CN113949325B - Control method, control device, equipment and medium for linear motor - Google Patents

Control method, control device, equipment and medium for linear motor Download PDF

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Publication number
CN113949325B
CN113949325B CN202111290970.6A CN202111290970A CN113949325B CN 113949325 B CN113949325 B CN 113949325B CN 202111290970 A CN202111290970 A CN 202111290970A CN 113949325 B CN113949325 B CN 113949325B
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current
voltage
obtaining
linear motor
speed
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CN113949325A (en
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刘兵
刘钰佳
杨鑫峰
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Goertek Inc
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Goertek Inc
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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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Linear Motors (AREA)

Abstract

The invention discloses a control method, a control device, equipment and a medium of a linear motor, belonging to the technical field of linear motors, wherein the method comprises the following steps: acquiring a target acceleration waveform, current voltage, current, a frequency adjustment coefficient and an acceleration amplitude of the linear motor; based on the acceleration amplitude, the hardware parameter of the linear motor and the target acceleration waveform, obtaining an equivalent voltage; obtaining a displacement compensation voltage based on the current voltage, the current and the frequency adjustment coefficient; obtaining a speed compensation voltage based on the current voltage, the current and the frequency adjustment coefficient; obtaining an actual voltage based on the equivalent voltage, the displacement compensation voltage and the velocity compensation voltage; based on the actual voltage, the linear motor is controlled to vibrate. By adopting the control method of the invention, the accurate control of the acceleration amplitude and the waveform can be realized.

Description

Control method, control device, equipment and medium for linear motor
Technical Field
The present invention relates to the field of linear motors, and in particular, to a method, a device, and a medium for controlling a linear motor.
Background
Linear motors (Linear Resonant Actuator, LRA) have been widely used in various vibration applications of electronic devices by virtue of their strong, abundant, crisp vibration feeling, low energy consumption, and the like. For electronic device applications, linear motors can achieve very rich, realistic vibration feedback by constructing a wide variety of broadband vibration waveforms (acceleration waveforms).
The vibration sense of the linear motor is mainly realized by driving the vibrator to generate acceleration, and the faster the acceleration response is, the more crisp the vibration sense is; the larger the acceleration amplitude, the stronger the vibration sensation.
However, in the related art, the voltage waveform of the linear motor and the waveform shape of the acceleration are greatly different near the resonance frequency, so that accurate acceleration amplitude and waveform control are difficult to realize.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a control method, a control device, equipment and a medium of a linear motor, and aims to solve the problem that the response time of acceleration is difficult to accurately control by the linear motor.
To achieve the above object, in a first aspect, the present invention provides a control method of a linear motor, the method comprising:
acquiring a target acceleration waveform, current voltage, current, a frequency adjustment coefficient and an acceleration amplitude of the linear motor;
based on the acceleration amplitude, the hardware parameter of the linear motor and the target acceleration waveform, obtaining an equivalent voltage;
obtaining a displacement compensation voltage based on the current voltage, the current and the frequency adjustment coefficient;
obtaining a speed compensation voltage based on the current voltage, the current and the frequency adjustment coefficient;
obtaining an actual voltage based on the equivalent voltage, the displacement compensation voltage and the velocity compensation voltage;
based on the actual voltage, the linear motor is controlled to vibrate.
In an embodiment, the obtaining the equivalent voltage based on the acceleration amplitude, the hardware parameter of the linear motor, and the target acceleration waveform includes:
based on the acceleration amplitude, the hardware parameters of the linear motor and a first preset formula, obtaining an equivalent voltage amplitude;
obtaining an equivalent voltage based on the equivalent voltage amplitude, the target acceleration waveform and a second preset formula;
the first preset formula is:
wherein u' m For the equivalent voltage amplitude, a m For the amplitude of the acceleration to be described,m is the vibrator mass of the linear motor, bl is the magnetic field intensity, and R is the coil direct current resistance;
the second preset formula is:
u′ 1 (t)＝u′ m a(t)；
wherein u' 1 And (t) is the equivalent voltage, a (t) is the target acceleration waveform, and t is the moment.
In an embodiment, the obtaining the displacement compensation voltage based on the current voltage, the current, and the frequency adjustment coefficient includes:
obtaining the current speed of the vibrator based on the current voltage and the current;
deriving the current speed to obtain a current acceleration;
acquiring current displacement based on the current speed, the current acceleration and the current of the vibrator;
and obtaining a displacement compensation voltage based on the current displacement and the frequency adjustment coefficient.
In an embodiment, the obtaining the current displacement based on the current velocity of the vibrator, the current acceleration and the current comprises:
obtaining a current displacement based on the current speed of the vibrator, the current acceleration, the current and a third preset formula; the third preset formula is:
wherein x (t) is the current displacement, k is the spring stiffness coefficient, a (t) is the current acceleration, v (t) is the vibrator current speed, and r is the damping coefficient.
