WO2023071641A1

WO2023071641A1 - Control method and apparatus for linear resonant actuator, and device and medium

Info

Publication number: WO2023071641A1
Application number: PCT/CN2022/120564
Authority: WO
Inventors: 刘兵; 刘钰佳; 杨鑫峰
Original assignee: 歌尔股份有限公司
Priority date: 2021-10-29
Filing date: 2022-09-22
Publication date: 2023-05-04
Also published as: CN113938082A

Abstract

The present invention belongs to the technical field of linear resonant actuators. Disclosed are a control method and apparatus for a linear resonant actuator, and a device and a medium. The method comprises: acquiring the current vibrator speed of a linear resonant actuator, a driving voltage and a response time to a target acceleration; obtaining a damping adjustment coefficient on the basis of the response time and hardware parameters of the linear resonant actuator; obtaining a target compensation voltage on the basis of the current vibrator speed and the damping adjustment coefficient; obtaining an actual driving voltage on the basis of the driving voltage and the target compensation voltage; and on the basis of the actual driving voltage, controlling the linear resonant actuator to vibrate. By means of the control method of the present invention, the response time to an acceleration of a linear resonant actuator can be accurately adjusted.

Description

Control method, control device, equipment and medium of linear motor

technical field

The present invention relates to the technical field of linear motors, in particular to a control method, a control device, equipment and a medium of a linear motor.

Background technique

Linear Resonant Actuator (LRA) has been widely used in various vibration occasions of electronic equipment due to its advantages of strong vibration, richness, crispness and low energy consumption. For the application of electronic equipment, by constructing a variety of broadband vibration waveforms (acceleration waveforms), linear motors can achieve very rich and realistic vibration feedback.

Among them, the vibration of the linear motor is mainly achieved by driving the vibrator to generate acceleration. The faster the acceleration response, the crisper the vibration; the larger the acceleration amplitude, the stronger the vibration. In the actual control process, it is usually necessary to adjust the acceleration response time according to the need under the condition of setting a certain acceleration amplitude. Generally, the shorter the acceleration response time, the better. And the acceleration response time can be reduced by increasing the driving voltage amplitude.

However, related technologies usually use manual adjustment of the voltage amplitude and action time to obtain the expected response time, which is not only complicated to debug, but also difficult to accurately control the response time of the acceleration, especially, it is difficult to accurately dynamically adjust the response time during the control process.

The above content is only used to assist in understanding the technical solution of the present invention, and does not mean that the above content is admitted as prior art.

Contents of the invention

The main purpose of the present invention is to provide a control method, control device, equipment and medium of a linear motor, aiming to solve the problem that the linear motor is difficult to accurately control the response time of the acceleration.

In order to achieve the above object, in a first aspect, the present invention provides a method for controlling a linear motor, the method comprising:

Acquiring the response time of the current speed, driving voltage and target acceleration of the vibrator of the linear motor;

Obtaining a damping adjustment coefficient based on the response time and hardware parameters of the linear motor;

Obtain a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient;

obtaining an actual driving voltage based on the driving voltage and the target compensation voltage;

Based on the actual drive voltage, the linear motor is controlled to vibrate.

In an embodiment, after obtaining the damping adjustment coefficient based on the response time and the hardware parameters of the linear motor, the method further includes:

If the steady-state amplitude input by the user is received, an equivalent voltage is obtained based on the steady-state amplitude, the damping adjustment coefficient, and the hardware parameters;

The driving voltage is updated using the equivalent voltage.

In an embodiment, the obtaining an equivalent voltage based on the steady-state amplitude and the damping adjustment coefficient includes:

Based on the steady-state amplitude, the damping adjustment coefficient and a first preset formula, an equivalent voltage amplitude is obtained; the first preset formula is:

Wherein, u′ _m is the equivalent voltage amplitude, a _ref is the steady-state amplitude,

k _ξ is the damping adjustment coefficient, ξ is the inherent damping coefficient of the linear motor, and

m is the vibrator mass of the linear motor, Bl is the magnetic field strength, r is the damping coefficient, and R is the DC resistance of the coil;

Based on the equivalent voltage amplitude and a second preset formula, the equivalent voltage is obtained; the second preset formula is:

u′ ₁ (t)=u′ _m cos(ω _c t);

Wherein, u′ ₁ (t) is the equivalent voltage, and t is the time.

