达非线性参数的非线性模型；利用激励信号驱动马达振动，获取振动状态下所述马达的两端电压测量值、马达电流测量值以及马达振子加速度测量值；基于所述马达振子加速度测量值获得所述马达的振子速度与位移；基于所述非线性模型构建与所述非线性模型关联的超定方程组；根据所述电压测量值、马达电流测量值以及所述马达振子加速度测量值拟合所述超定方程组，获得所述非线性参数；其中，所述非线性模型表示为：
u＝R
ei+Bl(x)v
Bl(x)i＝ma+R
m(v)v+K
m(x)x
u为马达两端电压；i为马达电流；x为振子位移；v为振子速度；a为马达振子加速度；R
e为马达电阻；Bl(x)为马达电磁力系数；K
m(x)为马达弹簧劲度系数；R
m(v)为马达阻尼；m为马达振子质量；
所述非线性参数表示为：
Bl(x)＝Bl
0+Bl
1x+Bl
2x
2+Bl
3x
3+Bl
4x
4
K
m(x)＝K
m0+K
m1x+K
m2x
2+K
m3x
3+K
m4x
4
R
m(v)＝R
m0+R
m1v+R
m2v
2。
上述确定马达非线性参数的方法、装置、计算机设备和存储介质，构造出马达非线性参数的非线性模型，利用激励信号驱动马达振动，获取振动状态下该马达的两端电压测量值、马达电流测量值以及马达振子加速度测量值，然后基于马达振子加速度测量值获得马达的振子速度与振子位移，接着基于非线性模型构建与该非线性模型关联的超定方程组，根据前述电压测量值、马达电流测量值以及马达振子加速度测量值拟合该超定方程组，获得前述非线性参数，能够利用激励信号驱动马达振动后，获取振动状态下马达两端电压、电流和加速度，并利用加速度测量值获得马达的振子速度与振子位移，以此对与非线性模型关联的超定方程组进行拟合从而获得马达非线性参数，提高马达测试过程中确定马达非线性参数的精度和效率。
图1为一个实施例中确定马达非线性参数的方法的应用环境图；
图2为一个实施例中确定马达非线性参数的方法的流程示意图；
图3为一个实施例中确定马达非线性参数的装置的结构框图；
图4为一个实施例中计算机设备的内部结构图。
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，此处描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
本发明提供的确定马达非线性参数的方法，可以应用于如图1所示的应用环境，该应用环境可以包括计算机设备140、采集卡150、功率放大器160、信号放大器170、待测试的马达110。其中，计算机设备140可以但不限于是各种个人计算机、笔记本电脑、智能手机和平板电脑等；马达110可以包括LRA(Linear Resonance Actuator，线性马达)，LRA属于一种应用于智能手机的线性马达。该马达110可以放置于海绵130上以提高对马达110的测试精度。在一些测试场景中，马达110和海绵130间可以放置工装件120，从而可以利用该工装件120支撑马达110，在马达110测试过程中采集马达振子加速度数据。
具体的，基于上述场景，测试人员可在计算机设备140生成马达110的激励信号，该激励信号一般是数字信号，通过采集卡150将激励信号从数字信号的形式转化为模拟信号的形式，接着通过功率放大器160将激励信号加载到马达110两端进行激励以驱动马达110振动，在振动状态下可获取马达110的两端电压测量值、马达电流测量值以及马达振子加速度测量值。在得到马达振子加速度测量值后，计算机设备140可基于该马达振子加速度测量值获得马达110的振子速度与振子位移，以及基于所构造的包含马达非线性参数的非线性模型，构建与该非线性模型关联的超定方程组，根据电压测量值、马达电流测量值以及马达振子加速度测量值拟合超定方程组，获得非线性参数。
基于如上场景可实施本发明提供的确定马达非线性参数的方法，从而能够在计算机设备140上利用激励信号驱动马达110振动后，获取振动状态下马达110两端电压、电流和加速度，并利用加速度测量值获得马达110的振子速度与振子位移，以此对与非线性模型关联的超定方程组进行拟合从而获得马达非线性参数，提高马达110测试过程中确定马达110非线性参数的精度和效率，有助于缩短马达非线性参数的测试时间，使用该非线性模型进行信号设计，可提升仿真信号和实测信号的相似度，为精确触觉反馈效果设计提供了支撑。
下面结合实施例和附图对本发明提供的确定马达非线性参数的方法作进一 步说明。
在一个实施例中，如图2所示，提供了一种确定马达非线性参数的方法，该方法可以由图1中的计算机设备140执行，该方法包括以下步骤：
步骤S201，构造包含马达非线性参数的非线性模型。