In an embodiment, the obtaining a displacement compensation voltage based on the current displacement and the frequency adjustment coefficient includes:
obtaining a displacement compensation voltage based on the current displacement, the frequency adjustment coefficient and a fourth preset formula; the fourth preset formula is:
wherein u is cx (t) is the displacement compensation voltage, bl is the magnetic field intensity, R is the coil direct current resistance, k ω And adjusting the coefficient for the frequency.
In an embodiment, the obtaining the speed compensation voltage based on the current voltage, the current, and the frequency adjustment coefficient includes:
obtaining the current speed of the vibrator based on the current voltage and the current;
obtaining a speed compensation voltage based on the current speed of the vibrator, the frequency adjustment coefficient and a fifth preset formula; the fifth preset formula is:
wherein u is cv (t) is the speed compensation voltage, bl is the magnetic field intensity, R is the damping coefficient, R is the coil direct current resistance, k ω And v (t) is the current speed of the vibrator, and k is the spring stiffness coefficient for the frequency adjustment coefficient.
In an embodiment, the obtaining the target acceleration waveform, the current voltage, the current, the frequency adjustment coefficient, and the acceleration amplitude of the linear motor includes:
acquiring a target acceleration waveform, current voltage, current, a frequency adjustment coefficient, a damping adjustment coefficient and an acceleration amplitude of the linear motor;
the obtaining the speed compensation voltage based on the current speed of the vibrator, the frequency adjustment coefficient and a fifth preset formula includes:
obtaining a speed compensation voltage based on the current speed of the vibrator, the frequency adjustment coefficient and a sixth preset formula; the sixth preset formula is:
k ξ and adjusting a coefficient for the damping.
In a second aspect, the present invention also provides a control device for a linear motor, including:
the parameter acquisition module is used for acquiring a target acceleration waveform, current voltage, current, a frequency adjustment coefficient and an acceleration amplitude of the linear motor;
the equivalent voltage obtaining module is used for obtaining equivalent voltage based on the acceleration amplitude, the hardware parameters of the linear motor and the target acceleration waveform;
the displacement compensation voltage obtaining module is used for obtaining a displacement compensation voltage based on the current voltage, the current and the frequency adjustment coefficient;
the speed compensation voltage obtaining module is used for obtaining a speed compensation voltage based on the current voltage, the current and the frequency adjustment coefficient;
an actual voltage obtaining module, configured to obtain an actual voltage based on the equivalent voltage, the displacement compensation voltage, and the velocity compensation voltage;
and a motor control module for controlling the linear motor to vibrate based on the actual voltage.
In a third aspect, the present invention also provides an electronic device, including:
a linear motor;
the driving module is connected with the linear motor and is used for providing driving voltage for the linear motor so as to drive the vibration unit to vibrate; and
a voltage and current detection module for detecting the current and the current voltage of the linear motor
The processing module is respectively connected with the voltage and current detection module and the driving module and is used for executing the following steps: acquiring a target acceleration waveform, current voltage, current, a frequency adjustment coefficient and an acceleration amplitude of the linear motor; based on the acceleration amplitude, the hardware parameter of the linear motor and the target acceleration waveform, obtaining an equivalent voltage; obtaining a displacement compensation voltage based on the current voltage, the current and the frequency adjustment coefficient; obtaining a speed compensation voltage based on the current voltage, the current and the frequency adjustment coefficient; obtaining an actual voltage based on the equivalent voltage, the displacement compensation voltage and the velocity compensation voltage; based on the actual voltage, the linear motor is controlled to vibrate.
In a fourth aspect, the present invention also provides a computer-readable storage medium having stored thereon a control program for a linear motor, which when executed by a processor, implements a control method for a linear motor as described above.
The invention provides a control method, a control device, equipment and a medium for a linear motor. The method comprises the steps of obtaining a target acceleration waveform, current voltage, current, a frequency adjustment coefficient and an acceleration amplitude of the linear motor; based on the acceleration amplitude, the hardware parameter of the linear motor and the target acceleration waveform, obtaining an equivalent voltage; obtaining a displacement compensation voltage based on the current voltage, the current and the frequency adjustment coefficient; obtaining a speed compensation voltage based on the current voltage, the current and the frequency adjustment coefficient; obtaining an actual voltage based on the equivalent voltage, the displacement compensation voltage and the velocity compensation voltage; based on the actual voltage, the linear motor is controlled to vibrate.
