WO2022110413A1

WO2022110413A1 - Method and apparatus for determining nonlinear parameter of motor, and device and storage medium

Info

Publication number: WO2022110413A1
Application number: PCT/CN2020/138329
Authority: WO
Inventors: 郭璇; 向征
Original assignee: 瑞声声学科技(深圳)有限公司; 瑞声光电科技(常州)有限公司
Priority date: 2020-11-30
Filing date: 2020-12-22
Publication date: 2022-06-02
Also published as: CN112528473A

Abstract

A method and apparatus for determining a nonlinear parameter of a motor, and a computer device and a computer-readable storage medium, which can improve the precision and efficiency of determining a nonlinear parameter of a motor during a motor test process. The method comprises: constructing a nonlinear model including a nonlinear parameter of a motor (S201); using an excitation signal to drive the motor to vibrate, and acquiring, in a vibration state, voltage measurement values at two ends of the motor, a motor current measurement value and a motor vibrator acceleration measurement value (S202); then, obtaining a vibrator speed and a vibration displacement of the motor on the basis of the motor vibrator acceleration measurement value (S203); next, on the basis of the nonlinear model, constructing an overdetermined equation set associated with the nonlinear model (S204); and performing fitting on the overdetermined equation set according to the voltage measurement values, the motor current measurement value and the motor vibrator acceleration measurement value, so as to obtain the nonlinear parameter (S205).

Description

Method, apparatus, device and storage medium for determining non-linear parameters of a motor

technical field

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.

Background technique

With the rapid development of electronic devices, motors are widely used as haptic feedback actuators in electronic devices such as smartphones, watches, and tablet computers.

In practical applications, the classical second-order model of the motor can meet the design requirements of the application and haptic feedback effect. However, in scenarios that require precise haptic feedback effects, due to the inherent nonlinear characteristics of the motor, 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.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a method, an apparatus, a computer device and a non-volatile computer-readable storage medium for determining the non-linear parameters of a motor in response to the above technical problems.

A method of determining a non-linear parameter of a motor, the method comprising:

Construct a nonlinear model containing 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;

Obtaining the vibrator velocity and displacement of the motor based on the motor vibrator acceleration measurements;

constructing an overdetermined system of equations associated with the nonlinear model based on the nonlinear model;

Fitting the set of overdetermined equations according to the voltage measurement value, the motor current measurement value and the motor oscillator acceleration measurement value to obtain the nonlinear parameter;

Wherein, the nonlinear model is expressed as:

u= _Re i+Bl(x)v

Bl(x)i=ma+ _Rm (v)v+ _Km (x)x

u is the voltage across the motor; i is the motor current; x is the vibrator displacement; v is the vibrator speed; a is the motor vibrator acceleration; _Re is the motor resistance; Bl(x) is the motor electromagnetic force coefficient; K _m (x) is Motor spring stiffness coefficient; R _m (v) is motor damping; m is motor vibrator mass;

The nonlinear parameters are expressed as:

Bl(x)=Bl ₀ +Bl ₁ x +Bl ₂ x ² +Bl ₃ x ³ +Bl ₄ x ⁴

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;

Wherein, the nonlinear model is expressed as:

u= _Re i+Bl(x)v

Bl(x)i=ma+ _Rm (v)v+ _Km (x)x

The nonlinear parameters are expressed as:

Bl(x)=Bl ₀ +Bl ₁ x +Bl ₂ x ² +Bl ₃ x ³ +Bl ₄ x ⁴

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:

Construct 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:

u= _Re i+Bl(x)v

Bl(x)i=ma+ _Rm (v)v+ _Km (x)x

The nonlinear parameters are expressed as:

Bl(x)=Bl ₀ +Bl ₁ x +Bl ₂ x ² +Bl ₃ x ³ +Bl ₄ x ⁴

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 non-volatile computer-readable storage medium on which a computer program is stored, the computer program implementing the following steps when executed by a processor:

u= _Re i+Bl(x)v

Bl(x)i=ma+ _Rm (v)v+ _Km (x)x

The nonlinear parameters are expressed as:

Bl(x)=Bl ₀ +Bl ₁ x +Bl ₂ x ² +Bl ₃ x ³ +Bl ₄ x ⁴

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. After 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.

Description of drawings

FIG. 1 is an application environment diagram of a method for determining a non-linear parameter of a motor in one embodiment;

2 is a schematic flowchart of a method for determining a non-linear parameter of a motor in one embodiment;

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.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

The method for determining the nonlinear parameters of a motor provided by the present invention 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 . Wherein, 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 . In some test scenarios, 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.

