WO2022134237A1

WO2022134237A1 - Method and apparatus for measuring parameters of motor model, electronic device, and medium

Info

Publication number: WO2022134237A1
Application number: PCT/CN2021/071348
Authority: WO
Inventors: 曹南; 余满; 刘柯佳; 毛路斌; 王尧
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: 2020-12-24
Filing date: 2021-01-13
Publication date: 2022-06-30
Also published as: CN112667077A

Abstract

A method and apparatus for measuring parameters of a motor model, an electronic device, and a medium. The method comprises: obtaining a voltage signal and a current signal of a motor in a working state, a vibrator of the motor vibrating in two directions (101); obtaining a preset frequency spectrum impedance expression of a motor model, the frequency spectrum impedance expression being determined according to the mapping relationship between kinetic parameters of the motor in the two directions and the mapping relationship between the voltage and current of the motor (102); respectively substituting the voltage signal and the current signal into the frequency spectrum impedance expression to calculate and obtain a plurality of frequency spectrum impedance values of the motor (103); and according to the plurality of frequency spectrum impedance values of the motor, performing fitting calculation on the frequency spectrum impedance values of the motor by using a method of least squares to obtain target frequency spectrum impedance parameters of the motor model (104).

Description

A motor model parameter detection method, device, electronic device and medium

technical field

The present invention relates to the technical field of tactile perception, and in particular, to a method, device, electronic device and medium for detecting parameters of a motor model.

Background technique

With the development of tactile sensing technology, in electronic devices such as smart phones, smart watches, and tablet computers, tactile actuators based on motors can obtain customized tactile experiences by designing their specific signal waveforms. At present, the most used motors are linear motor models based on motion in a certain direction. However, with the improvement of experience requirements, the bandwidth and vibration direction of unidirectional motors limit the richness of perception, and a linear motor design with single vibrator and two directions appears. And applications, that is, the vibrator of the motor can generate vibration in two directions, and can generate a vibration system that moves in two directions.

The accuracy and integrity of the technical parameters of the motor are crucial to the accuracy of the model establishment, which directly determines the performance of the motor. The control error of the motor model based on unidirectional vibration is large, and the expected effect cannot be achieved.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a motor model parameter detection method, device and medium to solve the problem of how to detect the parameters of the bidirectional vibration motor model and improve the control accuracy and application performance of the motor.

The technical scheme of the present invention is as follows:

In one aspect, a method for detecting parameters of a motor model is provided, including:

Obtain the voltage signal and the current signal of the motor in working state, and the vibrator of the motor vibrates in two directions;

obtaining a spectral impedance expression of a preset motor model, where the spectral impedance expression is determined according to the mapping relationship of the dynamic parameters of the motor in two directions and the mapping relationship between the voltage and the current of the motor;

Substituting the voltage signal and the current signal into the spectral impedance expression, respectively, to obtain a plurality of spectral impedance values of the motor;

According to the plurality of spectral impedance values of the motor, the least squares method is used to fit and calculate the spectral impedance values of the motor to obtain target spectral impedance parameters of the motor model.

In another aspect, a motor model parameter detection device is provided, including an acquisition module, an acquisition module, a calculation module and a fitting module, wherein:

The acquisition module is used to acquire the voltage signal and the current signal of the motor in a working state, and the vibrator of the motor vibrates in two directions;

The acquisition module is configured to acquire the spectral impedance expression of the preset motor model, and the spectral impedance expression is based on the mapping relationship of the dynamic parameters of the motor in two directions and the relationship between the voltage and the current of the motor. The mapping relationship is determined;

the calculation module, configured to respectively substitute the voltage signal and the current signal into the spectral impedance expression, and obtain a plurality of spectral impedance values of the motor by calculation;

The fitting module is configured to perform fitting calculation on the spectral impedance values of the motor by using the least squares method according to the plurality of spectral impedance values of the motor to obtain target spectral impedance parameters of the motor model.