Therefore, the invention constructs the displacement compensation voltage and the speed compensation voltage of the linear motor according to the current voltage and the current as well as the frequency adjustment coefficient and the acceleration amplitude to change the actual sweep frequency characteristic of the linear motor, so that the phase of the adjusted sweep frequency characteristic at the original resonant frequency is basically 0 degrees, i.e. the phase is not changed basically in the transmission process from the input signal to the output signal, thereby realizing the accurate control of the acceleration amplitude and the waveform.
Drawings
FIG. 1 is a flow chart of a first embodiment of a control method of a linear motor according to the present application;
FIG. 2 is a flow chart of a second embodiment of a control method of the linear motor of the present application;
FIG. 3 is a graph of a target acceleration profile according to an embodiment of the present application;
FIG. 4 is a graph showing the motor driving voltage and acceleration before the sweep characteristics are adjusted according to an embodiment of the present application;
FIG. 5 is a graph of motor equivalent voltage and acceleration after sweep characteristics adjustment according to an embodiment of the present application;
FIG. 6 is a waveform of actual voltage after the sweep frequency characteristic adjustment algorithm according to an embodiment of the present application calculates the compensation voltage according to the feedback signal;
FIG. 7 is a schematic block diagram of a control device of a linear motor according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device of the present application.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Linear motors (Linear Resonant Actuator, LRA) have been widely used in various vibration applications of various consumer electronic devices by virtue of their strong, abundant, crisp and low energy consumption. By constructing a wide frequency vibration waveform (acceleration waveform) in a variety, the motor can realize very rich and real vibration feedback. The vibration sense of the linear motor is realized mainly by driving the vibrator to generate acceleration, and the faster the acceleration response is, the shorter the aftershock is, the more crisp the vibration sense is; the larger the acceleration amplitude, the stronger the vibration sensation.
When the voltage is the resonant frequency, the acceleration response amplitude of the motor is maximum, and the vibration sense is strongest.
For a linear motor, the drive voltage of the linear motor is:
wherein u (t) is the voltage; x (t) is displacement; v (t) is the speed; a (t) is acceleration; m is vibrator mass; bl is the magnetic field strength; k is the spring stiffness coefficient; r is a damping coefficient; r is the coil direct current resistance.
The transfer function G(s) of the motor sweep characteristics (acceleration divided by voltage) is derived from the aforementioned voltage equation:
wherein,
it can be seen that the linear motor is at resonance frequencyThe highest magnitude acceleration feedback is achieved, so application developers of electronic devices typically construct drive waveforms near the resonant frequency to achieve the strongest vibration sense output with the lowest voltage magnitude. However, the phase of the linear motor around the resonance frequency varies drastically, resulting in a significant difference between the acceleration waveform and the voltage waveform around the resonance frequency, which is detrimental to accurate control of the acceleration waveform.
Therefore, the present embodiment provides a control method for a linear motor, in which the actual sweep frequency characteristic of the linear motor is changed by the frequency adjustment coefficient, so that the adjusted sweep frequency characteristic is at the original resonant frequencyPhase atBasically 0 degrees, namely basically no phase change exists in the transmission process from the input signal to the output signal, thereby realizing accurate control of the acceleration amplitude and the waveform.
The inventive concepts of the present application are further described below in conjunction with some specific embodiments.
Referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of a control method of a linear motor.
In this embodiment, the method includes:
step S101, a target acceleration waveform, a current voltage, a current, a frequency adjustment coefficient and an acceleration amplitude of the linear motor are obtained.
In this embodiment, the execution body of the method is a processing module in a 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 may acquire the target acceleration waveform data a (t) input by the user through the user interface of the electronic device. Wherein the target acceleration waveform data a (t) is defined as the motor resonance frequency.
The processing module may also receive a user-defined acceleration magnitude a m Damping adjustment coefficient k ξ Frequency adjustment coefficient k ω . Wherein the damping adjustment coefficient k ξ To adjust the ratio of equivalent damping to actual damping after equivalent sweep frequency characteristics, the frequency adjustment coefficient k ω The ratio of the equivalent resonant frequency to the actual resonant frequency after the equivalent sweep frequency characteristic is adjusted.
And the processing module is also connected with a voltage and current detection module for receiving the current voltage and current of the linear motor fed back by the voltage and current detection module in real time.
And step S102, obtaining equivalent voltage based on the acceleration amplitude, the hardware parameters of the linear motor and the target acceleration waveform.
Specifically, this step is used to calculate the reference voltage data of the voltage before compensation. The hardware parameters of the linear motor comprise vibrator mass m of the linear motor, magnetic field intensity Bl, damping coefficient R, coil direct current resistance R and the like.