将马达110的经典二阶模型中的部分参数表示为非线性参数(即在马达振子运动过程中不是常数)即构成马达110的非线性模型。在对马达110的非线性模型中的非线性参数进行估计时，该非线性模型所包含的非线性参数都可作为待估计的非线性参数。可将非线性参数通过多项式进行表示，本步骤中，计算机设备140可构造包含马达非线性参数的非线性模型，并获取非线性参数所对应的多项式表示。其中，非线性参数可以采用多项式近似表示为随某个或者某些变量变化的量，而多项式具有相应的各阶系数。
示例性的，马达110的经典二阶模型可以采用如下(1)和(2)式进行表示：
Bli＝ma+R
mv+K
mx (2)
其中，(1)式为电方程，(2)式为机械方程。其中，u表示马达两端电压、i表示马达电流、x表示马达振子位移、v表示马达振子速度、a表示马达振子加速度、R
e表示马达电阻、L
e表示马达电感、Bl表示马达电磁力系数、m表示马达振子质量、K
m表示马达弹簧劲度系数和R
m表示马达阻尼。
在上(1)和(2)式的基础上，一般考虑将这些参数表示为非线性参数：L
e、Bl、R
m和K
m。可以将这些非线性参数近似表示为随例如振子位移、振子速度和振子加速度等变量的多项式形式，在一些工程应用中，可以将部分影响较小的非线性参数进行忽略处理。为了便于描述，本发明将上式(1)中马达电感L
e忽略的影响忽略，以位移x和速度v将马达电磁力系数Bl、马达弹簧劲度系数K
m和马达阻尼R
m通过多项式进行表示，具体的，马达110的非线性模型可以采用如下(3)和(4)式进行表示：
u＝R
ei+Bl(x)v (3)
Bl(x)i＝ma+R
m(v)v+K
m(x)x (4)
其中，(3)式和(4)式分别为电方程、机械方程的非线性表达形式，即马达110的非线性模型可以包括电方程和机械方程；其中，非线性参数包括马达电磁力系数Bl、马达弹簧劲度系数K
m和马达阻尼R
m，分别被表示为：
Bl(x)＝Bl
0+Bl
1x+Bl
2x
2+Bl
3x
3+Bl
4x
4 (5)
K
m(x)＝K
m0+K
m1x+K
m2x
2+K
m3x
3+K
m4x
4 (6)
R
m(v)＝R
m0+R
m1v+R
m2v
2 (7)
其中，上式(5)至(7)分别为马达电磁力系数Bl、马达弹簧劲度系数K
m和马达阻尼R
m的多项式表示，Bl
0至Bl
4为马达电磁力系数Bl的各阶系数，振子位移x为马达电磁力系数Bl对应的变量，同理，K
m0至K
m4为马达弹簧劲度系数K
m的各阶系数，振子位移x为马达弹簧劲度系数K
m对应的变量，R
m0至R
m2为马达阻尼R
m的各阶系数，速度v为马达阻尼R
m对应的变量。
本步骤中，计算机设备140可获取由上式(3)和(4)表示的非线性模型，而该非线性模式所包含的非线性参数由上式(5)至(7)表示。
步骤S202，利用激励信号驱动马达振动，获取振动状态下马达的两端电压测量值、马达电流测量值以及马达振子加速度测量值。
本步骤中，计算机设备140可利用激励信号驱动马达110振动，马达110受该驱动处于振动状态，计算机设备140获取处于振动状态下马达110的两端电压测量值、马达电流测量值以及马达振子加速度测量值。在一些实施例中，激励信号可由计算机设备140生成，激励信号的具体形式可以由多种，例如激励信号可以包括马达110的额定电压谐振频率处的单频信号、宽频信号或者白噪声信号等。
步骤S203，基于马达振子加速度测量值获得马达的振子速度与位移。
本步骤中，计算机设备140可以根据加速度、速度和位移之间的关系，基于马达振子加速度测量值分别计算出马达的振子速度与马达的振子位移。
在一些实施例中，计算机设备140可对马达振子加速度测量值进行积分处理分别获得该振子速度与振子位移。本实施例中，基于加速度、速度和位移的力 学关系，计算机设备140可将马达振子加速度在时间上进行一次积分获得马达的振子速度，将马达振子加速度在时间上进行二次积分获得马达的振子位移，通过这种方式能够简化对马达110的振子速度与振子位移的测量复杂度。具体的，计算机设备140可在多个时间采集点采集处于振动状态的马达110的马达振子加速度测量值，然后计算机设备140利用速度与加速度之间的关系，可将多个时间采集点采集的马达振子加速度测量值在时间上进行一次积分，得到马达110的振子速度；将多个时间采集点采集的马达振子加速度测量值在时间上进行二次积分，得到马达110的振子位移，完成从马达振子加速度分别到振子速度与振子位移的转换，无需另置速度、位移测量设备即可获取振子速度与振子位移数据。
步骤S204，基于非线性模型构建与非线性模型关联的超定方程组。
