Method and apparatus for braking a linear motor

Abstract

The application discloses a braking method and device of a linear motor, comprising the following steps: when a braking condition is met, amplitude-phase detection is performed on a vibrator of the linear motor to determine amplitude-phase information; a gain coefficient is determined according to the amplitude-phase information; a braking current is determined by using the gain coefficient and a preset braking waveform function; the braking current is input to the linear motor to brake the linear motor; during the braking process, the amplitude-phase information and the gain coefficient of the linear motor are determined by one-time amplitude-phase detection, the braking current in the form of a full-drive signal is determined by using the gain coefficient and the braking waveform function; and the braking current is input to the linear motor to realize full-cycle braking, thereby improving the braking efficiency of the linear motor.

Description

Technical Field

[0001] This invention relates to the field of electronic technology, and in particular to a braking method and apparatus for a linear motor. Background Technology

[0002] A linear motor, also known as a linear actuator, is a transmission device that converts electrical energy into mechanical energy in the form of linear motion. Linear motors are currently widely used in electronic devices such as mobile phones, tablets, and game controllers, primarily responsible for providing tactile feedback in human-computer interaction environments.

[0003] The drive current of a linear motor is typically a periodically changing current. Therefore, under the influence of electromagnetic induction, the oscillator of the linear motor experiences a periodically changing electromagnetic force, thus performing a linear reciprocating motion. When the linear motor needs to stop, a drive current (or braking current) with an opposite phase is input, so that the oscillator is subjected to a reverse electromagnetic force, thereby achieving rapid braking.

[0004] In existing technologies, accurately applying the reverse electromagnetic force requires real-time detection of the oscillator's amplitude and phase to determine the braking current value. However, detecting the oscillator's amplitude and phase and inputting the braking current must share the same drive channel, meaning they cannot be performed simultaneously. Therefore, existing technologies typically require amplitude and phase detection of the oscillator during one half-cycle and inputting the braking current during the other half-cycle for braking. In other words, braking in existing technologies is a half-cycle braking method, resulting in relatively low braking efficiency and a longer braking time. Summary of the Invention

[0005] This invention provides a braking method and apparatus for a linear motor to achieve full-cycle braking.

[0006] In a first aspect, the present invention provides a braking method for a linear motor, comprising:

[0007] When braking conditions are met, the amplitude and phase of the linear motor oscillator are detected to determine the amplitude and phase information.

[0008] The gain coefficient is determined based on the amplitude and phase information;

[0009] The braking current is determined using the gain coefficient and the preset braking waveform function;

[0010] The braking current is input to the linear motor to brake the linear motor.

[0011] Preferably, the step of performing amplitude and phase detection on the oscillator of the linear motor to determine amplitude and phase information includes:

[0012] The amplitude and phase of the oscillator of the linear motor are detected using an analog-to-digital converter to determine the trend of the oscillator's acceleration when it reaches a reference value, as well as the maximum value of the acceleration.

[0013] The trend of acceleration and the maximum value of acceleration are used as the amplitude and phase information.

[0014] Preferably, determining the gain coefficient based on the amplitude and phase information includes:

[0015] The positive or negative value of the gain coefficient is determined based on the trend of the acceleration change;

[0016] The absolute value of the gain coefficient is determined based on the maximum value of the acceleration.

[0017] Preferably, it also includes: determining braking maintenance parameters;

[0018] The step of determining the absolute value of the gain coefficient based on the maximum value of the acceleration includes: determining the absolute value of the gain coefficient based on the maximum value of the acceleration and the braking maintenance parameter.

[0019] Preferred options also include:

[0020] The braking waveform function is determined based on the performance parameters of the linear motor.

[0021] Preferably, determining the braking waveform function based on the performance parameters of the linear motor includes:

[0022] u(t)=A*v(t)

[0023] Where u(t) represents the braking waveform function, A represents the performance parameters of the linear motor, v(t) represents the equivalent exponential sine function of the linear motor, and t represents the time variable.

[0024] Preferably, inputting the braking current to the linear motor includes:

[0025] Determine the moment when the acceleration of the oscillator reaches the reference value;

[0026] The input time of the braking current is determined based on the time when the acceleration reaches the reference value.

[0027] At the moment the braking current is input, the braking current is input to the linear motor.

[0028] In a second aspect, the present invention provides a braking device for a linear motor, comprising:

[0029] The amplitude and phase information determination module is used to detect the amplitude and phase of the oscillator of the linear motor when the braking conditions are met, so as to determine the amplitude and phase information.