Wherein, step S102 includes:
step A10, obtaining an equivalent voltage amplitude based on the acceleration amplitude, the hardware parameters of the linear motor and a first preset formula; the first preset formula is:
wherein u' m For the equivalent voltage amplitude, a m For the amplitude of the acceleration to be described,m is vibrator mass of the linear motor, bl is magnetic field intensity, R is damping coefficient, and R is coil direct current resistance.
Step A20, obtaining an equivalent voltage based on the equivalent voltage amplitude, the target acceleration waveform and a second preset formula; the second preset formula is:
u′ 1 (t)＝u′ m a(t)；
wherein u' 1 And (t) is the equivalent voltage, a (t) is the target acceleration waveform, and t is the moment.
The target acceleration shape curve is as follows:
the equivalent voltage is:
step S103, obtaining a displacement compensation voltage based on the current voltage, the current and the frequency adjustment coefficient.
In this embodiment, the voltage is compensated from the displacement point of view for the current state information.
Specifically, step S103 includes:
and step B10, obtaining the current speed of the vibrator based on the current voltage and the current.
Current velocity of vibratorWherein u is fdb (t) is the current voltage, i fdb (t) is the present current, R is the coil DC resistance.
And step B20, deriving the current speed to obtain the current acceleration.
And step B30, obtaining current displacement based on the current speed of the vibrator, the current acceleration and the current.
Obtaining a current displacement based on the current speed of the vibrator, the current acceleration, the current and a second preset formula; the second preset formula is:
wherein x (t) is the current displacement, k is the spring stiffness coefficient, a (t) is the current acceleration, v (t) is the vibrator current speed, and r is the damping coefficient.
And step B40, obtaining a displacement compensation voltage based on the current displacement and the frequency adjustment coefficient.
In this step, based on the calculated displacement state information, a corresponding displacement compensation voltage is constructed from the displacement angle.
Specifically, step B40 specifically includes: obtaining a displacement compensation voltage based on the current displacement, the frequency adjustment coefficient and a third preset formula; the third preset formula is:
wherein u is cx (t) is the displacement compensation voltage, bl is the magnetic field intensity, R is the coil direct current resistance, k ω And adjusting the coefficient for the frequency.
Step S104, obtaining a speed compensation voltage based on the current voltage, the current, the frequency adjustment coefficient and the damping adjustment coefficient.
In this step, based on the calculated speed state information, a corresponding speed compensation voltage is constructed from the speed angle.
Specifically, step S104 includes:
and step C10, obtaining the current speed of the vibrator based on the current voltage and the current.
Step C20, obtaining a speed compensation voltage based on the current speed of the vibrator, the frequency adjustment coefficient and a fourth preset formula; the fourth preset formula is:
wherein u is cv (t) is the speed compensation voltage, bl is the magnetic field strength, R is the coil DC resistance, k ω For the frequency adjustment coefficient, k ξ And v (t) is the current speed of the vibrator, and k is the spring stiffness coefficient.
Step S105, obtaining an actual voltage based on the equivalent voltage, the displacement compensation voltage and the velocity compensation voltage.
Specifically, the sum of the equivalent voltage, the displacement compensation voltage, and the velocity compensation voltage is taken as the actual voltage. I.e. the actual voltage u (t) =u' 1 (t)+u cx (t)+u cv (t)。
And step S106, controlling the linear motor to vibrate based on the actual voltage.
In this embodiment, in order to achieve the purpose of changing the actual frequency sweep characteristic of the linear motor by the frequency adjustment coefficient, the adjusted frequency sweep characteristic is set at the original resonant frequencyThe phase position is basically 0 degrees, and the current speed state information and the displacement state information of the linear motor are calculated through the current voltage and the current, so that the corresponding speed compensation voltage and the displacement compensation voltage are constructed, the phase position is not changed basically in the transmission process from an input signal to an output signal when the linear motor actually vibrates, and the accurate control of the acceleration amplitude and the waveform is realized.
Based on the above embodiments, the present invention further provides a second embodiment of a control method of a linear motor, and referring to fig. 2, fig. 2 shows a schematic flow chart of the second embodiment of the control method of the linear motor of the present invention.
In this embodiment, the method includes:
step S201, a target acceleration waveform, a current voltage, a current, a damping adjustment coefficient, a frequency adjustment coefficient and an acceleration amplitude of the linear motor are obtained.
The processing module may also receive a user-defined damping adjustment coefficient k ξ . Wherein the damping adjustment coefficient k ξ The ratio of the equivalent damping to the actual damping after the equivalent sweep frequency characteristic is adjusted.
Step S202, obtaining equivalent voltage based on the acceleration amplitude, the hardware parameters of the linear motor and the target acceleration waveform.
Step S203, obtaining a displacement compensation voltage based on the current voltage, the current and the frequency adjustment coefficient.