其中，超定方程组是指方程个数大于未知量个数的方程组。本步骤中，计算机设备140构建与非线性模型关联的超定方程组。具体的，计算机设备140可以在由上(3)和(4)式表示的非线性模型中将非线性参数采用上(5)至(7)式进行表示，从而可构建出与非线性模型关联的超定方程组。
一方面，根据电方程(3)和马达电磁力系数Bl的多项式表示(5)，可构建与电方程(3)关联的如下超定方程组(8)：
A
eC
e＝Y
e (8)
其中：
另一方面，根据机械方程(4)和马达电磁力系数Bl、马达弹簧劲度系数K
m和马达阻尼R
m的多项式表示(5)至(7)，可构建与机械方程(4)关联的如下超定方程组(12)：
A
mC
m＝Y
m (12)
其中：
其中，[·]用于表示第·个采样点，n表示总采样点数。
步骤S205，根据电压测量值、马达电流测量值以及马达振子加速度测量值拟合超定方程组，获得非线性参数。
本步骤中，计算机设备140可对如上超定方程组(8)和超定方程组(12)进行求解，具体可以采用最小二乘法基于已知的马达110的电压测量值、马达电流测量值、马达振子加速度测量值以及振子速度和振子位移拟合上述超定方程组(8)和(12)。具体的，对于超定方程组(8)的非线性参数系数矩阵C
e的最小二乘解(16)为：
C
e＝inv(A
e
TA
e)·(A
e
TY
e) (16)
对于超定方程组(12)的非线性参数系数矩阵C
m的最小二乘解(17)为：
C
m＝inv(A
m
TA
m)·(A
m
TY
m) (17)。
计算机设备140经过上述求解得到马达110的非线性模型中的各个非线性参数相应的各项系数后，对马达110的非线性参数估计过程即完成，从而也精确高效地确定出非线性模型中以多项式进行表达的每个非线性参数，使用该马达110的非线性模型进行信号设计，可提升仿真信号和实测信号的相似度，为精确触觉反馈效果设计提供了支撑，使之满足精确触觉反馈效果设计需求。
上述确定马达非线性参数的方法，计算机设备140可获取所构造的马达非线性参数的非线性模型，利用激励信号驱动马达110振动，获取振动状态下该马达110的两端电压测量值、马达电流测量值以及马达振子加速度测量值，然后计算机设备140基于马达振子加速度测量值获得马达的振子速度与振子位移，接着计算机设备140基于非线性模型构建与该非线性模型关联的超定方程组，并根据前述电压测量值、马达电流测量值以及马达振子加速度测量值拟合该超定方程组，获得前述非线性参数，计算机设备140能够利用激励信号驱动马达110振动后，获取振动状态下马达两端电压、电流和加速度，并利用加速度测量值获 得马达110的振子速度与振子位移，以此对与非线性模型关联的超定方程组进行拟合从而获得马达非线性参数，提高马达110测试过程中确定马达非线性参数的精度和效率。
在一些实施例中，上述步骤S202中的利用激励信号驱动马达振动，获取振动状态下马达的两端电压测量值、马达电流测量值以及马达振子加速度测量值，可以包括：
利用工装件支撑马达，通过测量工装件的加速度测量值计算马达振子加速度测量值。
如图1所示，本实施例中，可利用工装件120支撑马达110，由此，计算机设备140可通过测量工装件120的加速度测量值计算出马达振子加速度测量值。其中，工装件120的加速度测量值与马达振子加速度测量值满足如下关系：
a＝A
fm
f/m
其中，A
f为工装件120的加速度，m
f为工装件120的质量，m为马达振子质量，a为马达振子加速度。通过上述加速度关系，计算机设备140可根据采集的工装件120的加速度测量值转化为马达振子加速度测量值。
进一步的，在一些实施例中，在步骤S205的根据电压测量值、马达电流测量值以及马达振子加速度测量值拟合超定方程组之前，上述方法还可以包括如下步骤：
利用信号放大器对工装件120的加速度测量值进行放大处理。其中，该信号放大器的放大倍数一般为1-10倍等，目的是为了减小采集卡处模数转换的数据量化误差。本实施例中，从工装件120所采集的加速度测量值可以经过信号放大器170、采集卡150传输至计算机设备140，该信号放大器170所接收的加速度测量值是工装件120的加速度测量值，而计算机设备140所需要的是马达振子加速度测量值。本实施例可利用信号放大器170完成从工装件120的加速度测量值到马达振子加速度测量值的转化，即利用信号放大器170对工装件120的加速度测量值进行放大处理，且该信号放大器170的放大倍数可设为1-10倍，减小采集卡处模数转换的数据量化误差。
