47results about "Linear DC motor control" patented technology

The invention discloses a high-precision linear vibration feedback motor system, and relates to the technical field of precise electromagnetic driving, and the system comprises a core driving module which is a moving magnet type linear motor of a Halbach array magnetic circuit structure, and is integrated with a multi-physics field sensing unit; the dynamic parameter tracking module is used for acquiring a reed rigidity coefficient, a damping coefficient and a magnetic constant in real time when the motor runs, and establishing a dynamic displacement model based on a recursive least square method; a double-closed-loop control framework is adopted, an inner loop adopts field-oriented control, and an outer loop is based on model prediction control; the aging prediction unit activates a temperature rise compensation algorithm when the accumulated number of vibration times is greater than a set threshold value; the self-adaptive calibration engine is used for injecting a sweep frequency excitation signal when the system is started, and automatically compensating individual difference parameters according to the harmonic peak offset; and the digital twin mapping unit is used for establishing a real-time mapping relationship between the physical parameters of the motor and the virtual model, and dynamically correcting the model parameters by comparing the actual displacement with the model displacement.

The invention discloses a real-time compensation control method and system for thrust fluctuation of a linear motor, and belongs to the technical field of linear motors, and the method comprises the steps: collecting a hybrid fluctuation source in the operation process of the linear motor, splitting the hybrid fluctuation source, and generating independent geometric nonlinear fluctuation signals; further screening the mixed fluctuation source, screening out a non-geometric nonlinear fluctuation signal, and preprocessing the non-geometric nonlinear fluctuation signal; establishing an independent compensation strategy, and respectively performing targeted compensation on geometric nonlinear fluctuation and non-geometric nonlinear fluctuation; and establishing a feed-forward compensation network, inputting the compensation strategy into the feed-forward compensation network, predicting a fluctuation component, and performing pre-compensation processing in advance. In the implementation process of the technical scheme provided by the invention, the pertinence and effectiveness of a compensation strategy are ensured through precise splitting and preprocessing of the hybrid fluctuation source, and meanwhile, the compensation amount is adjusted in real time by using the prediction function of the feedforward compensation network, the thrust fluctuation is remarkably reduced, and the operation stability of the linear motor is improved.

The invention relates to the technical field of motor control, and discloses a chip mounter Z-axis linear motor module end-process force control method, a driver, a medium and a method, and the method comprises the following steps: S1, after a preset end-process position is reached, motor control is switched from position loop control to speed loop control, so that a motor keeps uniform motion; s2, monitoring whether a real-time current value fed back by the motor reaches a threshold current Iset1 or not and maintaining the real-time current value for a preset time length; s3, if the real-time current value reaches Iset1 and is maintained for a preset time length, continuously monitoring whether the real-time current value reaches a threshold current Iset2 and is maintained for a preset time length; and S4, if the real-time current value reaches Iset2 and is maintained for a preset time length, judging that collision occurs. According to the scheme, the speed ring is adopted to control the motor to move at a constant speed to carry out precise force control, meanwhile, the dynamic current threshold value is set to carry out two times of collision detection, collision detection is achieved while force control is carried out, a sensor does not need to be additionally used, and the requirements for mounting precision and compact structure are met.

The invention provides a motor driving voltage adjusting method and device, electronic equipment and a program product, and relates to the technical field of terminal equipment, and the method comprises the steps: collecting a vibration signal of a time domain through a sensor on the electronic equipment when a motor on the electronic equipment vibrates, converting the vibration signal of the time domain into a vibration signal of a frequency domain through Fourier transform, and outputting the vibration signal of the frequency domain; according to the method, the noise signal is decomposed into components with different frequencies, then the vibration signal in the frequency domain is filtered to obtain the filtered vibration signal, and the components with different frequencies can be conveniently filtered by the vibration signal in the frequency domain, so that the components of the noise signal can be selectively filtered, and the filtered vibration signal can be understood as a real vibration signal of the motor. And then voltage regulation is carried out according to the real vibration signal of the motor, namely the filtered vibration signal, and if the filtered vibration signal does not meet the preset vibration condition, the driving voltage of the motor is regulated, so that accurate control on the motor is realized, and the original control effect is maintained.