Step S204, obtaining a speed compensation voltage based on the current voltage, the current, the frequency adjustment coefficient and the damping adjustment coefficient.
In this step, based on the calculated speed state information, a corresponding speed compensation voltage is constructed from the speed angle.
Specifically, step S204 includes:
and step C10, obtaining the current speed of the vibrator based on the current voltage and the current.
Step C20, obtaining a speed compensation voltage based on the current speed of the vibrator, the frequency adjustment coefficient and a fourth preset formula; the fourth preset formula is:
wherein u is cv (t) is the speed compensation voltage, bl is the magnetic field strength, R is the coil DC resistance, k ω For the frequency adjustment coefficient, k ξ And v (t) is the current speed of the vibrator, and k is the spring stiffness coefficient.
Wherein k is ξ When=1, the fourth preset formula provided in the foregoing embodiment is that the damping is not adjusted.
Step S205, obtaining an actual voltage based on the equivalent voltage, the displacement compensation voltage and the velocity compensation voltage.
Step S206, controlling the linear motor to vibrate based on the actual voltage.
In this embodiment, in order to better achieve the purpose of changing the actual sweep characteristics of the linear motor by the frequency adjustment coefficient, the adjusted sweep characteristics are at the original resonant frequencyThe phase position is basically 0 degrees, and the current speed state information and the displacement state information of the linear motor are calculated through the current voltage and the current, so that the corresponding speed compensation voltage and the corresponding displacement compensation voltage are constructed through the frequency adjustment coefficient and the damping adjustment coefficient, no phase change exists basically in the transmission process from an input signal to an output signal when the linear motor actually vibrates, and the accurate control of the acceleration amplitude and the waveform is realized.
For ease of understanding, a specific embodiment is shown:
to construct a frequency omega c Amplitude of 100m/s 2 The shape is as follows:
for example, the short vibration acceleration waveform of (c) is then taken as k ω =0.1, so that the resonance frequency is reduced to 0.1 times the original one. And comparing acceleration waveform control effects before and after the sweep frequency characteristic adjustment.
FIG. 3 is a graph of a target acceleration shape; FIG. 4 is a graph of motor drive voltage and acceleration before sweep characteristics adjustment; FIG. 5 is a graph of motor equivalent voltage and acceleration after sweep characteristics are adjusted; FIG. 6 is a waveform of the actual voltage after the sweep frequency characteristic adjustment algorithm calculates the compensation voltage according to the feedback signal.
As can be seen from fig. 4, before the adjustment of the frequency sweep characteristic, the acceleration waveform of the motor is greatly different from the acceleration waveform of the expected structure, and the aftershock is obvious; as can be seen from fig. 5, by the linear motor control method provided by the present embodiment, the motor acceleration waveform substantially coincides with the acceleration waveform of the intended configuration, thereby achieving accurate acceleration control.
Based on the same inventive concept, referring to fig. 7, the present invention also provides a control device of a linear motor, comprising:
the parameter acquisition module is used for acquiring a target acceleration waveform, current voltage, current, a frequency adjustment coefficient and an acceleration amplitude of the linear motor;
the equivalent voltage obtaining module is used for obtaining equivalent voltage based on the acceleration amplitude, the hardware parameters of the linear motor and the target acceleration waveform;
the displacement compensation voltage obtaining module is used for obtaining a displacement compensation voltage based on the current voltage, the current and the frequency adjustment coefficient;
the speed compensation voltage obtaining module is used for obtaining a speed compensation voltage based on the current voltage, the current and the frequency adjustment coefficient;
an actual voltage obtaining module, configured to obtain an actual voltage based on the equivalent voltage, the displacement compensation voltage, and the velocity compensation voltage;
and a motor control module for controlling the linear motor to vibrate based on the actual voltage.
In an embodiment, the equivalent voltage obtaining module is further configured to obtain an equivalent voltage amplitude based on the acceleration amplitude, the hardware parameter of the linear motor, and a first preset formula; the first preset formula is:
wherein u' m For the equivalent voltage amplitude, a m For the amplitude of the acceleration to be described,m is vibrator mass of the linear motor, bl is magnetic field intensity, R is damping coefficient, and R is coil direct current resistance;
obtaining an equivalent voltage based on the equivalent voltage amplitude, the target acceleration waveform and a second preset formula; the second preset formula is:
u′ 1 (t)＝u′ m a(t)；
wherein u' 1 And (t) is the equivalent voltage, a (t) is the target acceleration waveform, and t is the moment.
In an embodiment, the displacement compensation voltage obtaining module is configured to obtain a current speed of the vibrator based on the current voltage and the current; deriving the current speed to obtain a current acceleration; acquiring current displacement based on the current speed, the current acceleration and the current of the vibrator;
and obtaining a displacement compensation voltage based on the current displacement and the frequency adjustment coefficient.