应该理解的是，虽然上述流程图中的各个步骤按照箭头的指示依次显示，但 是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，上述流程图中的至少一部分步骤可以包括多个步骤或者多个阶段，这些步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤中的步骤或者阶段的至少一部分轮流或者交替地执行。
在一个实施例中，如图3所示，提供了一种确定马达非线性参数的装置，该装置300可以包括：
模型构造模块301，用于构造包含马达非线性参数的非线性模型；
测量值获取模块302，用于利用激励信号驱动马达振动，获取振动状态下所述马达的两端电压测量值、马达电流测量值以及马达振子加速度测量值；
速度位移获得模块303，用于基于所述马达振子加速度测量值获得所述马达的振子速度与位移；
方程组构建模块304，用于基于所述非线性模型构建与所述非线性模型关联的超定方程组；
非线性参数获得模块305，用于根据所述电压测量值、马达电流测量值以及所述马达振子加速度测量值拟合所述超定方程组，获得所述非线性参数；
其中，所述非线性模型表示为：
u＝R
ei+Bl(x)v
Bl(x)i＝ma+R
m(v)v+K
m(x)x
u为马达两端电压；i为马达电流；x为振子位移；v为振子速度；a为马达振子加速度；R
e为马达电阻；Bl(x)为马达电磁力系数；K
m(x)为马达弹簧劲度系数；R
m(v)为马达阻尼；m为马达振子质量；
所述非线性参数表示为：
Bl(x)＝Bl
0+Bl
1x+Bl
2x
2+Bl
3x
3+Bl
4x
4
K
m(x)＝K
m0+K
m1x+K
m2x
2+K
m3x
3+K
m4x
4
R
m(v)＝R
m0+R
m1v+R
m2v
2。
在一个实施例中，速度位移获得模块303，进一步用于对所述马达振子加速度测量值进行积分处理分别获得所述振子速度与振子位移。
在一个实施例中，所述激励信号为单频信号或者白噪声信号。
在一个实施例中，非线性参数获得模块305，进一步用于利用最小二乘法拟合所述超定方程组。
在一个实施例中，测量值获取模块302，进一步用于利用工装件支撑所述马达，通过测量所述工装件的加速度测量值计算所述马达振子加速度测量值，所述工装件的加速度测量值与所述马达振子加速度测量值满足：a＝A
fm
f/m；其中，A
f为工装加速度，m
f为工装质量，m为马达振子质量，a为马达振子加速度。
在一个实施例中，上述装置300还包括：放大处理模块，用于利用信号放大器对所述工装件的加速度测量值进行放大处理，所述信号放大器的放大倍数为1-10倍。
关于确定马达非线性参数的装置的具体限定可以参见上文中对于确定马达非线性参数的方法的限定，在此不再赘述。上述确定马达非线性参数的装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
在一个实施例中，提供了一种计算机设备，其内部结构图可以如图4所示。该计算机设备400包括通过系统总线连接的处理器401、存储器、通信接口402、显示屏403和输入装置404。其中，该计算机设备的处理器401用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质405、内存储器406。该非易失性存储介质405存储有操作系统4051和计算机程序4052。该内存储器406为非易失性存储介质中的操作系统4051和计算机程序4052的运行提供环境。该计算机设备的通信接口402用于与外部的终端进行有线或无线方式的通信，无线方式可通过WIFI、运营商网络、NFC(近场通信)或其他技术实现。该计算机程序4052被处理器401执行时以实现一种确定马达非线性参数的方法。该计算机设备的显示屏403可以是液晶显示屏或者电子墨水显示屏，该计算机设备的输入装置404可以是显示屏403上覆盖的触摸层，也可以是计算机 设备400外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。
本领域技术人员可以理解，图4中示出的结构，仅仅是与本发明方案相关的部分结构的框图，并不构成对本发明方案所应用于其上的计算机设备400的限定，具体的计算机设备400可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在一个实施例中，还提供了一种计算机设备，包括存储器和处理器，存储器中存储有计算机程序，该处理器执行计算机程序时实现上述各方法实施例中的步骤。
在一个实施例中，提供了一种非易失性计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现上述各方法实施例中的步骤。