In another aspect, a motor model parameter detection system is provided, which is characterized by comprising a motor to be detected, a voltage and current acquisition device, a driving device, and a motor model parameter detection device, wherein:

The voltage and current collection device is connected to the motor to be detected, the motor model parameter detection device is connected to the drive device, and the drive device is connected to the motor to be detected;

The voltage and current collection device is used to collect the working voltage value and the working current value of the motor to be detected, and feed them back to the motor model parameter detection device; the drive device is used for the control of the motor model parameter detection device A preset frequency sweep signal is output to drive the motor to be detected; the motor model parameter detection device is configured to perform the steps of the first aspect and any possible implementations thereof.

In another aspect, an electronic device is provided, comprising a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor causes the processor to perform the above-mentioned first aspect and the same. Steps for any possible implementation.

In another aspect, a storage medium is provided, which stores a computer instruction program, and when the computer instruction program is executed by a processor, causes the processor to execute the above-mentioned first aspect and any possible implementation manners thereof. step.

The beneficial effects of the present invention are: obtaining the voltage signal and the current signal of the motor in the working state, the vibrator of the motor vibrates in two directions, and obtaining the spectral impedance expression of the preset motor model, the above-mentioned spectral impedance expression Determined according to the mapping relationship between the dynamic parameters of the motor in two directions and the mapping relationship between the voltage and current of the motor, and then substitute the voltage signal and the current signal into the spectral impedance expression, respectively, to obtain a plurality of The spectral impedance value of the motor is then calculated by fitting the spectral impedance value of the motor by the least squares method according to the plurality of spectral impedance values of the motor, so as to obtain the target spectral impedance parameter of the motor model. For a bidirectional motor, the spectral impedance expression of the bidirectional motor can be accurately deduced according to the mapping relationship of its dynamic parameters in the two directions and the mapping relationship between the voltage and current of the motor, and then through the collected data and curve fitting The parameters of the motor model are determined by the method, and a complete and accurate model suitable for the bidirectional motor is established to improve the control accuracy and application effect of the motor.

Description of drawings

1 is a schematic flowchart of a motor model parameter detection method provided by the present invention;

2 is a schematic diagram of a frequency sweep signal provided by the present invention;

3 is a schematic diagram of an impedance spectrum provided by the present invention;

4 is a schematic structural diagram of a motor model parameter detection device provided by the present invention;

FIG. 5 is a schematic structural diagram of a motor model parameter detection system provided by the present invention.

Detailed ways

In order to make those skilled in the art better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The terms "first", "second" and the like in the description and claims of the present invention and the above drawings are used to distinguish different objects, rather than to describe a specific order. Furthermore, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally also includes For other steps or units inherent to these processes, methods, products or devices.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

The motor is an electric motor and an engine. The working principle is that the energized coil is forced to rotate in a magnetic field to drive the starter rotor to rotate, and the pinion on the rotor drives the engine flywheel to rotate. With the development of haptic technology, in electronic devices such as smartphones, smart watches, and tablet computers, haptic actuators based on motors can obtain customized haptic experiences by designing their specific waveforms. The most commonly used motors are linear motor models based on unidirectional motion.

The embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.

Please refer to FIG. 1. FIG. 1 is a schematic flowchart of a method for detecting parameters of a motor model provided by an embodiment of the present invention. The method may include:

101. Acquire a voltage signal and a current signal of a motor in a working state, and the vibrator of the motor vibrates in two directions.

The execution body of the embodiment of the present invention may be a motor model parameter detection device, and the device can detect the model parameters of the motor. The motor in the embodiment of the present invention may be a single vibrator bidirectional motor, that is, the vibrator of the motor may vibrate in two directions, thereby generating a vibration system that moves in two directions.

When the motor is in a normal working state, the motor model parameter detection device can obtain the working voltage and corresponding working current of the motor, and specifically can collect the voltage signal and current signal output by the motor in the working state.

In one embodiment, the above step 101 may specifically include:

When the motor is driven by a preset frequency sweep signal, the voltage signal and the current signal in the motor are collected.

The frequency sweep signal involved in the embodiment of the present invention refers to a constant amplitude signal whose frequency changes periodically within a certain range. The frequency sweep is designed for testing, so the sweep signal is for testing. It is mainly used to test components and the frequency characteristics of the whole machine.

