WO2023071641A1 - Procédé et appareil de commande pour actionneur résonant linéaire, et dispositif et support - Google Patents

Procédé et appareil de commande pour actionneur résonant linéaire, et dispositif et support Download PDF

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Publication number
WO2023071641A1
WO2023071641A1 PCT/CN2022/120564 CN2022120564W WO2023071641A1 WO 2023071641 A1 WO2023071641 A1 WO 2023071641A1 CN 2022120564 W CN2022120564 W CN 2022120564W WO 2023071641 A1 WO2023071641 A1 WO 2023071641A1
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Prior art keywords
linear motor
voltage
current
vibrator
damping
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PCT/CN2022/120564
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English (en)
Chinese (zh)
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刘兵
刘钰佳
杨鑫峰
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歌尔股份有限公司
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Priority claimed from CN202111290967.4A external-priority patent/CN113938082B/zh
Application filed by 歌尔股份有限公司 filed Critical 歌尔股份有限公司
Publication of WO2023071641A1 publication Critical patent/WO2023071641A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/20—Controlling the acceleration or deceleration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors

Definitions

  • 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.
  • Linear Resonant Actuator has been widely used in various vibration occasions of electronic equipment due to its advantages of strong vibration, richness, crispness and low energy consumption.
  • LRA Linear Resonant Actuator
  • linear motors can achieve very rich and realistic vibration feedback.
  • the vibration of the linear motor is mainly achieved by driving the vibrator to generate acceleration.
  • 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.
  • the present invention provides a method for controlling a linear motor, the method comprising:
  • the linear motor is controlled to vibrate.
  • the method further includes:
  • the driving voltage is updated using the equivalent voltage.
  • the obtaining an equivalent voltage based on the steady-state amplitude and the damping adjustment coefficient includes:
  • the damping adjustment coefficient 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:
  • u′ m is the equivalent voltage amplitude
  • a ref is the steady-state amplitude
  • k ⁇ is the damping adjustment coefficient
  • ⁇ is the inherent damping coefficient of the linear motor
  • m is the vibrator mass of the linear motor
  • Bl is the magnetic field strength
  • r is the damping coefficient
  • R is the DC resistance of the coil
  • the equivalent voltage is obtained;
  • the second preset formula is:
  • u′ 1 (t) u′ m cos( ⁇ c t);
  • u′ 1 (t) is the equivalent voltage
  • t is the time
  • the method before acquiring the current speed of the vibrator of the linear motor, the method further includes:
  • the third preset formula is:
  • 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
  • t is the time.
  • the obtaining the damping adjustment coefficient based on the response time and the hardware parameters of the linear motor includes:
  • the hardware parameters of the linear motor and a fourth preset formula 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:
  • k ⁇ is the damping adjustment coefficient
  • t rd is the response time
  • ⁇ is the inherent damping coefficient of the linear motor
  • 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
  • R is the DC resistance of the coil.
  • the obtaining the target compensation voltage based on the current speed of the vibrator and the damping adjustment coefficient includes:
  • the target compensation voltage is obtained;
  • u c (t) is the target compensation voltage
  • k ⁇ is the damping adjustment coefficient
  • Bl is the magnetic field strength
  • r is the damping coefficient
  • R is the DC resistance of the coil
  • v(t) is the current speed of the vibrator.
  • 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.
  • the present invention also provides an electronic device, comprising:
  • 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;
  • 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 .
  • 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
  • the first preset formula is:
  • 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
  • t is the time.
  • 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.
  • 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.
  • 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.
  • Linear Resonant Actuator 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.
  • LRA Linear Resonant Actuator
  • 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 vibration of the linear motor is mainly achieved by driving the vibrator to generate acceleration.
  • 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,
  • it can be used to speed up the response time of the motor acceleration to achieve crisp and tail-free vibration feedback.
  • FIG. 1 is a schematic flowchart of the first embodiment of the linear motor control method of the present application.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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
  • the third preset formula is:
  • 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
  • t is the 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.
  • 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.
  • the damping adjustment coefficient is the ratio between the virtual damping coefficient and the damping adjustment coefficients k and ⁇ .
  • u(t) is the driving voltage
  • x(t) is the displacement
  • v(t) is the velocity
  • a(t) is the acceleration.
  • the response time is obtained as:
  • the steady-state amplitude of the acceleration response is:
  • the intrinsic damping coefficient ⁇ 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.
  • the actual design of the motor needs to combine the needs of the two, and compromise the design of the inherent damping coefficient ⁇ .
  • the actual damping coefficient of the system can be realized by means of virtual damping control.
  • 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.
  • the damping adjustment coefficient k ⁇ 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.
  • step S102 specifically includes:
  • the hardware parameters of the linear motor and a fourth preset formula 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:
  • k ⁇ is the damping adjustment coefficient
  • t rd is the response time
  • ⁇ is the inherent damping coefficient of the linear motor
  • 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
  • R is the DC resistance of the coil.
  • 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 .
  • 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:
  • u c (t) is the target compensation voltage
  • k ⁇ is the damping adjustment coefficient
  • Bl is the magnetic field strength
  • r is the damping coefficient
  • R is the DC resistance of the coil
  • v(t) is the current speed of the vibrator.
  • Step S104 Obtain an actual driving voltage based on the driving voltage and the target compensation voltage.
  • Step S105 controlling the linear motor to vibrate based on the actual driving voltage.
  • the target compensation voltage is
  • the driving voltage is Driven by this driving voltage
  • the response time of the acceleration of the linear motor is:
  • the damping adjustment coefficient k ⁇ 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 ⁇ times the intrinsic damping coefficient ⁇ of the system.
  • 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 ⁇ 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 .
  • 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.
  • FIG. 2 is a schematic flowchart of a second embodiment of a method for controlling a linear motor of the present application.
  • 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.
  • 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 .
  • the processing module 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.
  • 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′ m is the equivalent voltage amplitude
  • a ref is the steady-state amplitude
  • k ⁇ is the damping adjustment coefficient
  • ⁇ is the inherent damping coefficient of the linear motor
  • m is the vibrator mass of the linear motor
  • Bl is the magnetic field strength
  • r is the damping coefficient
  • R is the DC resistance of the coil
  • the equivalent voltage is obtained;
  • the second preset formula is:
  • u′ 1 (t) u′ m cos( ⁇ c t);
  • u′ 1 (t) is the equivalent voltage
  • t is the time
  • Step S204 updating the driving voltage by using the equivalent voltage.
  • 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.
  • the target compensation voltage is
  • the driving voltage is Driven by this driving voltage
  • the response time of the acceleration of the linear motor is:
  • the user 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.
  • FIG. 3 shows the acceleration response waveforms of Embodiment 1 to Embodiment 3 above.
  • Fig. 4 shows the actual control voltage waveforms of the above-mentioned Embodiment 1 to Embodiment 3.
  • 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.
  • 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
  • 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.
  • the present invention also provides an electronic device, including:
  • a 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;
  • 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.
  • 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
  • the third preset formula is:
  • 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
  • t is the time.
  • 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.
  • 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:
  • u m is the equivalent voltage amplitude
  • a ref is the steady-state amplitude
  • k ⁇ is the damping adjustment coefficient
  • ⁇ is the inherent damping coefficient of the linear motor
  • m is the vibrator mass of the linear motor
  • Bl is the magnetic field strength
  • r is the damping coefficient
  • R is the DC resistance of the coil
  • the equivalent voltage is obtained;
  • the second preset formula is:
  • u 1 (t) u m cos( ⁇ c t);
  • u 1 (t) is the equivalent voltage
  • t is the time
  • 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:
  • k ⁇ is the damping adjustment coefficient
  • t rd is the response time
  • ⁇ is the inherent damping coefficient of the linear motor
  • 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
  • R is the DC resistance of the coil.
  • 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:
  • u c (t) is the target compensation voltage
  • k ⁇ is the damping adjustment coefficient
  • Bl is the magnetic field strength
  • r is the damping coefficient
  • R is the DC resistance of the coil
  • v(t) is the current speed of the vibrator.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