In an embodiment, before acquiring the current speed of the vibrator of the linear motor, the method further includes:

obtaining the current voltage and the current current of the linear motor;

Obtaining the current speed of the vibrator based on the current voltage, the current current and a third preset formula;

Wherein, the third preset formula is:

Wherein, v(t) is the current velocity of the vibrator, Bl is the magnetic field strength, u _fdb (t) is the voltage, _ifdb (t) is the current current, and t is the time.

In an embodiment, the obtaining the damping adjustment coefficient based on the response time and the hardware parameters of the linear motor includes:

Based on the response time, the hardware parameters of the linear motor and a fourth preset formula, a damping adjustment coefficient is obtained; the fourth preset formula is:

where k _ξ is the damping adjustment coefficient, t _rd is the response time, ξ is the inherent damping coefficient of the linear motor, and

m is the vibrator mass of the linear motor, Bl is the magnetic field strength, k is the spring stiffness coefficient, r is the damping coefficient, and R is the DC resistance of the coil.

In an embodiment, the obtaining the target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient includes:

Based on the current speed of the vibrator, the damping adjustment coefficient and a fifth preset formula, the target compensation voltage is obtained; the fifth preset formula is:

Wherein, u _c (t) is the target compensation voltage, k _ξ is the damping adjustment coefficient, Bl is the magnetic field strength, r is the damping coefficient, R is the DC resistance of the coil, and v(t) is the current speed of the vibrator.

In the second aspect, the present invention also provides a control device for a linear motor, including:

A parameter acquisition module, configured to acquire the current speed of the vibrator of the linear motor, the driving voltage, the steady-state amplitude and the response time of the target acceleration;

A coefficient adjustment module, configured to obtain a damping adjustment coefficient based on the response time and the hardware parameters of the linear motor;

a compensation voltage determination module, configured to obtain a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient;

A voltage determination module, configured to obtain an actual driving voltage based on the driving voltage and the target compensation voltage;

A vibration control module, configured to control the vibration of the linear motor based on the actual driving voltage.

In a third aspect, the present invention also provides an electronic device, comprising:

linear motor;

a drive module, the drive module is connected to the linear motor, and the drive module is used to provide a drive voltage to the linear motor to drive the vibration unit to vibrate; and

A processing module, the processing module is used to obtain the current speed of the vibrator of the linear motor, the driving voltage, the steady-state amplitude of the target acceleration and the response time; based on the response time and the hardware parameters of the linear motor, obtain damping adjustment coefficient; based on the current speed of the vibrator and the damping adjustment coefficient, obtain a target compensation voltage; based on the driving voltage and the target compensation voltage, obtain an actual driving voltage; based on the actual driving voltage, control the vibration of the linear motor .

In one embodiment, it also includes:

The voltage and current detection module is used to connect with the linear motor to detect the current current and current voltage of the linear motor and send them to the processing module;

The processing module is used to acquire the current voltage and the current current of the linear motor;

Obtaining the current speed of the vibrator based on the current voltage, the current current and a first preset formula;

Wherein, the first preset formula is:

In the fourth aspect, the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a control program of a linear motor, and when the control program of the linear motor is executed by a processor, the linear motor as described above is realized. Motor control method.

The present invention provides a control method, control device, equipment and medium for a linear motor. The method obtains the current speed of the vibrator of the linear motor, the driving voltage, and the target acceleration response time to be achieved; based on the response time and the hardware parameters of the linear motor, obtains a damping adjustment coefficient; based on the current speed of the vibrator and the obtained The damping adjustment coefficient is used to obtain a target compensation voltage; based on the driving voltage and the target compensation voltage, an actual driving voltage is obtained; based on the actual driving voltage, vibration of the linear motor is controlled.

Thus, the present invention calculates the damping adjustment coefficient between the virtual damping required to achieve the desired target acceleration and response time and the original damping of the linear motor, and then constructs a suitable compensation voltage according to the vibrator speed and the damping adjustment coefficient, based on The actual voltage after compensation controls the vibration of the linear motor, thus changing the original damping characteristics of the motor, that is, the virtual damping control, so as to realize the accurate adjustment of the response time of the linear motor acceleration to achieve the response time of the target acceleration, which can be used to speed up the motor acceleration Fast response time for crisp, smear-free vibration feedback.