Specifically, the preset frequency sweep signal may be a logarithmic frequency sweep signal x(t), wherein the voltage signal value u changes periodically with time t, which can be specifically set as required. The preset frequency sweep signal can be generated by equipment such as frequency sweeper and input to the motor.

Set the voltage amplitude V, the initial frequency f ₀ , the termination frequency f ₁ , and the frequency sweep duration t ₁ to generate the corresponding frequency sweep signal signal. The above parameters can be set as required, which is not limited in this embodiment of the present invention. For example, for a specific example, refer to a schematic diagram of a frequency sweep signal shown in FIG. 2 . As shown in FIG. 2 , the voltage amplitude of the frequency sweep signal is 0.4V, and the frequency changes periodically within a certain range according to the setting.

The motor model parameter detection device can collect the output voltage signal u(t) and current signal i(t) of the motor through the data acquisition card.

102. Obtain a spectral impedance expression of a preset motor model, where the spectral impedance expression is determined according to the mapping relationship of the dynamic parameters of the motor in two directions and the mapping relationship between the voltage and the current of the motor.

Wherein, the spectral impedance expression of the preset motor model may be determined according to the dynamic model and the electrical model of the motor. When the motor is a bidirectional motor, its dynamic model includes the above-mentioned mapping relationship of the dynamic parameters in the two directions.

In one embodiment, the method for obtaining the spectral impedance expression of the above-mentioned preset motor model includes:

21. Obtain the mapping relationship between the dynamic parameters of the motor model in two directions, and the mapping relationship between the voltage and current of the motor;

22. Determine the spectral impedance expression of the preset motor model according to the mapping relationship of the dynamic parameters in the two directions of the motor model and the mapping relationship between the voltage and the current.

The mapping relationship between the dynamic parameters of the motor model in two directions, and the mapping relationship between the voltage and current of the motor can be manually predetermined according to the specific structure of the motor model, and can be specifically expressed as the corresponding dynamic equation and electrical equation. Furthermore, through the mapping relationship of the dynamic parameters of the motor in two directions and the mapping relationship between the voltage and the current, the spectral impedance expression of the motor can be deduced, that is, the spectral impedance expression of the above-mentioned preset motor model. There are unknown parameters in the expression obtained at this time.

In an optional implementation manner, the two directions mentioned in the above steps 21 and 22 may include a first direction x and a second direction y; the mapping relationship between the voltage and current of the motor specifically includes:

The voltage u of the motor unit, the resistance Re of the motor unit, the motor coil inductance Le, the electromagnetic force coefficient function B1(x, y) of the motor unit in the first direction x and the second direction y , the function v(x, y) of the speed in the above-mentioned first direction x and the above-mentioned second direction y, and the mapping relationship of the current i through the above-mentioned motor unit.

Specifically, the mapping relationship between the voltage and current of the motor can be expressed as the following electrical equation:

Among them, u is the voltage passing through the motor unit, i is the current passing through the motor unit; Re is the resistance of the motor unit, Le is the motor coil inductance, and Bl(x, y) is the motor unit in the first direction x and The electromagnetic force coefficient function in the second direction y, v(x, y) is a function of the speed of the motor unit in the first direction x and the second direction y.

Further optionally, the mapping relationship of the dynamic parameters in the first direction x includes:

The vibrator mass m of the motor, the velocity v _x of the motor alone in the first direction x, the acceleration a _x in the first direction x, the damping c _x in the first direction x, the The mapping relationship between the electromagnetic force coefficient Bl _x in the direction x and the current i passing through the above-mentioned motor unit;

The mapping relationship of the dynamic parameters in the second direction y includes:

The vibrator mass m of the motor, the speed _vy of the motor alone in the second direction y, the acceleration a _y in the second direction y, the damping cy in the second direction _y , and the second The mapping relationship between the electromagnetic force coefficient Bly in the direction _y and the current i passing through the above-mentioned motor unit.

Specifically, the mapping relationship of the dynamic parameters of the motor in the first direction x can be expressed as the following dynamic equation:

m*a _x +c _x *v _x +k _x *x=Bl _x *i,

Among them, m is the vibrator mass of the motor, _vx , _ax , cx, _Blx are the speed of the motor in the first direction _x , the acceleration in the first direction x, and the damping in the first direction x, respectively , the electromagnetic force coefficient in the first direction x; i is the current passing through the motor unit.