In an embodiment, the displacement compensation voltage obtaining module is configured to obtain a current displacement based on the current velocity of the vibrator, the current acceleration, and the current, and includes:
obtaining a current displacement based on the current speed of the vibrator, the current acceleration, the current and a third preset formula; the third preset formula is:
wherein x (t) is the current displacement, k is the spring stiffness coefficient, i fdb And (t) is the current, a (t) is the current acceleration, v (t) is the current speed of the vibrator, and r is a damping coefficient.
In an embodiment, the displacement compensation voltage obtaining module is configured to obtain a displacement compensation voltage based on the current displacement, the frequency adjustment coefficient and a fourth preset formula; the fourth preset formula is:
wherein u is cx (t) is the displacement compensation voltage, bl is the magnetic field intensity, R is the coil direct current resistance, k ω And adjusting the coefficient for the frequency.
In an embodiment, the speed compensation voltage obtaining module is configured to obtain a current speed of the vibrator based on the current voltage and the current;
obtaining a speed compensation voltage based on the current speed of the vibrator, the frequency adjustment coefficient and a fifth preset formula; the fifth preset formula is:
wherein u is cv (t) is the speed compensation voltage, bl is the magnetic field strength, R is the coil DC resistance, k ω And v (t) is the current speed of the vibrator, and k is the spring stiffness coefficient for the frequency adjustment coefficient.
In one embodiment, the parameter acquisition module is used for acquiring a target acceleration waveform, a current voltage, a current, a frequency adjustment coefficient, a damping adjustment coefficient and an acceleration amplitude of the linear motor;
the speed compensation voltage obtaining module is used for obtaining a speed compensation voltage based on the current speed of the vibrator, the frequency adjustment coefficient and a sixth preset formula; the sixth preset formula is:
k ξ and adjusting a coefficient for the damping.
In addition, referring to fig. 8, the present invention further provides an electronic device, including:
a linear motor 400;
a driving module 200, wherein the driving module 200 is connected with the linear motor 400, and is used for providing driving voltage for the linear motor 400 so as to drive the vibration unit to vibrate; and
a voltage and current detection module 500 for detecting the present current and the present voltage of the linear motor 400
The processing module 100 is respectively connected with the voltage and current detection module 500 and the driving module 200, and is used for obtaining a target acceleration waveform, a current voltage, a current, a frequency adjustment coefficient and an acceleration amplitude of the linear motor; based on the acceleration amplitude, the hardware parameter of the linear motor and the target acceleration waveform, obtaining an equivalent voltage; obtaining a displacement compensation voltage based on the current voltage, the current and the frequency adjustment coefficient; obtaining a speed compensation voltage based on the current voltage, the current and the frequency adjustment coefficient; obtaining an actual voltage based on the equivalent voltage, the displacement compensation voltage and the velocity compensation voltage; based on the actual voltage, the linear motor is controlled to vibrate.
In an embodiment, the processing module is further configured to perform: based on the acceleration amplitude, the hardware parameters of the linear motor and a first preset formula, obtaining an equivalent voltage amplitude; the first preset formula is:
wherein u' m For the equivalent voltage amplitude, a m For the amplitude of the acceleration to be described,m is vibrator mass of the linear motor, bl is magnetic field intensity, R is damping coefficient, and R is coil direct current resistance;
obtaining an equivalent voltage based on the equivalent voltage amplitude, the target acceleration waveform and a second preset formula; the second preset formula is:
u′ 1 (t)＝u′ m a(t)；
wherein u' 1 And (t) is the equivalent voltage, a (t) is the target acceleration waveform, and t is the moment.
In an embodiment, the processing module is further configured to perform: obtaining the current speed of the vibrator based on the current voltage and the current; deriving the current speed to obtain a current acceleration; acquiring current displacement based on the current speed, the current acceleration and the current of the vibrator;
and obtaining a displacement compensation voltage based on the current displacement and the frequency adjustment coefficient.
In an embodiment, the processing module is further configured to perform: the obtaining the current displacement based on the current speed, the current acceleration and the current of the vibrator includes:
obtaining a current displacement based on the current speed of the vibrator, the current acceleration, the current and a third preset formula; the third preset formula is:
wherein x (t) is the current displacement, k is the spring stiffness coefficient, i fdb (t) is the current, a (t) is the current acceleration, v (t) is the vibratorFront speed, r is the damping coefficient.
In an embodiment, the processing module is further configured to perform: obtaining a displacement compensation voltage based on the current displacement, the frequency adjustment coefficient and a fourth preset formula; the fourth preset formula is:
wherein u is cx (t) is the displacement compensation voltage, bl is the magnetic field intensity, R is the coil direct current resistance, k ω And adjusting the coefficient for the frequency.