Description of drawings

FIG. 1 is a schematic flowchart of a first embodiment of a control method for a linear motor of the present application;

FIG. 2 is a schematic flowchart of a second embodiment of a control method for a linear motor of the present application;

Fig. 3 is the acceleration response wave diagram of embodiment 1 to embodiment 3 of the present application;

Fig. 4 is the actual control voltage waveform diagram of embodiment 1 to embodiment 3 of the present application;

Fig. 5 is a schematic flow chart of the control device of the linear motor of the present application;

FIG. 6 is a schematic structural diagram of an electronic device of the present application.

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

Linear Resonant Actuator (LRA) has been widely used in various vibration occasions of various consumer electronic devices due to its advantages of strong vibration, richness, crispness and low energy consumption. By constructing a variety of broadband vibration waveforms (acceleration waveforms), the motor can achieve very rich and realistic vibration feedback.

The vibrator will be damped to a certain extent during its motion, and this damping characteristic is an important factor affecting the acceleration response speed and amplitude. The greater the damping, the shorter the rise time and fall time of the motor acceleration response, but the smaller the steady-state amplitude; The smaller the damping, the longer the rise time and fall time of the motor acceleration response, but the larger the steady state amplitude. In the actual design of the motor, it is necessary to combine the requirements of the two, and to compromise the design of the inherent damping coefficient. Once the motor design is complete, its inherent damping characteristics are determined, so the acceleration response time and steady-state amplitude are also determined. Among them, the vibration of the linear motor is mainly achieved by driving the vibrator to generate acceleration. The faster the acceleration response, the crisper the vibration; the larger the acceleration amplitude, the stronger the vibration. In the actual control process, it is usually necessary to adjust the acceleration response time according to the need under the condition of setting a certain acceleration amplitude. Generally, the shorter the acceleration response time, the better. And the acceleration response time can be reduced by increasing the driving voltage amplitude.

To this end, the embodiment of the present application provides a linear motor control method, by calculating the damping adjustment coefficient between the virtual damping required to achieve the target acceleration and response time and the original damping of the linear motor, and then according to Vibrator speed and damping adjustment coefficient construct a suitable compensation voltage, control the vibration of the linear motor based on the actual voltage after compensation, thereby changing the original damping characteristics of the motor, that is, virtual damping control, so as to achieve accurate adjustment of the response time of the linear motor acceleration, In order to achieve the response time of the target acceleration, it can be used to speed up the response time of the motor acceleration to achieve crisp and tail-free vibration feedback.

The inventive concept of the present application will be further described below in conjunction with some specific embodiments.

The present application provides a first embodiment of a linear motor control method, refer to FIG. 1 , which is a schematic flowchart of the first embodiment of the linear motor control method of the present application.

In this embodiment, the method includes:

Step S101 , acquiring the current speed, driving voltage, and response time of the target acceleration of the vibrator of the linear motor.

In this embodiment, the execution body of the method is the processing module in the hardware circuit of the linear motor in the electronic device. The processing module is connected with the driving module, and the driving module is connected with the linear motor through the power amplifier, so that the processing module can send a driving signal to the driving module, and the driving module provides voltage for the linear motor.

In this embodiment, the processing module can obtain the target acceleration waveform data a(t) input by the user through the user interface of the electronic device, and the user can set a response time t _rd for the target acceleration at any moment.

The driving voltage is the voltage data when the original driving waveform data drives the linear motor to vibrate, which can be expressed as a cosine function: u ₁ (t)= _um cos(ω _c t).

The current velocity of the vibrator can be expressed as v(t). The current speed of the vibrator can be detected and fed back by the processing module according to the speed detection element in the linear motor.

Or in an embodiment, the current speed of the vibrator can be obtained according to the current current fed back by the current detection module of the linear motor and the current voltage fed back by the voltage detection module.

For example, at this time, before step S101, it also includes:

Step S10, acquiring the current voltage and the current current of the linear motor;

Step S20. Obtain the current speed of the vibrator based on the current voltage, the current current and a third preset formula;

Wherein, the third preset formula is:

At this time, the current speed of the vibrator can be obtained by calculating in real time the current current and the current voltage fed back by the current detection module and the voltage detection module.

Step S102. Obtain a damping adjustment coefficient based on the response time and the hardware parameters of the linear motor.