The invention discloses a high-precision closed-loop force control linear rotating motor and a force control method thereof, and relates to the technical field of motors, the linear rotating motor comprises a shell, a linear motor, a rotating output shaft part, a constant force spring device, a force sensor and a controller, the rotary output shaft part comprises a rotary motor, a rotary connecting piece and an output rotating shaft, and can realize composite motion of axial reciprocating and angular rotation; the constant-force spring device provides constant balance force in the linear direction to compensate for gravity loads. The force sensor detects output thrust in real time and generates a feedback signal; the controller performs closed-loop force control adjustment according to the feedback signal; according to the motor, through the built-in high-precision force sensor and the constant-force spring structure, high-precision, low-force-value and stable force control performance is achieved, output fluctuation can be effectively reduced, and the system response speed and control precision can be improved.

The invention discloses a driving waveform gain adjustment method and device, a controller, a chip and electronic equipment. The method comprises the following steps: acquiring a battery voltage; comparing the battery voltage with a predetermined total voltage protection threshold value; under the condition that the battery voltage is lower than the total voltage protection threshold value, the gain of a driving waveform output to a linear motor is adjusted according to the battery voltage and a preset gain and voltage mapping relation; wherein the gain and voltage mapping relation defines a corresponding rule between a battery voltage interval below the total voltage protection threshold value and the driving waveform gain. According to the invention, the driving current peak value can be actively inhibited when the battery voltage is low, so that the collapse of a system power supply network caused by the impact of a large load current is avoided, the technical problem that the system is easy to reset or crashed under a low electric quantity is effectively solved, and the power supply integrity, stability and reliability of the electronic equipment are remarkably improved.

A valve control system and method can include: a control logic configured to couple to a conductor and to a movable mechanism such that a back electromotive force (BEMF) peak is created within the conductor based on the movable mechanism being moved, the control logic further configured to: apply a control voltage to the conductor; detect the BEMF peak; determine a peak timing for the BEMF peak, and adjust a control voltage timing for the control voltage based on the peak timing.

The invention discloses a high-precision linear motion direct-current driving system for spaceflight and a control method of the high-precision linear motion direct-current driving system, and relates to the technical field of spacecraft attitude driving control. The high-precision linear motion direct current driving control method for spaceflight comprises the steps of linear direct current motor response aging judgment, spacecraft driving load evaluation and spacecraft driving signal optimization. According to the method, the driving load influence evaluation requirement is determined through command signal response timeliness judgment, if the driving load influence evaluation requirement does not exist, the spacecraft attitude adjustment process continues to be monitored, otherwise, the driving load optimization requirement continues to be determined, and finally if the driving load optimization requirement exists, the oscillation signal influence quantification requirement continues to be determined. Otherwise, the oscillation signal optimization requirement is directly determined after the oscillation signal influences quantification, the spacecraft linear motion direct current driving stability is improved, and the problem that in the prior art, spacecraft linear motion direct current driving is not stable due to the spacecraft attitude adjustment load requirement difference is solved.

A conveying system (1) includes: a plurality of conveying path units (11A-11H) constituting a conveying path (10) for a conveying body to move, each of which includes a plurality of drive units that generate thrust for moving the conveying body by flowing current; and a controller (12) including a current command generator that generates current commands for controlling current flowing through the plurality of drive units. The plurality of conveying path units (11A-11H) each control the current flowing through the plurality of drive units in accordance with the current commands. The current command generator generates a current command that sets all of the plurality of drive units of each conveying path unit (11A-11H) as the target of current control in each control cycle when generating the current command.

A method may include receiving topology information associated with a linear motor system that includes multiple track modules. Each track module may include one or more motors. The topology information may include one or more media access control (MAC) addresses associated with the motors. The method may also include associating one or more IP addresses with the MAC addresses associated with the motors, generating a configuration file associated with the linear motor system based on the topology information and the IP addresses, and transmitting one or more commands to the motors to control or adjust one or more operations of the motors based on the configuration file.