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来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本发明所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和易失性存储器中的至少一种。非易失性存储器可包括只读存储器(Read-Only Memory，ROM)、磁带、软盘、闪存或光存储器等。易失性存储器可包括随机存取存储器(Random Access Memory，RAM)或外部高速缓冲存储器。作为说明而非局限，RAM可以是多种形式，比如静态随机存取存储器(Static Random Access Memory，SRAM)或动态随机存取存储器(Dynamic Random Access Memory，DRAM)等。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求 为准。
Claims (10)
- 一种确定马达非线性参数的方法，其特征在于，所述方法包括：构造包含马达非线性参数的非线性模型；利用激励信号驱动马达振动，获取振动状态下所述马达的两端电压测量值、马达电流测量值以及马达振子加速度测量值；基于所述马达振子加速度测量值获得所述马达的振子速度与位移；基于所述非线性模型构建与所述非线性模型关联的超定方程组；根据所述电压测量值、马达电流测量值以及所述马达振子加速度测量值拟合所述超定方程组，获得所述非线性参数；其中，所述非线性模型表示为：u＝R ei+Bl(x)vBl(x)i＝ma+R m(v)v+K m(x)xu为马达两端电压；i为马达电流；x为振子位移；v为振子速度；a为马达振子加速度；R e为马达电阻；Bl(x)为马达电磁力系数；K m(x)为马达弹簧劲度系数；R m(v)为马达阻尼；m为马达振子质量；所述非线性参数表示为：Bl(x)＝Bl 0+Bl 1x+Bl 2x 2+Bl 3x 3+Bl 4x 4K m(x)＝K m0+K m1x+K m2x 2+K m3x 3+K m4x 4R m(v)＝R m0+R m1v+R m2v 2。
- 根据权利要求1所述的方法，其特征在于，所述基于所述马达振子加速度测量值获得所述马达的振子速度与位移，包括：对所述马达振子加速度测量值进行积分处理分别获得所述振子速度与振子位移。
- 根据权利要求1所述的方法，其特征在于，所述激励信号为单频信号或者白噪声信号。
- 根据权利要求1所述的方法，其特征在于，所述根据所述电压测量值、马达电流测量值以及所述马达振子加速度测量值拟合所述超定方程组，包括：利用最小二乘法拟合所述超定方程组。
- 根据权利要求1所述的方法，其特征在于，所述利用激励信号驱动马达 振动，获取振动状态下所述马达的两端电压测量值、马达电流测量值以及马达振子加速度测量值，包括：利用工装件支撑所述马达，通过测量所述工装件的加速度测量值计算所述马达振子加速度测量值，所述工装件的加速度测量值与所述马达振子加速度测量值满足：a＝A fm f/m；其中，A f为工装加速度，m f为工装质量，m为马达振子质量，a为马达振子加速度。
- 根据权利要求5所述的方法，其特征在于，在所述根据所述电压测量值、马达电流测量值以及所述马达振子加速度测量值拟合所述超定方程组之前，所述方法还包括：利用信号放大器对所述工装件的加速度测量值进行放大处理。
- 一种确定马达非线性参数的装置，其特征在于，包括：模型构造模块，用于构造包含马达非线性参数的非线性模型；测量值获取模块，用于利用激励信号驱动马达振动，获取振动状态下所述马达的两端电压测量值、马达电流测量值以及马达振子加速度测量值；速度位移获得模块，用于基于所述马达振子加速度测量值获得所述马达的振子速度与位移；方程组构建模块，用于基于所述非线性模型构建与所述非线性模型关联的超定方程组；非线性参数获得模块，用于根据所述电压测量值、马达电流测量值以及所述马达振子加速度测量值拟合所述超定方程组，获得所述非线性参数；其中，所述非线性模型表示为：u＝R ei+Bl(x)vBl(x)i＝ma+R m(v)v+K m(x)xu为马达两端电压；i为马达电流；x为振子位移；v为振子速度；a为马达振子加速度；R e为马达电阻；Bl(x)为马达电磁力系数；K m(x)为马达弹簧劲度系数；R m(v)为马达阻尼；m为马达振子质量；所述非线性参数表示为：Bl(x)＝Bl 0+Bl 1x+Bl 2x 2+Bl 3x 3+Bl 4x 4K m(x)＝K m0+K m1x+K m2x 2+K m3x 3+K m4x 4R m(v)＝R m0+R m1v+R m2v 2。