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  • Power Engineering (AREA)
  • Control Of Linear Motors (AREA)

Abstract

La présente invention appartient au domaine technique des actionneurs résonants linéaires. Sont divulgués ici un procédé et un appareil de commande pour un actionneur résonant linéaire, et un dispositif et un support. Le procédé consiste à : acquérir la vitesse de vibreur actuelle d'un actionneur résonant linéaire, une tension d'attaque et un temps de réponse à une accélération cible ; obtenir un coefficient d'ajustement d'amortissement sur la base des paramètres matériels et de temps de réponse de l'actionneur résonant linéaire ; obtenir une tension de compensation cible sur la base de la vitesse de vibreur actuelle et du coefficient d'ajustement d'amortissement ; obtenir une tension d'attaque réelle sur la base de la tension d'attaque et de la tension de compensation cible ; et sur la base de la tension d'attaque réelle, commander la vibration de l'actionneur résonant linéaire. Au moyen du procédé de commande de la présente invention, le temps de réponse à une accélération d'un actionneur résonant linéaire peut être ajusté avec précision.
PCT/CN2022/120564 2021-10-29 2022-09-22 Procédé et appareil de commande pour actionneur résonant linéaire, et dispositif et support WO2023071641A1 (fr)

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CN202111290967.4A CN113938082B (zh) 2021-10-29 线性马达的控制方法、控制装置、设备以及介质
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