The utility model discloses a control mechanism of a sliding massager, which relates to the field of massagers and comprises a frame body, a sliding rail arranged in the frame body, a sliding block arranged on the sliding rail and a connecting block fixed on the sliding block, the connecting block penetrates through a through groove arranged on the frame body and is fixedly provided with a massaging part, and the massaging part is fixed on the frame body. The massage head is assembled with the massage part; the belt displacement control mechanism is arranged in the frame body; the driving wheel and the driven wheel are arranged on the left side and the right side of the frame body, the transmission belt is in meshing transmission with the driving wheel and the driven wheel, and the transmission belt located below the sliding block penetrates through the sliding block, is fixedly connected with the sliding block and is used for driving the driving wheel to operate. The stroke and the speed of the massage part where the sliding block is located are controlled through the servo motor, so that various massage modes can be switched, and different parts of the body can be massaged to different degrees.

The invention discloses a linear motor calibration method and related equipment, which are applied to electronic equipment comprising a linear motor. Comprising the following steps: calibrating the linear motor through a first calibration frequency, and judging whether the linear motor is successfully calibrated at the first calibration frequency; if the first calibration frequency is successfully calibrated, driving the linear motor according to the first calibration frequency; determining a first target frequency based on the first calibration frequency, and storing the first target frequency; after driving the linear motor to vibrate for N periods according to the first calibration frequency, stopping driving the linear motor; calibrating the linear motor through the second calibration frequency, and judging whether the linear motor is successfully calibrated at the second calibration frequency; and if the calibration of the second calibration frequency fails, driving the linear motor according to the first target frequency. According to the embodiment of the invention, the driving frequency of the linear motor can be adaptively adjusted to improve the vibration effect of the linear motor, so that the user experience is improved.

The application relates to the technical field of electromagnetic driving, and discloses an electromagnetic driving device, a motor and a control method of the electromagnetic driving device.The electromagnetic driving device comprises a permanent magnet, at least two magnetic cores and at least two coils; the magnetic core has a C-shaped structure; the at least two magnetic cores are oppositely arranged, the openings are opposite, and a magnetic circuit space is formed around the end of the magnetic core; the permanent magnet is arranged in the magnetic circuit space, and the permanent magnet moves in the horizontal direction in the magnetic circuit space; and the at least two coils are wound on the at least two magnetic cores respectively.The application can realize higher energy density and efficiency, and the C-shaped structure of the magnetic core enables the magnetic core to be more compactly arranged, effectively utilizes the space, and thus reduces the overall size of the device.The application can also realize accurate control of the position of the permanent magnet by adjusting the magnetization state of the magnetic core.

This motor includes: coils (3a to 3i) of a plurality of electromagnetic actuators among which the values of one of an electric resistance and an induced voltage constant are different; a movable element (1) being a driven body driven by the coils (3a to 3i) of the electromagnetic actuators; and a current command value determination unit (23) that determines a command value of a current caused to flow through the coil of each of the electromagnetic actuators in order to control an operation of the movable element (1). The current command value determination unit (23) determines the current command value for the coil of each of the electromagnetic actuators, so as to minimize a total sum of copper losses occurring in the coils (3a to 3i) of the plurality of electromagnetic actuators, on the basis of the values of the one of the electric resistance and the induced voltage constant of the coils (3a to 3i) of the electromagnetic actuators.

The invention relates to the technical field of motor control, and discloses a sensorless position estimation method applied to a swing motor of an electric hair clipper, and the method comprises the following steps: firstly constructing a position current linear mapping model based on quasi-static physical field hypothesis; in the conduction driving stage, the current of the motor is sampled in real time and substituted into the model to calculate the swing angle, and the current error is utilized to judge whether the target maximum swing angle is reached or not; and in a reset stage after driving revocation, identifying the original point of the rotor by monitoring a back electromotive force zero crossing point. In addition, the method further comprises the steps of excitation starting and dual-current threshold safety self-checking. The electromechanical coupling model is simplified, complex differential operation is converted into simple algebraic calculation, the requirement for the computing power of the microcontroller is lowered, full-period position closed-loop control and fault protection are achieved in combination with starting self-inspection and back electromotive force detection, and the electromechanical coupling control method has the advantages of being low in cost, high in real-time performance and high in reliability.