- 根据权利要求7所述的装置，其特征在于，所述速度位移获得模块，进一步用于对所述马达振子加速度测量值进行积分处理分别获得所述振子速度与振子位移。
- 一种计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，其特征在于，所述处理器执行所述计算机程序时实现权利要求1至6中任一项所述的方法的步骤。
- 一种非易失性计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1至6中任一项所述的方法的步骤。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011373145.8 | 2020-11-30 | ||
| CN202011373145.8A CN112528473B (zh) | 2020-11-30 | 2020-11-30 | 确定马达非线性参数的方法、装置、设备和存储介质 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2022110413A1 true WO2022110413A1 (zh) | 2022-06-02 |
Family
ID=74995104
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2020/138329 Ceased WO2022110413A1 (zh) | 2020-11-30 | 2020-12-22 | 确定马达非线性参数的方法、装置、设备和存储介质 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112528473B (zh) |
| WO (1) | WO2022110413A1 (zh) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120741921A (zh) * | 2025-08-26 | 2025-10-03 | 奥茵绅智能装备(苏州)有限公司 | 一种马达电压监测方法及系统 |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113486516A (zh) * | 2021-07-07 | 2021-10-08 | 瑞声光电科技(常州)有限公司 | 确定马达非线性参数的方法、装置、设备和存储介质 |
| CN113702829B (zh) * | 2021-08-31 | 2024-03-08 | 歌尔股份有限公司 | 振动电机的扫频特性曲线生成方法、装置及存储介质 |
| CN113824386B (zh) * | 2021-09-17 | 2026-03-20 | 瑞声开泰声学科技(上海)有限公司 | 一种马达非线性补偿方法及其相关设备 |
| CN113739686A (zh) * | 2021-09-27 | 2021-12-03 | 歌尔股份有限公司 | 振动单元位移检测方法、状态检测电路、设备以及介质 |
| CN113959320A (zh) * | 2021-10-22 | 2022-01-21 | 歌尔股份有限公司 | 振动装置的振子位移检测方法、装置、设备及存储介质 |
| CN116384031B (zh) * | 2021-12-24 | 2024-11-15 | 武汉市聚芯微电子有限责任公司 | 一种马达振动效果的仿真方法及装置 |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106454679A (zh) * | 2016-11-17 | 2017-02-22 | 矽力杰半导体技术(杭州)有限公司 | 扬声器振膜状态估计方法及应用其的扬声器驱动电路 |
| US20180095132A1 (en) * | 2016-10-04 | 2018-04-05 | Dräger Safety AG & Co. KGaA | Testing device and method for testing a vibration motor arranged in a device |
| CN109696630A (zh) * | 2018-12-20 | 2019-04-30 | 聚辰半导体股份有限公司 | 一种音圈马达参数自检测方法 |
| CN110146810A (zh) * | 2019-04-23 | 2019-08-20 | 瑞声科技(新加坡)有限公司 | 一种线性马达测试参数的确定方法及装置 |