Specifically, the mapping relationship of the dynamic parameters of the motor in the second direction y can be expressed as the following dynamic equation:

m*a _y + c _y *v _y + k _y *y=Bl _y *i,

Among them, m is the vibrator mass of the motor, v _y , a _y , _cy , and Bly are the speed of the motor in the second direction _y , the acceleration in the second direction y, and the damping in the second direction y, respectively. , the electromagnetic force coefficient in the second direction y; i is the current passing through the motor unit.

Optionally, before acquiring the mapping relationship between the voltage and current of the motor, the method further includes:

According to the preset expression of the frequency sweep signal and the mapping relationship between voltage, current and spectral impedance, the mapping relationship between the voltage and current of the motor is obtained.

Specifically, it can be understood that the above-mentioned preset frequency sweep signal provides voltage for the motor in the test system, so the motor voltage in the above mapping relationship can be determined according to the expression of the preset frequency sweep signal, and substituted into the formula to obtain the specific motor voltage The mapping relationship between voltage and current.

Through the above electrical equations and dynamic equations, the impedance Laplace transform parameter model can be solved:

That is, the mapping relationship between the above voltage, current and spectral impedance can be expressed as the formula of the above-mentioned impedance Laplace transform parameter model, and the specific spectral impedance expression can be solved by substituting the above formula.

103. Substitute the voltage signal and the current signal into the spectral impedance expression, respectively, and calculate and obtain a plurality of spectral impedance values of the motor.

Specifically, the collected voltage signal and current signal can be substituted into the above-mentioned spectral impedance expression for calculation, and a plurality of corresponding spectral impedance values can be obtained.

104. According to the plurality of spectral impedance values of the motor, use the least squares method to perform fitting and calculation on the spectral impedance values of the motor to obtain the target spectral impedance parameter of the motor model.

The least squares method (also known as the least squares method) involved in the embodiments of the present invention is a mathematical tool that is widely used in many disciplines such as error estimation, uncertainty, system identification and data processing, and forecasting. optimization techniques. It finds the best functional match for the data by minimizing the sum of squared errors.

In the embodiment of the present invention, the unknown motor spectral impedance can be simply obtained by using the least squares method, and the sum of squares of errors between the obtained spectral impedance values and the actual spectral impedance values can be minimized. Specifically, the error corresponding to each spectral impedance value Z can be calculated: Err(k)=R-Z, where R is a preset parameter representing the actual spectral impedance value, and R is the final spectral impedance expression after fitting.

Considering the above multiple spectral impedance values as multiple points in the coordinate system, the spectral impedance value curve can be obtained by fitting through the least squares method, and the target spectral impedance parameter of the above motor model is also obtained, wherein the target spectral impedance parameter can be is the spectral impedance expression, which can be the mapping relationship between the frequency and the impedance of the motor.

To sum up, in the embodiment of the present invention, the frequency sweep is performed according to the aforementioned frequency sweep signal, and a corresponding impedance curve can be obtained. Specifically, please refer to a schematic diagram of an impedance spectrum shown in Fig. 3, wherein, as shown in Fig. 3-1, the abscissa represents the frequency, and the ordinate represents the impedance amplitude |R(k)|. As shown in Figure 3-2, the abscissa represents the frequency, and the ordinate represents the impedance phase (R(k)).

In the embodiment of the present invention, the frequency sweep signal x(t) can be generated and fed back to the motor, and the voltage signal u(t) and the current signal i(t) output by the motor can be collected to obtain the complex expression of the spectral impedance curve, and then according to the frequency sweep The signal x(t) calculates the impedance curve and the limited range of the actual physical parameters, sets the initial value of the motor model parameter fitting, solves the model impedance, then calculates the error, uses the least squares method to calculate the fitting, and obtains the linear parameter target value of the bidirectional motor .