Specifically, based on the above scenario, 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. In the vibration state, 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. After obtaining the motor vibrator acceleration measurement value, 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.

Based on the above scenario, 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.

The method for determining the nonlinear parameters of a motor provided by the present invention will be further described below with reference to the embodiments and the accompanying drawings.

In one embodiment, as shown in FIG. 2, 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 . When estimating the nonlinear parameters in 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. In this step, 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. Among them, the nonlinear parameters can be approximated by polynomials that vary with one or some variables, and the polynomials have corresponding coefficients of each order.

Exemplarily, the classical second-order model of the motor 110 can be represented by the following equations (1) and (2):

Bli=ma+R _m v+K _m x (2)

Among them, the formula (1) is an electrical equation, and the formula (2) is a mechanical equation. Among them, 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, and Bl is the motor electromagnetic force coefficient , m represents the mass of the motor vibrator, K _m represents the motor spring stiffness coefficient and R _m represents the motor damping.

On the basis of the above equations (1) and (2), these parameters are generally considered to be expressed as 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. For the convenience of description, 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. Specifically, the nonlinear model of the motor 110 can be expressed by the following equations (3) and (4):

u= _Re i+Bl(x)v (3)

Bl(x)i=ma+ _Rm (v)v+ _Km (x)x(4)

Wherein, 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:

Bl(x)=Bl ₀ +Bl ₁ x +Bl ₂ x ² +Bl ₃ x ³ +Bl ₄ x ⁴ (5)

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)

Wherein, 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 .

In this step, 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.

In this step, 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. In some embodiments, the excitation signal may be generated by the computer device 140 , and the excitation signal may have various specific forms. For example, 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.

In this step, 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.

In some embodiments, 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. In this embodiment, based on the mechanical relationship between acceleration, velocity and displacement, 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. Specifically, 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.

Among them, the overdetermined equation system refers to the equation system whose number of equations is greater than the number of unknowns. In this step, 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.

On the one hand, according to the electrical equation (3) and the polynomial representation (5) of the motor electromagnetic force coefficient Bl, the following overdetermined equation system (8) can be constructed related to the electrical equation (3):

A _e C _e =Y _e (8)

in:

On the other hand, from the mechanical equation (4) and the polynomial representations (5) to (7) of the motor electromagnetic force coefficient Bl, the motor spring stiffness coefficient _Km , and the motor damping _Rm , it is possible to construct the related mechanical equation (4) The following overdetermined system of equations (12):

A _m C _m = Y _m (12)

in:

Among them, [ ] 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.

In this step, the computer device 140 can solve the overdetermined equations (8) and the overdetermined equations (12) above. Specifically, 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. Specifically, the least squares solution (16) for the nonlinear parameter coefficient matrix C _e of the overdetermined equation system (8) is:

C _e =inv(A _e ^T A _e )·(A _e ^T Y _e ) (16)

The least squares solution (17) for the nonlinear parametric coefficient matrix C _m of the overdetermined system of equations (12) is:

C _m =inv(A _m ^T A _m )·(A _m ^T Y _m ) (17).

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. 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.

In the above method for determining the nonlinear parameters of the motor, 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. voltage, current and acceleration, and use the acceleration measurement values to obtain 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 motor 110 test process. Determine the accuracy and efficiency of motor nonlinear parameters.

In some embodiments, 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.

As shown in FIG. 1 , in this embodiment, 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 . Wherein, the acceleration measurement value of the tooling piece 120 and the motor vibrator acceleration measurement value satisfy the following relationship:

a=A _f m _f /m

Among them, 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, and a is the acceleration of the motor vibrator. Through the above acceleration relationship, the computer device 140 can convert the acquired acceleration measurement value of the tooling piece 120 into a motor vibrator acceleration measurement value.

Further, in some embodiments, before fitting the overdetermined equation system according to the voltage measurement value, the motor current measurement value and the motor oscillator acceleration measurement value in step S205, 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 . Among them, 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. In this embodiment, 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. In this embodiment, 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.

It should be understood that although the 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.

In one embodiment, as shown in FIG. 3, 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;

Wherein, the nonlinear model is expressed as:

u= _Re i+Bl(x)v

Bl(x)i=ma+ _Rm (v)v+ _Km (x)x

The nonlinear parameters are expressed as:

Bl(x)=Bl ₀ +Bl ₁ x +Bl ₂ x ² +Bl ₃ x ³ +Bl ₄ x ⁴

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 .

In one embodiment, 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.