The invention relates to the technical field of planar motors, and provides a transition module for a planar motor system, a control method of the transition module and the planar motor system.The planar motor system comprises a stator platform formed by splicing a plurality of stators and a rotor running above the stator platform in a suspended mode, and a through hole is formed in the stator platform in the thickness direction; the transition module is arranged below the through hole and comprises a driving part and a transition plate, the driving part is connected with the transition plate, the transition plate can be driven by the driving part to ascend and descend in the direction close to or away from the through hole, and a transition coil array is arranged on the side, close to the through hole, of the transition plate. The position of the transition module can be adjusted along with the change of the position of the through hole in the stator, the flexibility is high, the response speed is high, and under the scene that the vacant position of the through hole in the stator is frequently changed, compared with changing of the path of the rotor, the arrangement of the transition module can save time, improve efficiency and reduce cost.

This disclosure provides a method, apparatus, and actuator driving system for generating a drive waveform. The method includes: calibrating the actuator's reference sampling rate based on the actuator's actual and ideal resonant frequencies to obtain a calibrated sampling rate; performing data acquisition based on the calibrated sampling rate to obtain various drive data; performing linear interpolation on each drive data based on the reference sampling rate to obtain interpolated data; and converting the interpolated data into a drive waveform for the actuator. Therefore, this disclosure generates a drive waveform with a fixed frequency based on the coordinated operation of frequency conversion sampling and linear interpolation, enabling adaptive frequency calibration of the drive waveform without adjusting the oscillator frequency, thereby improving the actuator's vibration performance.

The invention relates to the technical field of magnetic suspension systems, and particularly discloses a magnetic suspension rotor speed control system based on a neural network, which comprises an embedded controller, an instruction unit, a speed unit, an execution unit, a judgment unit and a control unit, the control unit adaptively adjusts PID parameters through a BP neural network, performs speed adjustment and updating in real time, then enters the execution unit for actual execution verification, judges whether to enter the speed unit again through the judgment unit, and performs a new round of execution verification and recursive execution until the judgment unit meets the requirements. The method is applied to the field of magnetic suspension rotor speed control, overcomes the defects that parameters in a conventional PID controller adopted in a control system of a magnetic suspension rotor are difficult to adjust, and the parameters are fixed and are difficult to face a complex time-varying system, automatically sets the parameters of the PID controller by adopting the self-learning capability of a BP neural network, adaptively adjusts the PID parameters, and improves the speed of the magnetic suspension rotor. And the robustness and reliability of the control system are improved.

A conveyance system includes a plurality of conveyance path units constituting a conveyance path on which a conveyance body moves. Each of the plurality of conveyance path units includes: a linear motor (21) including one or more coils (20) for generating, by applying current, thrust for moving the conveyance body; and a current control unit (22) including a plurality of current control devices (26) and a current control unit (32) for controlling each current control device (26). Each current control device (26) is connected to a coil (20) and controls the current flowing through the coil (20). The current control unit (32) acquires, from the linear motor (21), information indicating the configuration of the linear motor (21) and, on the basis of the acquired information, selects, from among the plurality of current control devices (26) of the current control unit (22), a current control device (26) that will control the current flowing through the one or more coils (20) of the linear motor unit (21).

The invention provides a camera motor driving circuit, a driving chip, a camera module and electronic equipment, and the camera motor driving circuit comprises a control module which is used for outputting a control signal according to the received motor stroke control data; the motor driving module is used for outputting a driving signal according to the control signal so as to drive a camera motor; wherein in at least one period of the driving signal, the driving signal has a plurality of pulses, and the pulse amplitudes of at least two pulses are not equal. The power consumption and the generated heat in the control process of the camera motor can be reduced.