The embodiment of the present invention is aimed at a bidirectional motor. According to the mapping relationship of its dynamic parameters in the two directions and the mapping relationship between the voltage and the current of the motor, the spectral impedance expression of the bidirectional motor can be accurately deduced, and then the spectral impedance expression of the bidirectional motor can be accurately derived. The parameters of the motor model are determined by means of curve fitting and a complete and accurate model suitable for bidirectional motors is established, which can be applied to the control and configuration of the motor to improve the control accuracy and application effect of the motor.

Based on the description of the above embodiments of the motor model parameter detection method, the embodiment of the present invention further discloses a motor model parameter detection device. Referring to Fig. 4 , the motor model parameter detection device 400 includes an acquisition module 410, an acquisition module 420, a calculation module 430 and a fitting module 440, wherein:

The above-mentioned acquisition module 410 is used to acquire the voltage signal and the current signal of the motor in the working state, and the vibrator of the above-mentioned motor vibrates in two directions;

The obtaining module 420 is configured to obtain the spectral impedance expression of the preset motor model, and the spectral impedance expression is determined according to the mapping relationship between the dynamic parameters of the motor in two directions and the mapping relationship between the voltage and the current of the motor. ;

The above-mentioned calculation module 430 is used for substituting the above-mentioned voltage signal and current signal into the above-mentioned spectral impedance expression, respectively, to calculate and obtain a plurality of spectral impedance values of the above-mentioned motor;

The fitting module 440 is configured to perform fitting calculation on the spectral impedance values of the motor by using the least squares method according to a plurality of spectral impedance values of the motor, so as to obtain the target spectral impedance parameter of the motor model.

According to an embodiment of the present invention, each step involved in the method shown in FIG. 1 may be performed by each module in the motor model parameter detection apparatus 400 shown in FIG. 4 , and details are not repeated here.

The motor model parameter detection device 400 in the embodiment of the present invention can obtain the voltage signal and the current signal of the motor in the working state, the vibrator of the motor vibrates in two directions, and obtain the spectral impedance expression of the preset motor model formula, the above spectral impedance expression is determined according to the mapping relationship of the dynamic parameters of the motor in two directions and the mapping relationship between the voltage and current of the motor, and then the above voltage signal and current signal are respectively substituted into the above spectral impedance expression, The multiple spectral impedance values of the motor are obtained by calculation, and then the least squares method is used to fit the spectral impedance values of the motor according to the multiple spectral impedance values of the motor, and the target spectral impedance parameters of the motor model can be obtained. For a bidirectional motor, the spectral impedance expression of the bidirectional motor can be accurately deduced according to the mapping relationship of its dynamic parameters in the two directions and the mapping relationship between the voltage and current of the motor, and then through the collected data and curve fitting The parameters of the motor model are determined by the method, and a complete and accurate model suitable for the bidirectional motor is established to improve the control accuracy and application effect of the motor.

Referring to FIG. 5, FIG. 5 is a schematic structural diagram of a motor model parameter detection system according to an embodiment of the present invention. As shown in FIG. 5, a motor model parameter detection system 500 may include a motor to be detected 510, a voltage and current collection device 520, Drive device 530 and motor model parameter detection device 540; wherein:

The above-mentioned voltage and current collecting device 520 is connected to the above-mentioned motor 510 to be detected, the above-mentioned motor model parameter detection device 540 is connected to the above-mentioned driving device 530, and the above-mentioned driving device 530 is connected to the above-mentioned motor to be detected 510;

The above-mentioned voltage and current collecting device 520 is used to collect the working voltage value and working current value of the above-mentioned motor 510 to be detected, and feed them back to the above-mentioned motor model parameter detecting device 540;

The above-mentioned driving device 530 is configured to output a preset frequency sweep signal under the control of the above-mentioned motor model parameter detection device 540 to drive the above-mentioned motor 510 to be detected;

The above-mentioned motor model parameter detection device 540 may be the structure of the motor model parameter detection device 400 in the embodiment shown in FIG. 4 , and is used to perform various steps involved in the method shown in FIG. 1 , which will not be repeated here.