In one embodiment, the excitation signal is a single frequency signal or a white noise signal.

In one embodiment, the nonlinear parameter obtaining module 305 is further configured to fit the overdetermined system of equations using the least squares method.

In one embodiment, 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 measured value of the acceleration of the motor vibrator satisfies: a=A _f m _f /m; wherein, A _f is the acceleration of the tool, m _f is the mass of the tool, m is the mass of the motor vibrator, and a is the acceleration of the motor vibrator.

In one embodiment, 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.

For the specific definition of the apparatus for determining the non-linear parameter of the motor, reference may be made to the definition of the method for determining the non-linear parameter of the motor above, which will not be repeated here. 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.

In one embodiment, 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.

Those skilled in the art can understand that the structure shown in 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.

In one embodiment, a computer device is also provided, 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.

In one embodiment, a non-volatile computer-readable storage medium is provided, 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.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, 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. By way of illustration and not limitation, the RAM may be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are more specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present invention, several modifications and improvements can be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be determined by the appended claims.

Claims

A method for determining non-linear parameters of a motor, characterized in that the method comprises:

Construct a nonlinear model containing 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;

Obtaining the vibrator velocity and displacement of the motor based on the motor vibrator acceleration measurements;

constructing an overdetermined system of equations associated with the nonlinear model based on the nonlinear model;

Fitting the set of overdetermined equations according to the voltage measurement value, the motor current measurement value and the motor oscillator acceleration measurement value to obtain the nonlinear parameter;

Wherein, the nonlinear model is expressed as:

u= Re i+Bl(x)v

Bl(x)i=ma+ Rm (v)v+ Km (x)x

u is the voltage across the motor; i is the motor current; x is the vibrator displacement; v is the vibrator speed; a is the motor vibrator acceleration; Re is the motor resistance; Bl(x) is the motor electromagnetic force coefficient; K m (x) is Motor spring stiffness coefficient; R m (v) is motor damping; m is motor vibrator mass;

The nonlinear parameters are expressed as:

Bl(x)=Bl 0 +Bl 1 x +Bl 2 x 2 +Bl 3 x 3 +Bl 4 x 4

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 method according to claim 1, wherein the obtaining the vibrator velocity and displacement of the motor based on the motor vibrator acceleration measurement value comprises: integrating the motor vibrator acceleration measurement value to obtain the motor vibrator acceleration measurement value, respectively. The oscillator velocity and oscillator displacement.
The method according to claim 1, wherein the excitation signal is a single frequency signal or a white noise signal.
The method according to claim 1, wherein the fitting of the overdetermined equation system according to the voltage measurement value, the motor current measurement value and the motor oscillator acceleration measurement value comprises:

The overdetermined system of equations is fitted using the least squares method.
method according to claim 1, is characterized in that, described utilizing excitation signal to drive motor to vibrate, obtain the two-terminal voltage measurement value, motor current measurement value and motor vibrator acceleration measurement value of described motor under the vibration state, comprise:

Use a tool to support the motor, and calculate the acceleration measurement value of the motor oscillator by measuring the acceleration measurement value of the tool. The acceleration measurement value of the tool and the motor oscillator acceleration measurement value satisfy: a=A f m f /m;

Among them, A f is the acceleration of the tool, m f is the mass of the tool, m is the mass of the motor vibrator, and a is the acceleration of the motor vibrator.
The method according to claim 5, characterized in that before fitting the overdetermined equation system according to the voltage measurement value, the motor current measurement value and the motor oscillator acceleration measurement value, the method further comprises: : Use a signal amplifier to amplify the measured acceleration value of the tooling.
A device 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, 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, 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;

Wherein, the nonlinear model is expressed as:

u= Re i+Bl(x)v

Bl(x)i=ma+ Rm (v)v+ Km (x)x

u is the voltage across the motor; i is the motor current; x is the vibrator displacement; v is the vibrator speed; a is the motor vibrator acceleration; Re is the motor resistance; Bl(x) is the motor electromagnetic force coefficient; K m (x) is Motor spring stiffness coefficient; R m (v) is motor damping; m is motor vibrator mass;

The nonlinear parameters are expressed as:

Bl(x)=Bl 0 +Bl 1 x +Bl 2 x 2 +Bl 3 x 3 +Bl 4 x 4

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 device according to claim 7, wherein the velocity displacement obtaining module is further configured to perform integration processing on the acceleration measurement value of the motor oscillator to obtain the oscillator velocity and the oscillator displacement, respectively.
A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, when the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.
A non-volatile computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.