The utility model provides a control circuit and an electric toothbrush, which are applied to the electric toothbrush, and the control circuit comprises a power supply circuit, an information acquisition circuit, a motor driving circuit, a main control circuit, a pressure sensing lamp circuit and a Bluetooth communication circuit. The operation state of the electric toothbrush is monitored in real time, the operation state comprises the pressure applied during tooth brushing, when it is detected that the pressure exceeds the safety threshold value, a user is prompted to adjust the force through tactile feedback and optical warning, and gingival injury and tooth hard tissue abrasion caused by excessive pressure are avoided. Meanwhile, a motor driving circuit is adopted to drive a motor to form sound wave vibration, so that water flow and toothpaste foam form micro jet flow which permeates into blind areas such as tooth slits and gingival sulcus which are difficult to cover by a traditional vibration type scheme, the dental plaque removal rate is increased, and the risk of caries and periodontal diseases is reduced. In addition, the operation state information of the electric toothbrush is synchronized to the mobile terminal through the Bluetooth communication circuit, and the user is helped to establish a scientific tooth brushing habit.

The embodiments of the present application provide a method and device for generating a driving waveform, a storage medium, and an electronic device. The method includes: storing a received instruction data packet in a local storage unit, wherein the instruction data packet at least includes a waveform pattern describing a driving waveform and corresponding playback parameters, and the driving waveform represents the tactile effect of the linear motor; reading the instruction data packet from the local storage unit to obtain the current waveform pattern according to the received playback request; reading the current playback parameters that have a mapping relationship with the current waveform pattern from the local storage unit, and generating a playback instruction for the current driving waveform; based on the playback instruction of the current driving waveform, generating and outputting the current driving waveform. In this way, the demand for bus bandwidth is reduced by reducing the amount of waveform data transmitted, and the current driving waveform of multiple pattern waveform slices is generated according to the instruction data packet, so as to realize the combination and splicing of driving waveforms of various waveform patterns, thereby improving the freedom and flexibility of generating the driving waveform.

The invention relates to a linear motor transducer. The linear motor transducer comprises a driving vibration unit, a control and energy supply unit and a pressure balance unit which are sequentially arranged in the axial direction. The drive vibration unit includes: a head housing; the linear motor is arranged in the head shell; the front cover plate is connected with a rotor of the linear motor, so that the front cover plate can move along with the rotor; the front cover plate is formed by bonding a pressing ring, a rubber ring and a radiation cover plate through a vulcanization process. The linear motor is used as a driving source, the vibration frequency and displacement of the radiation surface can be accurately controlled, and the current actual frequency and vibration displacement can be mastered in real time.

The utility model provides a control circuit and an electric toothbrush, which are applied to the electric toothbrush, and the control circuit comprises a power supply circuit, a pressure sensing circuit, a motor driving circuit, a main control circuit and a pressure sensing lamp circuit. The pressure sensing circuit is arranged to monitor the pressure applied during tooth brushing in real time, when it is detected that the pressure exceeds the safety threshold value, the main control circuit triggers the motor to enter the preset overpressure mode on one hand and triggers the pressure sensing lamp circuit to give out the warning light effect on the other hand, in the process, a user is prompted to adjust the force through tactile feedback and optical warning, and the user experience is improved. Gingival injury and tooth hard tissue abrasion caused by excessive pressure application are avoided. Meanwhile, a motor driving circuit is adopted to drive a motor to form sound wave vibration, so that water flow and toothpaste foam form micro jet flow which permeates into blind areas such as tooth slits and gingival sulcus which are difficult to cover by a traditional vibration type scheme, the dental plaque removal rate is increased, and the risk of caries and periodontal diseases is reduced.

The invention relates to the technical field of electromagnetic vibrators, and discloses an electromagnetic vibrator SPWM (sinusoidal pulse width modulation) control method, which comprises the following steps: S1, building a control system: the control system comprises an MCU (microprogrammed control unit) control module, the MCU control module is connected with a FLASH module and a CPLD (complex programmable logic device) editor, the MCU control module is connected with the CPLD editor through an SPI (serial peripheral interface) module, and the MCU control module is connected with the CPLD editor; the MCU control module is provided with a CAN interface module used for receiving a control instruction and a UART communication module used for outputting information. A closed-loop feedback control mode is adopted, and the defects that the actual amplitude of a vibration tray of the vibrator cannot be judged, the amplitude of the vibration tray of the vibrator cannot be accurately adjusted, and the discharging speed and the yield cannot be judged due to the fact that no feedback exists in open-loop control of a traditional vibrator are overcome. The amplitude of the vibrator can be adjusted, a vibrator tray can be adjusted, and discharging can be accurately controlled; and an SPWM control mode is adopted, so that the current of the vibrator tends to be in a sine wave form, the ascending and descending processes become slow, the jumping phenomenon of materials on the tray is reduced, and the discharging effect is improved.