Among them, the hardware parameters are the parameters of the drive circuit hardware of the linear motor, such as: the vibrator mass m of the linear motor, the magnetic field strength Bl, the spring stiffness coefficient k, the damping coefficient r, and the coil DC resistance R.

It can be understood that the damping adjustment coefficient is the ratio between the virtual damping coefficient and the damping adjustment coefficients k _{and ξ} .

Specifically, the voltage equation for a linear motor is:

In the formula, u(t) is the driving voltage; x(t) is the displacement; v(t) is the velocity; a(t) is the acceleration.

Driven by a cosine voltage u(t)= _um cos(ω _c t) whose amplitude is u _m , the acceleration response of the linear motor is:

In the formula,

Define the time required for the acceleration amplitude to rise from 0 to 90% of the steady-state amplitude as the rising time t _r ; define the time required for the acceleration amplitude to drop from 100% of the steady-state amplitude to 10% as the falling time t _d , then the response time is obtained as:

The steady-state amplitude of the acceleration response is:

It is obvious that the intrinsic damping coefficient ξ of the system is given by the expression

It is determined that the larger the intrinsic damping coefficient, the shorter the response time of the system acceleration response, but the smaller the steady-state amplitude; the smaller the damping, the longer the response time of the system acceleration response, but the larger the steady-state amplitude. Generally speaking, the actual design of the motor needs to combine the needs of the two, and compromise the design of the inherent damping coefficient ξ.

In the actual control process, it is usually hoped that the response time t _rd of the acceleration response of the motor is short enough to achieve fast and tail-free vibration feedback. Therefore, the actual damping coefficient of the system can be realized by means of virtual damping control. Specifically, the damping coefficient of the system can be adjusted through voltage compensation, that is, the virtual damping coefficient can be adjusted as needed, and the dynamic adjustment of the motor acceleration response time and steady-state amplitude can be realized. If the user pays more attention to the response time t _rd , then increase the virtual damping coefficient; if the user pays more attention to the steady-state amplitude a _m , then adjust the virtual damping coefficient smaller.

Therefore, the damping adjustment coefficient k _ξ can be obtained according to the response time t _rd input by the user and the hardware parameters of the linear motor. That is, the ratio between the virtual damping coefficient and the intrinsic damping coefficient.

Specifically, step S102 specifically includes:

Step S103. Obtain a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient.

The target compensation voltage is the compensation voltage required by the linear motor to achieve the virtual damping required by the response time t _rd .

Specifically, the target compensation voltage can be obtained based on the current speed of the vibrator, the damping adjustment coefficient and a fifth preset formula; the fifth preset formula is:

Step S104. Obtain an actual driving voltage based on the driving voltage and the target compensation voltage.

That is, the actual driving voltage u(t)= _uc (t)+u ₁ (t).

Step S105 , controlling the linear motor to vibrate based on the actual driving voltage.

It can be understood that if the virtual damping coefficient of the linear motor is expected to be adjusted to k _ξ times the intrinsic damping coefficient ξ, the adjusted voltage equation is:

In the formula, the target compensation voltage is

Conversion can be obtained, the driving voltage is

Driven by this driving voltage, the response time of the acceleration of the linear motor is:

in,

is the virtual damping coefficient.

Therefore, using the virtual damping coefficient

When , the response time t _rd of the acceleration of the linear motor is:

It is not difficult to see that when k _ξ satisfies 0<k _ξ <1, the virtual damping of the system decreases and the response time t _rd increases. When k _ξ is set to satisfy k _ξ >1, the virtual damping of the system increases and the response time t _rd decreases.

Therefore, in this embodiment, when the response time t _rd is a known value, the damping adjustment coefficient k _ξ can be calculated according to the response time t _rd required by the target acceleration and the hardware parameters of the linear motor, that is, for the linear motor to achieve For this response time t _rd , the virtual damping coefficient of the linear motor system should be k _ξ times the intrinsic damping coefficient ξ of the system. In order to achieve the

required, this embodiment adjusts the damping coefficient of the system through voltage compensation, that is, adjusts the virtual damping coefficient as needed

Therefore, the coefficient k _ξ can be adjusted according to the vibrator velocity v(t) and damping, using

The target compensation voltage u _c (t) is calculated, and the compensation voltage is compensated to the driving voltage, so that the actual response time of the linear motor when vibrating is t _rd .