In an embodiment, the processing module is further configured to perform: obtaining the current speed of the vibrator based on the current voltage and the current;
obtaining a speed compensation voltage based on the current speed of the vibrator, the frequency adjustment coefficient and a fifth preset formula; the fifth preset formula is:
wherein u is cv (t) is the speed compensation voltage, bl is the magnetic field strength, R is the coil DC resistance, k ω And v (t) is the current speed of the vibrator, and k is the spring stiffness coefficient for the frequency adjustment coefficient.
In an embodiment, the processing module is further configured to perform: acquiring a target acceleration waveform, current voltage, current, a frequency adjustment coefficient, a damping adjustment coefficient and an acceleration amplitude of the linear motor;
the speed compensation voltage obtaining module is used for obtaining a speed compensation voltage based on the current speed of the vibrator, the frequency adjustment coefficient and a sixth preset formula; the sixth preset formula is:
k ξ and adjusting a coefficient for the damping.
In some embodiments, a power amplifier 300 is further disposed between the driving module 200 and the linear motor 400, and the power amplifier 300 performs power matching on the driving voltage transmitted from the driving module 200 to the power amplifier 300. The driving voltage may be an analog signal or a digital signal. The power amplifier may be a class a, B, AB, or D driver as is common in the art.
In addition, the embodiment of the invention also provides a computer storage medium, wherein a control program of the linear motor is stored on the storage medium, and when the control program of the linear motor is executed by a processor, the steps of the control method of the linear motor are realized. Therefore, a detailed description will not be given here. In addition, the description of the beneficial effects of the same method is omitted. For technical details not disclosed in the embodiments of the computer-readable storage medium according to the present application, please refer to the description of the method embodiments of the present application. As an example, the program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of computer programs, which may be stored on a computer-readable storage medium, and which, when executed, may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random access Memory (Random AccessMemory, RAM), or the like.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims (7)

1. A method of controlling a linear motor, the method comprising:
acquiring a target acceleration waveform, current voltage, current, a frequency adjustment coefficient and an acceleration amplitude of the linear motor; the frequency adjustment coefficient is the ratio of the equivalent resonant frequency to the actual resonant frequency after the equivalent sweep frequency characteristic is adjusted;
based on the acceleration amplitude, the hardware parameter of the linear motor and the target acceleration waveform, obtaining an equivalent voltage corresponding to the target acceleration waveform;
obtaining a displacement compensation voltage based on the current voltage, the current and the frequency adjustment coefficient;
obtaining a speed compensation voltage based on the current voltage, the current and the frequency adjustment coefficient;
obtaining an actual voltage based on the equivalent voltage, the displacement compensation voltage and the velocity compensation voltage;
controlling the linear motor to vibrate based on the actual voltage;
the obtaining a displacement compensation voltage based on the current voltage, the current and the frequency adjustment coefficient includes:
obtaining the current speed of the vibrator based on the current voltage and the current;
deriving the current speed to obtain a current acceleration;
acquiring current displacement based on the current speed, the current acceleration and the current of the vibrator;
obtaining a displacement compensation voltage based on the current displacement, the frequency adjustment coefficient and a fourth preset formula; the fourth preset formula is:
wherein u is cx (t) is the displacement compensation voltage, bl is the magnetic field strength, R is the coilDirect current resistor k ω Adjusting a coefficient for the frequency;
the obtaining a speed compensation voltage based on the current voltage, the current and the frequency adjustment coefficient includes:
obtaining the current speed of the vibrator based on the current voltage and the current;
obtaining a speed compensation voltage based on the current speed of the vibrator, the frequency adjustment coefficient and a fifth preset formula; the fifth preset formula is:
wherein u is cv (t) is the speed compensation voltage, bl is the magnetic field intensity, R is the damping coefficient, R is the coil direct current resistance, k ω For the frequency adjustment coefficient, v (t) is the current speed of the vibrator, and k is the spring stiffness coefficient;
the obtaining an actual voltage based on the equivalent voltage, the displacement compensation voltage, and the velocity compensation voltage includes:
and taking the sum of the equivalent voltage, the displacement compensation voltage and the speed compensation voltage as the actual voltage.
2. The method according to claim 1, wherein the obtaining an equivalent voltage corresponding to the target acceleration waveform based on the acceleration amplitude, the hardware parameter of the linear motor, and the target acceleration waveform includes:
based on the acceleration amplitude, the hardware parameters of the linear motor and a first preset formula, obtaining an equivalent voltage amplitude;
obtaining an equivalent voltage based on the equivalent voltage amplitude, the target acceleration waveform and a second preset formula;
the first preset formula is:
wherein u' m For the equivalent voltage amplitude, a m For the amplitude of the acceleration to be described,m is vibrator mass of the linear motor, bl is magnetic field intensity, R is damping coefficient, and R is coil direct current resistance;
the second preset formula is:
u′ 1 (t)＝u′ m a(t)；
wherein u' 1 And (t) is the equivalent voltage, a (t) is the target acceleration waveform, and t is the moment.