The invention discloses a push rod motor stretching in-place judgment method and a judgment system thereof, which are used for judging the in-place of a push rod motor by detecting the current of the push rod motor and acquiring, detecting and judging the change so as to realize the in-place stop execution control of the push rod motor. A Hall sensor does not need to be installed in the push rod motor, wiring and wire outgoing in the push rod motor are simple, an in-place sensor does not need to be additionally arranged on the whole vehicle structure, and the structure is simple. Whether the collected current of the push rod motor under different conditions meets the judgment condition mode that I is equal to 0A or not is judged through sampling detection, and then corresponding different control modes are executed, so that the situation that the electric push rod under different electric quantities of a power supply is different in unfolding or stretching time can be avoided; and the situation that the electric push rod is different in unfolding or stretching time due to different weights of the frame can be better avoided, and whether the push rod motor stretches in place or not can be better judged by directly judging a set fixed current judgment value.

The embodiment of the present application discloses a position tracking method for a linear direct drive motor. The method comprises: obtaining an error state prediction model and an input state prediction model pre-constructed for the linear direct drive motor, and determining a control law parameter solution space of a control law with respect to an error state, wherein the control law is a parameter to be determined in the error state prediction model and the input state prediction model; for each constraint term based on the linear direct drive motor, determining a target model corresponding to the constraint term in the error state prediction model and the input state prediction model, and determining a function expression of the constraint term based on the target model; and determining a target parameter of the control law from the control law parameter solution space based on all the determined function expressions, so as to track the position of the linear direct drive motor based on the target parameter. The technical scheme of the embodiment of the present application can improve the flexibility of position tracking of the linear direct drive motor.

The invention relates to a sensorless adaptive valve control system. A valve control system and method may include control logic configured to couple to a conductor and a movable mechanism such that a back electromotive force (BEMF) peak is generated within the conductor based on movement of the movable mechanism, the control logic further configured to: apply a control voltage to the conductor; detecting a BEMF peak value; determining a peak timing of the BEMF peak; and adjusting a control voltage timing of the control voltage based on the peak timing.

The invention discloses a linear motor thrust ripple feedforward suppression system based on disturbance energy observation, and belongs to the field of linear motor control, the system calculates disturbance energy caused by thrust ripple by electromagnetic energy, load consumption energy and rotor kinetic energy variation according to an energy balance relation in a control period; calculating equivalent disturbance current according to the disturbance energy and the rotor speed; and finally, superposing the disturbance current and the collected bus current to generate a synthetic current, and injecting the synthetic current into the linear motor in a feedforward manner. According to the invention, the use of inductors, capacitors and other devices is avoided, so that the circuit design is simplified, the size, weight and cost of the system are reduced, and the stability and reliability of the system are improved. In addition, through a feedforward control method, bandwidth limitation and response lag caused by a PID controller are avoided, the dynamic response speed and the adjustment precision of the system are remarkably improved, the motor control performance is improved, and the overall efficiency of the system is improved.

Systems and methods for optimizing complex impedance in brushless direct current (BLDC) motors are disclosed. In some examples, a stator coil is formed for a BLDC motor comprising a control system and a rotor comprising a vessel mover disposed proximate the stator coil and comprising a magnetic structure. The stator coil comprises a winding comprising layers interconnected by intra-coil vias to form a conductive path. The winding comprises first variations between the layers. A complex impedance of the stator coil and whether constraints of the control system are satisfied based on the complex impedance are determined. Second variations are introduced between the layers, or the first variations are modified, when the constraints are not satisfied. The stator coil is then driven by injecting a control signal with the control system to the conductive path to energize the stator coil and thereby commutate the BLDC motor, when the constraints are satisfied.