It is worth mentioning that in this embodiment, the control method provided by this embodiment can be used, and t _rd can be set to a small value, such as 0.01s, to achieve fast start-up of the linear motor, no tailing, and a better vibration feeling Crisp effect.

As an embodiment, the second embodiment of the control method of the linear motor of the present application is proposed. Referring to FIG. 2 , FIG. 2 is a schematic flowchart of a second embodiment of a method for controlling a linear motor of the present application.

In this embodiment, the method includes the following steps:

Step S201, acquiring the current speed, driving voltage, and response time of the target acceleration of the vibrator of the linear motor.

Step S202. Obtain a damping adjustment coefficient based on the response time and the hardware parameters of the linear motor.

Step S203. If the steady-state amplitude input by the user is received, an equivalent voltage is obtained based on the steady-state amplitude, the damping adjustment coefficient, and the hardware parameters.

In this embodiment, the user can input the steady-state amplitude a _ref of the target acceleration to the processing module through the user interface of the electronic device, or the user can also input the target acceleration waveform to the processing module through the user interface of the electronic device, and the processing module can analyze the Acceleration waveform, so as to obtain the steady-state amplitude a _ref .

After the processing module obtains the steady-state amplitude a _ref , it can obtain an equivalent electric current based on the steady-state amplitude and the damping adjustment coefficient.

Specifically, step S203 includes: obtaining an equivalent voltage amplitude based on the steady-state amplitude, the damping adjustment coefficient, and a first preset formula; the first preset formula is:

u′ ₁ (t)=u′ _m cos(ω _c t);

Wherein, u′ ₁ (t) is the equivalent voltage, and t is the time.

Step S204, updating the driving voltage by using the equivalent voltage.

That is, drive voltage u ₁ (t)=u′ ₁ (t).

Step S205. Obtain an actual driving voltage based on the driving voltage and the target compensation voltage.

Step S206. Based on the actual driving voltage, control the vibration of the linear motor.

In the formula, the target compensation voltage is

Conversion can be obtained, the driving voltage is

in,

is the virtual damping coefficient.

Therefore, using the virtual damping coefficient

When , the steady-state amplitude a _ref of the acceleration of the linear motor is:

It is not difficult to see that when k _ξ satisfies 0<k _ξ <1, the virtual damping of the system decreases and the steady-state amplitude a _ref increases. When k _ξ is set to satisfy k _ξ >1, the virtual damping of the system increases and the steady-state amplitude a _ref decreases.

Therefore, in this embodiment, when the user defines the steady-state amplitude a _ref , that is, when the steady-state amplitude a _ref is known, it can be based on

The equivalent voltage amplitude u _m is calculated, and the original driving voltage data is updated by equivalent voltage replacement, so that the steady-state amplitude of the linear motor vibration under actual voltage control reaches a _ref .

The user can define the steady-state amplitude a _ref as a variable value, and the linear motor can dynamically adjust the response time and steady-state amplitude of the acceleration. Or the user can limit the steady-state amplitude a _ref to a fixed value. For example, the user can set the steady-state amplitude a _ref to a constant value, so that in the process of motor vibration, according to

The equivalent voltage amplitude u _m is adjusted so that the steady-state amplitude a _ref is a constant value when the linear motor vibrates.

In order to facilitate the understanding of the above technical solutions, it is shown that:

Embodiment 1: Set steady-state amplitude a _ref =700m/s ² , t _rd is not limited, that is, no rise time is set.

Embodiment 2: Set the steady-state amplitude a _ref =700m/s ² , t _rd =0.01s, that is, set the rise time to 0.01s.

Embodiment 3: Set the steady-state amplitude a _ref =700m/s ² , t _rd =0.12s, that is, set the rise time to 0.12s.

Referring to FIG. 3 , FIG. 3 shows the acceleration response waveforms of Embodiment 1 to Embodiment 3 above. Referring to Fig. 4, Fig. 4 shows the actual control voltage waveforms of the above-mentioned Embodiment 1 to Embodiment 3.

It is not difficult to see that especially in Example 2, the response time is the shortest. Compared with the characteristics of the linear motor before adjustment, it starts faster, has no tailing, and has a crisper vibration. It can be seen that the amplitude and response time of the acceleration are consistent with the set amplitude and time.