[0030] A gain coefficient determination module is used to determine the gain coefficient based on the amplitude and phase information;

[0031] The braking current determination module is used to determine the braking current using the gain coefficient and a preset braking waveform function;

[0032] A braking current input module is used to input the braking current into the linear motor so as to brake the linear motor.

[0033] Thirdly, the present invention provides a readable medium including executable instructions, which, when executed by a processor of an electronic device, cause the electronic device to perform any of the methods described in the first aspect.

[0034] Fourthly, the present invention provides an electronic device including a processor and a memory storing execution instructions, wherein when the processor executes the execution instructions stored in the memory, the processor performs the method as described in any of the first aspects.

[0035] This invention provides a braking method and apparatus for a linear motor. During the braking process, the amplitude and phase information and gain coefficient of the linear motor are determined by a single amplitude and phase detection. The braking current in the form of a full-drive signal is determined using the gain coefficient and the braking waveform function. The braking current is input to the linear motor to achieve full-cycle braking, thereby improving the braking efficiency of the linear motor.

[0036] The further effects of the aforementioned non-conventional preferred method will be explained below in conjunction with specific embodiments. Attached Figure Description

[0037] To more clearly illustrate the embodiments of the present invention or the existing technical solutions, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of a half-drive signal in the prior art;

[0039] Figure 2 This is a schematic flowchart illustrating a braking method for a linear motor according to an embodiment of the present invention.

[0040] Figure 3 This is a schematic diagram illustrating the detection of oscillator amplitude and phase information in a braking method for a linear motor according to an embodiment of the present invention.

[0041] Figure 4This is a schematic diagram of the driving signal and braking current in a braking method for a linear motor according to an embodiment of the present invention;

[0042] Figure 5 A schematic flowchart of another braking method for a linear motor provided in an embodiment of the present invention;

[0043] Figure 6 A schematic diagram of the structure of a braking device for a linear motor provided in an embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0046] The drive current of a linear motor is typically a periodically changing current. Therefore, under the influence of electromagnetic induction, the oscillator of the linear motor experiences a periodically changing electromagnetic force, thus performing a linear reciprocating motion. When the linear motor needs to stop, a drive current (or braking current) with an opposite phase is input, so that the oscillator is subjected to a reverse electromagnetic force, thereby achieving rapid braking.

[0047] In existing technologies, accurately applying the reverse electromagnetic force requires real-time detection of the oscillator's amplitude and phase to determine the braking current value. Amplitude and phase detection includes detecting both the oscillator's amplitude and phase. Generally, the oscillator's back electromotive force (BEMF) can be detected to determine the moment and direction of the oscillator's acceleration curve crossing the zero point. This determines the absolute value and sign of the braking current. The braking current can be in the form of a half-drive signal. Periodically adjusting the braking current value ensures that the electromagnetic force on the oscillator is always opposite to the direction of acceleration, thus completing the braking of the oscillator.

[0048] BEMF detection and braking current input require sharing the same drive channel, meaning they cannot be performed simultaneously. Therefore, existing technologies typically require BEMF detection during one half-cycle and braking current input during the other half-cycle. For example... Figure 1 As shown, during the half-cycle when the oscillator acceleration is positive, 1 / 4 of the cycle time is needed to detect BEMF. Figure 1The braking current in the circuit is a square wave signal for half-drive, so the absolute value, sign, and duration of the next input braking current can be determined based on the BEMF detection results. The braking current can be input according to this result for the remaining 1 / 4 cycle. The same applies to the half-cycle when the oscillator acceleration is negative.

[0049] It is evident that with current technology providing a half-drive signal, effective braking is achieved only for half the entire cycle, with the other half used for detection. This method can be termed half-cycle braking. In practice, it has been found that half-cycle braking typically requires 4 to 6 cycles to complete. Clearly, half-cycle braking has relatively low efficiency and requires a long braking time.

[0050] In contrast to half-cycle braking, full-cycle braking uses a full-drive signal for the braking current input during the braking process. Therefore, full-cycle braking can effectively brake throughout almost the entire cycle, thus improving braking efficiency. However, existing technologies lack a full-cycle braking method specifically for linear motors.

[0051] In view of this, the present invention provides a braking method for a linear motor. See also Figure 2 The image shows a specific embodiment of the braking method for a linear motor provided by the present invention. In this embodiment, the method includes:

[0052] Step 201: When the braking conditions are met, the amplitude and phase of the linear motor oscillator are detected to determine the amplitude and phase information.

