WO2022134237A1 - Procédé et appareil de mesure de paramètres d'un modèle de moteur, dispositif électronique, et support - Google Patents

Procédé et appareil de mesure de paramètres d'un modèle de moteur, dispositif électronique, et support Download PDF

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WO2022134237A1
WO2022134237A1 PCT/CN2021/071348 CN2021071348W WO2022134237A1 WO 2022134237 A1 WO2022134237 A1 WO 2022134237A1 CN 2021071348 W CN2021071348 W CN 2021071348W WO 2022134237 A1 WO2022134237 A1 WO 2022134237A1
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Prior art keywords
motor
current
voltage
mapping relationship
spectral impedance
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PCT/CN2021/071348
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English (en)
Chinese (zh)
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曹南
余满
刘柯佳
毛路斌
王尧
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瑞声声学科技(深圳)有限公司
瑞声光电科技(常州)有限公司
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Publication of WO2022134237A1 publication Critical patent/WO2022134237A1/fr

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

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  • the 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.
  • tactile actuators based on motors can obtain customized tactile experiences by designing their specific signal waveforms.
  • the most used motors are linear motor models based on motion in a certain direction.
  • 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.
  • 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.
  • a method for detecting parameters of a motor model including:
  • 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;
  • 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 motor model parameter detection device 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.
  • a motor model parameter detection system 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.
  • an electronic device comprising a memory and a processor
  • the memory stores a computer program
  • the processor causes the processor to perform the above-mentioned first aspect and the same. Steps for any possible implementation.
  • a storage medium 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.
  • 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.
  • FIG. 1 is a schematic flowchart of a motor model parameter detection method provided by the present invention
  • FIG. 2 is a schematic diagram of a frequency sweep signal provided by the present invention.
  • FIG. 3 is a schematic diagram of an impedance spectrum provided by the present invention.
  • FIG. 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.
  • 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.
  • 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.
  • 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:
  • 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.
  • 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.
  • the above step 101 may specifically include:
  • 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.
  • 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.
  • the above parameters can be set as required, which is not limited in this embodiment of the present invention.
  • 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.
  • 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.
  • the spectral impedance expression of the preset motor model may be determined according to the dynamic model and the electrical model of the motor.
  • its dynamic model includes the above-mentioned mapping relationship of the dynamic parameters in the two directions.
  • the method for obtaining the spectral impedance expression of the above-mentioned preset motor model includes:
  • 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.
  • 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:
  • mapping relationship between the voltage and current of the motor can be expressed as the following electrical equation:
  • 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
  • Bl(x, y) is the motor unit in the first direction x
  • 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.
  • mapping relationship of the dynamic parameters in the first direction x includes:
  • 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.
  • mapping relationship of the dynamic parameters of the motor in the first direction x can be expressed as the following dynamic equation:
  • 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.
  • mapping relationship of the dynamic parameters of the motor in the second direction y can be expressed as the following dynamic equation:
  • 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.
  • the method before acquiring the mapping relationship between the voltage and current of the motor, the method further includes:
  • the mapping relationship between the voltage and current of the motor is obtained.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the frequency sweep is performed according to the aforementioned frequency sweep signal, and a corresponding impedance curve can be obtained.
  • 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
  • the abscissa represents the frequency, and the ordinate represents the impedance phase (R(k)).
  • 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.
  • 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.
  • the embodiment of the present invention further discloses a motor model parameter detection device.
  • 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.
  • 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.
  • 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.
  • FIG. 5 is a schematic structural diagram of a motor model parameter detection system according to an embodiment of the present invention.
  • 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.
  • 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.
  • 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.
  • 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)
  • CPU Central Processing Unit
  • a processor 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • the disclosed systems, devices and methods may be implemented in other manners.
  • the division of the module is only for one logical function division.
  • 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.
  • the above-mentioned embodiments it may be implemented in whole or in part by software, hardware, firmware or any combination thereof.
  • 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.
  • 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.)
  • wire e.g. coaxial cable, fiber optic, digital subscriber line (DSL)
  • wireless e.g., infrared, wireless, microwave, etc.
  • 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.
  • ROM read-only memory
  • RAM random access memory
  • 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.

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  • Control Of Electric Motors In General (AREA)

Abstract

Procédé et appareil de mesure de paramètres d'un modèle de moteur, dispositif électronique, et support. Le procédé consiste à : obtenir un signal de tension et un signal de courant d'un moteur dans un état de fonctionnement, un vibreur du moteur vibrant dans deux directions (101) ; obtenir une expression d'impédance de spectre de fréquence prédéfinie d'un modèle de moteur, l'expression d'impédance de spectre de fréquence étant déterminée en fonction de la relation de mappage entre des paramètres cinétiques du moteur dans les deux directions et de la relation de mappage entre la tension et le courant du moteur (102) ; remplacer respectivement le signal de tension et le signal de courant dans l'expression d'impédance de spectre de fréquence pour calculer et obtenir une pluralité de valeurs d'impédance de spectre de fréquence du moteur (103) ; et en fonction de la pluralité de valeurs d'impédance de spectre de fréquence du moteur, effectuer un calcul d'ajustement sur les valeurs d'impédance de spectre de fréquence du moteur à l'aide d'un procédé des moindres carrés pour obtenir des paramètres d'impédance de spectre de fréquence cibles du modèle de moteur (104).
PCT/CN2021/071348 2020-12-24 2021-01-13 Procédé et appareil de mesure de paramètres d'un modèle de moteur, dispositif électronique, et support WO2022134237A1 (fr)

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