Based on the same inventive concept, referring to Fig. 5, the present invention also provides a linear motor control device, including:

A parameter acquisition module, configured to acquire the current speed of the vibrator of the linear motor, the drive voltage, and the response time of the target acceleration;

In addition, referring to FIG. 6, the present invention also provides an electronic device, including:

Linear motor 400;

A driving module 200, the driving module 200 is connected to the linear motor 400, and the driving module 200 is used to provide a driving voltage for the linear motor 400 to drive the vibration unit to vibrate; and

A processing module 100, the processing module 100 is used to obtain the current speed of the vibrator of the linear motor 400, the driving voltage, the steady-state amplitude and the response time of the target acceleration; based on the response time and the hardware parameters of the linear motor, Obtain a damping adjustment coefficient; obtain a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient; obtain an actual driving voltage based on the driving voltage and the target compensation voltage; and control the The linear motor vibrates.

In one embodiment, it also includes:

The voltage and current detection module 500 is used to connect with the linear motor 400 to detect the current current and current voltage of the linear motor and send them to the processing module 100;

The processing module 100 is used to acquire the current voltage and the current current of the linear motor;

Obtain the current speed of the vibrator based on the current voltage, the current current and a third preset formula;

Wherein, the third preset formula is:

In an embodiment, the processing module is further configured to obtain an equivalent voltage based on the steady-state amplitude, the damping adjustment coefficient, and the hardware parameters if the steady-state amplitude input by the user is received; The effective voltage updates the driving voltage.

In an embodiment, the processing module is further configured to obtain an equivalent voltage amplitude based on the steady-state amplitude, the damping adjustment coefficient, and a first preset formula; the first preset formula is:

Wherein, u _m is the equivalent voltage amplitude, a _ref is the steady-state amplitude,

u ₁ (t) = u _m cos(ω _c t);

Wherein, u ₁ (t) is the equivalent voltage, and t is the time.

In an embodiment, the processing module is further configured to obtain a damping adjustment coefficient based on the response time, the hardware parameters of the linear motor and a fourth preset formula; the fourth preset formula is:

In an embodiment, the processing module is further configured to obtain a target compensation voltage based on the current speed of the vibrator, the damping adjustment coefficient and a fifth preset formula; the fifth preset formula is:

In some embodiments, a power amplifier is further arranged between the driving module and the linear motor, and the power amplifier performs power matching on the driving voltage transmitted from the driving module to the power amplifier. Wherein, the driving voltage may be an analog signal or a digital signal. The power amplifier may be a class A, class B, class AB, or class D driver commonly used in the field.

In addition, an embodiment of the present invention also proposes a computer storage medium, on which a control program of a linear motor is stored, and when the control program of the linear motor is executed by a processor, the steps of the method for controlling the linear motor above are realized. Therefore, details will not be repeated here. In addition, the description of the beneficial effect of adopting the same method will not be repeated here. For the technical details not disclosed in the embodiments of the computer-readable storage medium involved in the present application, please refer to the description of the method embodiments of the present application. Certainly for example, program instructions can be deployed to be executed on one computing device, or on multiple computing devices located at one site, or alternatively, on multiple computing devices distributed across multiple sites and interconnected by a communication network to execute.

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 through computer programs to instruct related hardware. The above programs can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods. Wherein, the above-mentioned storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM), etc.

The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields , are all included in the scope of patent protection of the present invention in the same way.

Claims

A control method for a linear motor, characterized in that the method comprises:

Acquiring the response time of the current speed, driving voltage and target acceleration of the vibrator of the linear motor;

Obtaining a damping adjustment coefficient based on the response time and hardware parameters of the linear motor;

Obtain a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient;

obtaining an actual driving voltage based on the driving voltage and the target compensation voltage;

Based on the actual drive voltage, the linear motor is controlled to vibrate.
The method for controlling a linear motor according to claim 1, wherein, after obtaining the damping adjustment coefficient based on the response time and the hardware parameters of the linear motor, the method further comprises:

If the steady-state amplitude input by the user is received, an equivalent voltage is obtained based on the steady-state amplitude, the damping adjustment coefficient, and the hardware parameters;

The driving voltage is updated using the equivalent voltage.
The control method of a linear motor according to claim 2, wherein said obtaining an equivalent voltage based on said steady-state amplitude and said damping adjustment coefficient comprises:

Based on the steady-state amplitude, the damping adjustment coefficient and a first preset formula, an equivalent voltage amplitude is obtained; the first preset formula is:

Wherein, u′ m is the equivalent voltage amplitude, a ref is the steady-state amplitude,
k ξ is the damping adjustment coefficient, ξ is the inherent damping coefficient of the linear motor, and

m is the vibrator mass of the linear motor, Bl is the magnetic field strength, r is the damping coefficient, and R is the DC resistance of the coil;

Based on the equivalent voltage amplitude and a second preset formula, the equivalent voltage is obtained; the second preset formula is:

u′ 1 (t)=u′ m cos(ω c t);

Wherein, u′ 1 (t) is the equivalent voltage, and t is the time.
The method for controlling a linear motor according to claim 1, wherein before acquiring the current speed of the vibrator of the linear motor, the driving voltage and the response time of the target acceleration, the method further comprises:

obtaining the current voltage and the current current of the linear motor;

Obtain the current speed of the vibrator based on the current voltage, the current current and a third preset formula;

Wherein, the third preset formula is:

Wherein, v(t) is the current velocity of the vibrator, Bl is the magnetic field strength, u fdb (t) is the voltage, ifdb (t) is the current current, and t is the time.
The method for controlling a linear motor according to claim 1, wherein said obtaining a damping adjustment coefficient based on said response time and hardware parameters of said linear motor comprises:

Based on the response time, the hardware parameters of the linear motor and a fourth preset formula, a damping adjustment coefficient is obtained; the fourth preset formula is:

where k ξ is the damping adjustment coefficient, t rd is the response time, ξ is the inherent damping coefficient of the linear motor, and
m is the vibrator mass of the linear motor, Bl is the magnetic field strength, k is the spring stiffness coefficient, r is the damping coefficient, and R is the DC resistance of the coil.
The control method of a linear motor according to claim 1, wherein the obtaining a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient comprises:

Based on the current speed of the vibrator, the damping adjustment coefficient and the fifth preset formula, the target compensation voltage is obtained; the fifth preset formula is:

Wherein, u c (t) is the target compensation voltage, k ξ is the damping adjustment coefficient, Bl is the magnetic field strength, r is the damping coefficient, R is the DC resistance of the coil, and v(t) is the current speed of the vibrator.
A control device for a linear motor, characterized in that it comprises:

A parameter acquisition module, configured to acquire the current speed of the vibrator of the linear motor, the driving voltage, the steady-state amplitude and the response time of the target acceleration;

A coefficient adjustment module, configured to obtain a damping adjustment coefficient based on the response time and the hardware parameters of the linear motor;

A compensation voltage determination module, configured to obtain a target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient;

A voltage determination module, configured to obtain an actual driving voltage based on the driving voltage and the target compensation voltage;

A vibration control module, configured to control the vibration of the linear motor based on the actual driving voltage.
An electronic device, characterized in that it comprises:

linear motor;

a drive module, the drive module is connected to the linear motor, and the drive module is used to provide a drive voltage to the linear motor to drive the vibration unit to vibrate; and

A processing module, the processing module is used to obtain the current speed of the vibrator of the linear motor, the driving voltage, the steady-state amplitude of the target acceleration and the response time; based on the response time and the hardware parameters of the linear motor, obtain damping adjustment coefficient; based on the current speed of the vibrator and the damping adjustment coefficient, obtain a target compensation voltage; based on the driving voltage and the target compensation voltage, obtain an actual driving voltage; based on the actual driving voltage, control the vibration of the linear motor .
The electronic device according to claim 8, further comprising:

The voltage and current detection module is used to connect with the linear motor to detect the current current and current voltage of the linear motor and send them to the processing module;

The processing module is used to acquire the current voltage and the current current of the linear motor;

Obtaining the current speed of the vibrator based on the current voltage, the current current and a first preset formula;

Wherein, the first preset formula is:

Wherein, v(t) is the current velocity of the vibrator, Bl is the magnetic field strength, u fdb (t) is the voltage, ifdb (t) is the current current, and t is the time.
A computer-readable storage medium, characterized in that a control program of a linear motor is stored on the computer-readable storage medium, and when the control program of the linear motor is executed by a processor, any one of claims 1 to 7 is realized. The control method of the linear motor.