Optionally, when the motor model parameters are detected, the motor 510 to be detected may be pasted on a fixed surface, so as to fix the motor 510 to be detected so as not to move. In a specific implementation manner, the above-mentioned driving device 530 can be a power amplifier; the above-mentioned voltage and current acquisition device 520 can be a data acquisition card having the ability to collect voltage signals and current signals; the above-mentioned motor model parameter detection device 540 can be a kind of terminal equipment , such as a computer.

Based on the descriptions of the foregoing method embodiments and apparatus embodiments, an embodiment of the present invention further provides an electronic device. The electronic device includes at least a processor and a memory, and the memory stores a computer storage medium.

The computer storage medium may be stored in the memory of the electronic device, and the computer storage medium is used for storing a computer program, and the computer program includes program instructions, and the processor is used for executing the program instructions stored in the computer storage medium. A processor (or CPU (Central Processing Unit, Central Processing Unit)) is the computing core and control core of an electronic device, which is suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions to achieve the corresponding Method flow or corresponding function; in one embodiment, the above-mentioned processor in the embodiment of the present invention can be used to perform a series of processing, including any steps of the method in the embodiment shown in FIG. 1 and so on.

Embodiments of the present invention further provide a computer storage medium (Memory), where the computer storage medium is a memory device in an electronic device, used to store programs and data. It can be understood that, the computer storage medium here may include both the built-in storage medium in the electronic device, and certainly also the extended storage medium supported by the electronic device. Computer storage media provide storage space in which an electronic device's operating system is stored. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space, and these instructions may be one or more computer programs (including program codes). It should be noted that the computer storage medium here can be a high-speed RAM memory, or a non-volatile memory (non-volatile memory), such as at least one disk memory; optionally, it can also be at least one memory located far away from the aforementioned processor. computer storage media.

In one embodiment, one or more instructions stored in the computer storage medium can be loaded and executed by the processor to implement the corresponding steps in the foregoing embodiment; in specific implementation, one or more instructions in the computer storage medium can be configured by The processor loads and executes any steps of the method in FIG. 1 , which will not be repeated here.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, for the specific working process of the above-described devices and modules, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods may be implemented in other manners. For example, the division of the module is only for one logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not implement. The shown or discussed mutual coupling, or direct coupling, or communication connection may be through some interfaces, indirect coupling or communication connection of devices or modules, and may be in electrical, mechanical or other forms.

Modules described as separate components may or may not be physically separated, and components shown as modules may or may not be physical modules, that is, they may be located in one place, or may be distributed to multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the procedures or functions according to the embodiments of the present invention result in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device. The computer instructions may be stored in or transmitted over a computer-readable storage medium. The computer instructions can be sent from one website site, computer, server, or data center to another by wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.) A website site, computer, server or data center for transmission. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc., that includes one or more available media integrated. The available media may be read-only memory (ROM), or random access memory (RAM), or magnetic media, such as floppy disks, hard disks, magnetic tapes, magnetic disks, or optical media, such as, A digital versatile disc (DVD), or a semiconductor medium, for example, a solid state disk (SSD) and the like.

Claims

A method for detecting parameters of a motor model, comprising:

Obtain the voltage signal and the current signal of the motor in working state, and the vibrator of the motor vibrates in two directions;

obtaining a spectral impedance expression of a preset motor model, where the spectral impedance expression is determined according to the mapping relationship of the dynamic parameters of the motor in two directions and the mapping relationship between the voltage and the current of the motor;

Substituting the voltage signal and the current signal into the spectral impedance expression, respectively, to obtain a plurality of spectral impedance values of the motor;

According to the plurality of spectral impedance values of the motor, the least squares method is used to fit and calculate the spectral impedance values of the motor to obtain target spectral impedance parameters of the motor model.
The method for detecting parameters of a motor model according to claim 1, wherein the acquiring the voltage signal and the current signal of the motor in a working state comprises:

When the motor is driven by a preset frequency sweep signal, the voltage signal and the current signal in the motor are collected.
The method for detecting parameters of a motor model according to claim 2, wherein the method for obtaining the spectral impedance expression of the preset motor model comprises:

obtaining the mapping relationship of the dynamic parameters of the motor model in two directions, and the mapping relationship between the voltage and the current of the motor;