| CN110346720A (zh) * | 2019-06-28 | 2019-10-18 | 瑞声科技(新加坡)有限公司 | 一种马达非线性参数的测试方法及装置 |
| CN110502111A (zh) * | 2019-08-09 | 2019-11-26 | 瑞声科技(新加坡)有限公司 | 马达信号补偿方法、电子设备及存储介质 |
| CN111404438A (zh) * | 2020-02-25 | 2020-07-10 | 华中科技大学 | 一种直线振荡电机的谐振频率跟踪控制方法及系统 |
| CN111539089A (zh) * | 2019-12-30 | 2020-08-14 | 瑞声科技(新加坡)有限公司 | 马达非线性模型判断方法和系统 |
| CN111965537A (zh) * | 2020-06-30 | 2020-11-20 | 瑞声新能源发展(常州)有限公司科教城分公司 | 马达参数测试方法 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008042762A1 (de) * | 2008-10-13 | 2010-04-15 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben einer Einklemmschutzfunktion bei einem elektrischen Schließsystem |
| US10904663B2 (en) * | 2019-04-25 | 2021-01-26 | Samsung Electronics Co., Ltd. | Reluctance force compensation for loudspeaker control |
| CN111552371B (zh) * | 2019-12-25 | 2023-11-03 | 瑞声科技(新加坡)有限公司 | 激励电压生成方法、装置、设备及介质、测试方法及系统 |
| CN111551848B (zh) * | 2019-12-30 | 2022-09-02 | 瑞声科技(新加坡)有限公司 | 马达体验失真指标的测试方法、电子设备及存储介质 |
| CN111679735A (zh) * | 2020-05-20 | 2020-09-18 | 瑞声科技(新加坡)有限公司 | 激励信号的生成方法、装置、终端及存储介质 |
-
2020
- 2020-11-30 CN CN202011373145.8A patent/CN112528473B/zh active Active
- 2020-12-22 WO PCT/CN2020/138329 patent/WO2022110413A1/zh not_active Ceased
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180095132A1 (en) * | 2016-10-04 | 2018-04-05 | Dräger Safety AG & Co. KGaA | Testing device and method for testing a vibration motor arranged in a device |
| CN106454679A (zh) * | 2016-11-17 | 2017-02-22 | 矽力杰半导体技术(杭州)有限公司 | 扬声器振膜状态估计方法及应用其的扬声器驱动电路 |
| CN109696630A (zh) * | 2018-12-20 | 2019-04-30 | 聚辰半导体股份有限公司 | 一种音圈马达参数自检测方法 |
| CN110146810A (zh) * | 2019-04-23 | 2019-08-20 | 瑞声科技(新加坡)有限公司 | 一种线性马达测试参数的确定方法及装置 |
| CN110346720A (zh) * | 2019-06-28 | 2019-10-18 | 瑞声科技(新加坡)有限公司 | 一种马达非线性参数的测试方法及装置 |
| CN110502111A (zh) * | 2019-08-09 | 2019-11-26 | 瑞声科技(新加坡)有限公司 | 马达信号补偿方法、电子设备及存储介质 |
| CN111539089A (zh) * | 2019-12-30 | 2020-08-14 | 瑞声科技(新加坡)有限公司 | 马达非线性模型判断方法和系统 |