3. The method according to claim 1, wherein the obtaining a current displacement based on the vibrator current speed, the current acceleration, and the current includes:
obtaining a current displacement based on the current speed of the vibrator, the current acceleration, the current and a third preset formula; the third preset formula is:
wherein x (t) is the current displacement, k is the spring stiffness coefficient, i fdb And (t) is the current, a (t) is the current acceleration, v (t) is the current speed of the vibrator, and r is a damping coefficient.
4. The method of controlling a linear motor according to claim 1, wherein the acquiring the target acceleration waveform, the current voltage, the current, the frequency adjustment coefficient, and the acceleration amplitude of the linear motor includes:
acquiring a target acceleration waveform, current voltage, current, a frequency adjustment coefficient, a damping adjustment coefficient and an acceleration amplitude of the linear motor; the damping adjustment coefficient is the ratio of the equivalent damping to the actual damping after adjusting the equivalent sweep frequency characteristic;
the obtaining a speed compensation voltage based on the current voltage, the current and the frequency adjustment coefficient includes:
obtaining the current speed of the vibrator based on the current voltage and the current;
obtaining a speed compensation voltage based on the current speed of the vibrator, the frequency adjustment coefficient, the damping adjustment coefficient and a sixth preset formula;
the sixth preset formula is obtained by modifying the fifth preset formula by using the damping adjustment coefficient, and specifically comprises the following steps:
k ξ and adjusting a coefficient for the damping.
5. A control device of a linear motor, characterized by comprising:
the parameter acquisition module is used for acquiring a target acceleration waveform, current voltage, current, a frequency adjustment coefficient and an acceleration amplitude of the linear motor; the frequency adjustment coefficient is the ratio of the equivalent resonant frequency to the actual resonant frequency after the equivalent sweep frequency characteristic is adjusted;
the equivalent voltage obtaining module is used for obtaining equivalent voltage corresponding to the target acceleration waveform based on the acceleration amplitude, the hardware parameters of the linear motor and the target acceleration waveform;
the displacement compensation voltage obtaining module is used for obtaining a displacement compensation voltage based on the current voltage, the current and the frequency adjustment coefficient;
the speed compensation voltage obtaining module is used for obtaining a speed compensation voltage based on the current voltage, the current and the frequency adjustment coefficient;
an actual voltage obtaining module, configured to obtain an actual voltage based on the equivalent voltage, the displacement compensation voltage, and the velocity compensation voltage;
a motor control module for controlling the linear motor to vibrate based on the actual voltage;
the displacement compensation voltage obtaining module is specifically configured to obtain a current speed of the vibrator based on the current voltage and the current; deriving the current speed of the vibrator to obtain the current acceleration; acquiring current displacement based on the current speed, the current acceleration and the current of the vibrator; obtaining a displacement compensation voltage based on the current displacement, the frequency adjustment coefficient and a fourth preset formula;
the fourth preset formula is:
wherein u is cx (t) is the displacement compensation voltage, bl is the magnetic field intensity, R is the coil direct current resistance, k ω Adjusting a coefficient for the frequency;
the speed compensation voltage obtaining module is specifically configured to obtain a current speed of the vibrator based on the current voltage and the current; obtaining a speed compensation voltage based on the current speed, the frequency adjustment coefficient and a fifth preset formula;
the fifth preset formula is:
wherein u is cv (t) is the speed compensation voltage, bl is the magnetic field intensity, R is the damping coefficient, R is the coil direct current resistance, k ω For the frequency adjustment coefficient, v (t) is the current speed of the vibrator, and k is the spring stiffness coefficient;
the actual voltage obtaining module is specifically configured to use the sum of the equivalent voltage, the displacement compensation voltage and the velocity compensation voltage as the actual voltage.
6. An electronic device, comprising:
a linear motor;
the driving module is connected with the linear motor and is used for providing driving voltage for the linear motor so as to drive the vibration unit to vibrate; and
the voltage and current detection module is used for detecting the current and the current voltage of the linear motor;
a processing module connected to the voltage and current detection module and the driving module, respectively, for performing the control method of the linear motor according to any one of claims 1 to 4.
7. A computer-readable storage medium, wherein a control program of a linear motor is stored thereon, which when executed by a processor, implements the control method of a linear motor according to any one of claims 1 to 4.
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