The spectral impedance expression of the preset motor model is determined according to the mapping relationship of the dynamic parameters in the two directions of the motor model and the mapping relationship between the voltage and the current.
The method for detecting motor model parameters according to claim 3, wherein before acquiring the mapping relationship between the voltage and current of the motor, the method further comprises:

According to the expression of the preset frequency sweep signal and the mapping relationship between voltage, current and spectral impedance, the mapping relationship between the voltage and the current of the motor is obtained.
The motor model parameter detection method according to claim 3, wherein the two directions include a first direction x and a second direction y; the mapping relationship between the voltage and the current of the motor specifically includes:

Through the voltage u of the motor unit, the resistance Re of the motor unit, the motor coil inductance Le, the electromagnetic force coefficient function B1 of the motor unit in the first direction x and the second direction y (x, y), the function v(x, y) of the speed in the first direction x and the second direction y, and the mapping relationship of the current i through the motor unit.
The motor model parameter detection method according to claim 5, wherein the mapping relationship of the dynamic parameters in the first direction x comprises:

The vibrator mass m of the motor, the speed v x of the motor unit in the first direction x, the acceleration a x in the first direction x, the damping c x in the first direction x , the mapping relationship between the electromagnetic force coefficient Bl x in the first direction x and the current i passing through the motor unit;

The mapping relationship of the dynamic parameters in the second direction y includes:

The vibrator mass m of the motor, the speed vy of the motor unit in the second direction y, the acceleration a y in the second direction y, the damping cy in the second direction y , the mapping relationship between the electromagnetic force coefficient Bly in the second direction y and the current i passing through the motor unit.
A motor model parameter detection system, characterized in that it includes a motor to be detected, a voltage and current acquisition device, a driving device, and a motor model parameter detection device, wherein:

The voltage and current collection device is connected to the motor to be detected, the motor model parameter detection device is connected to the drive device, and the drive device is connected to the motor to be detected;

The voltage and current collection device is used to collect the working voltage value and the working current value of the motor to be detected, and feed them back to the motor model parameter detection device; the drive device is used for the control of the motor model parameter detection device and outputting a preset frequency sweep signal to drive the motor to be detected; the motor model parameter detection device is used to perform the following steps:

Obtain the voltage signal and the current signal of the motor in working state, and the vibrator of the motor vibrates in two directions;

obtaining a spectral impedance expression of a preset motor model, where the spectral impedance expression is determined according to the mapping relationship of the dynamic parameters of the motor in two directions and the mapping relationship between the voltage and the current of the motor;

Substituting the voltage signal and the current signal into the spectral impedance expression, respectively, to obtain a plurality of spectral impedance values of the motor;

According to the plurality of spectral impedance values of the motor, the least squares method is used to fit and calculate the spectral impedance values of the motor to obtain target spectral impedance parameters of the motor model.
An electronic device, characterized in that it includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the following steps:

Obtain the voltage signal and the current signal of the motor in working state, and the vibrator of the motor vibrates in two directions;

obtaining a spectral impedance expression of a preset motor model, where the spectral impedance expression is determined according to the mapping relationship of the dynamic parameters of the motor in two directions and the mapping relationship between the voltage and the current of the motor;

Substituting the voltage signal and the current signal into the spectral impedance expression, respectively, to obtain a plurality of spectral impedance values of the motor;

According to the plurality of spectral impedance values of the motor, the least squares method is used to fit and calculate the spectral impedance values of the motor to obtain target spectral impedance parameters of the motor model.
A storage medium storing a computer instruction program, characterized in that, when the computer instruction program is executed by a processor, the processor is caused to perform the following steps:

Obtain the voltage signal and the current signal of the motor in working state, and the vibrator of the motor vibrates in two directions;

obtaining a spectral impedance expression of a preset motor model, where the spectral impedance expression is determined according to the mapping relationship of the dynamic parameters of the motor in two directions and the mapping relationship between the voltage and the current of the motor;

Substituting the voltage signal and the current signal into the spectral impedance expression, respectively, to obtain a plurality of spectral impedance values of the motor;

According to the plurality of spectral impedance values of the motor, the least squares method is used to fit and calculate the spectral impedance values of the motor to obtain target spectral impedance parameters of the motor model.