| CN111404438A (zh) * | 2020-02-25 | 2020-07-10 | 华中科技大学 | 一种直线振荡电机的谐振频率跟踪控制方法及系统 |
| CN111965537A (zh) * | 2020-06-30 | 2020-11-20 | 瑞声新能源发展(常州)有限公司科教城分公司 | 马达参数测试方法 |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120741921A (zh) * | 2025-08-26 | 2025-10-03 | 奥茵绅智能装备(苏州)有限公司 | 一种马达电压监测方法及系统 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112528473B (zh) | 2025-01-17 |
| CN112528473A (zh) | 2021-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2022110413A1 (zh) | 确定马达非线性参数的方法、装置、设备和存储介质 | |
| CN110346720B (zh) | 一种马达非线性参数的测试方法及装置 | |
| CN113486516A (zh) | 确定马达非线性参数的方法、装置、设备和存储介质 | |
| CN110146810B (zh) | 一种线性马达测试参数的确定方法及装置 | |
| CN110502111B (zh) | 马达信号补偿方法、电子设备及存储介质 | |
| CN111551848B (zh) | 马达体验失真指标的测试方法、电子设备及存储介质 | |
| Vasilevskyi et al. | A new approach to assessing the dynamic uncertainty of measuring devices | |
| CN110907827B (zh) | 一种马达瞬态失真测量方法及系统 | |
| CN117147022B (zh) | 力传感器非线性补偿方法及系统 | |
| Lagerblad et al. | Study of a fixed-lag Kalman smoother for input and state estimation in vibrating structures | |
| CN111797483B (zh) | 马达均衡电信号的修正方法及设备、计算机可读存储介质 | |
| CN112632694B (zh) | 一种航天器结构非线性参数混合识别方法 | |
| CN112380774B (zh) | 一种基于残差回声状态网络的动态建模方法及系统 | |
| CN117057220A (zh) | 滚动轴承剩余寿命预测方法、装置和计算机设备 | |
| CN116124279B (zh) | 一种确定谐振频率的方法、装置、设备及存储介质 | |
| CN111880092B (zh) | Chirp信号Hammerstein模型系统辨识方法 | |
| CN116341171B (zh) | 一种马达工装振动的评估方法及系统 | |
| CN119418826B (zh) | 一种纳米梁梯度响应的预测方法、系统、设备及存储介质 | |
| CN119475490B (zh) | 基于模型修正的装配式建筑结构性能评估方法和装置 | |
| CN116011236B (zh) | 电力时域仿真微分代数方程求解的控制元件快速建模方法 | |
| CN119375556B (zh) | 温度漂移惠斯通电桥模型建立方法、装置及计算机设备 | |
| CN116698324A (zh) | 振动控制方法、装置、振动试验台和存储介质 | |
| CN115963051B (zh) | 波纹管的剩余使用寿命确定方法、装置、设备和存储介质 | |
| CN115327609B (zh) | 电磁可控震源的力常数测取方法、装置、设备及存储介质 | |
| CN117471124A (zh) | 加速度传感器使用寿命测试方法、装置、设备和存储介质 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 20963301 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 20963301 Country of ref document: EP Kind code of ref document: A1 |