[0053] When the linear motor completes its normal operation and needs to stop, the braking condition is considered met. At this point, the linear motor can be braked to stop its oscillator as quickly as possible. To ensure accurate input of the braking current during braking, the method in this embodiment also requires amplitude and phase detection of the oscillator. Unlike existing technologies, this embodiment only performs amplitude and phase detection once when the braking condition is met, i.e., at the beginning of the linear motor's operation; subsequent amplitude and phase detection is not performed. This is a prerequisite for achieving full-cycle braking in this embodiment.

[0054] In this embodiment, an analog-to-digital converter (ADC) can be used to detect the back electromotive force (BEMF) of the oscillator, thereby achieving amplitude and phase detection of the oscillator and obtaining its amplitude and phase information. This amplitude and phase information includes both the amplitude and phase of the oscillator. Specifically, in the first (or first few) cycles after the linear motor's work task is completed, the ADC can be used to perform amplitude and phase detection on the linear motor's oscillator to determine the trend of the oscillator's acceleration when it reaches a reference value (representing the oscillator's phase) and the maximum acceleration value (representing the oscillator's amplitude). This acceleration trend and maximum value can be used as the amplitude and phase information. Figure 3 As shown.

[0055] Figure 3 The sine curve in the figure represents the change in the acceleration of the oscillator during the operation of the linear motor. The acceleration of the oscillator reaching a reference value is reflected in... Figure 3 This refers to the case where the acceleration curve passes through the zero point (the horizontal axis). In other words, this reference value is 0. It can be seen that the acceleration curve passing through the zero point can be divided into two cases: "from top to bottom" and "from bottom to top." Figure 3 Taking point A as an example, the acceleration at point A gradually decreases from a positive value, becoming negative after passing the zero point, meaning it passes the zero point from top to bottom. Similarly, point B passes the zero point from bottom to top. The direction of the acceleration curve passing the zero point is the so-called trend of acceleration when it reaches the reference value.

[0056] Understandably, this trend will determine the phase of the braking current, or in other words, the sign of the braking current at a specific moment. The sign of the braking current should always be opposite to the sign of the acceleration, thus ensuring that the electromagnetic force it generates is an anti-magnetic force, achieving a braking effect (rather than a driving effect).

[0057] Furthermore, the maximum value of the acceleration is equivalent to Figure 3 The amplitude of the sine wave is a key indicator. This amplitude reflects the amount of kinetic energy carried by the oscillator. A larger amplitude requires a greater braking force, which in turn necessitates a higher braking current. Therefore, the maximum acceleration is correlated with the absolute value of the braking current.

[0058] exist Figure 3In this example, we assume the linear motor's operation ends at point P. At point A, after point P, the acceleration curve first crosses the zero point. In some cases, the ADC can start immediately after point P and complete the amplitude and phase detection of the oscillator near point A. In other cases, because points P and A are close, the ADC may not have enough time to complete the amplitude and phase detection at point A. In this embodiment, we assume the ADC starts at point C, so it should complete the amplitude and phase detection of the oscillator near the first "crossing the zero point," which is point B.

[0059] Furthermore, the ADC can either begin amplitude and phase detection of the oscillator directly at point B, or it can delay the detection for a certain period after point B is identified to avoid signal conflicts. For example, the detection can be delayed by f0 / 1024 seconds, where f0 is the resonant frequency of the oscillator. The ADC can use a frequency of 64MHz for sampling and detection to obtain amplitude and phase information. In this embodiment, the detection method of the ADC is not limited; any detection method that can achieve the same or similar function can be incorporated into the overall scheme of this embodiment.

[0060] Step 202: Determine the gain coefficient based on the amplitude and phase information.

[0061] As previously known, the amplitude-phase information includes the trend and maximum value of acceleration. The trend of acceleration affects the amplitude-phase of the braking current (the sign of the braking current at a specific moment), while the maximum value of acceleration affects the absolute value of the braking current. Therefore, the gain coefficient can be determined based on the amplitude-phase information. The gain coefficient is a coefficient used to adjust the final output braking current in this embodiment. In other words, the gain coefficient can adjust the amplitude-phase (positive or negative) and amplitude ratio of the braking current.

[0062] Specifically, the sign of the gain coefficient can be determined based on the trend of acceleration; the absolute value of the gain coefficient can be determined based on the maximum value of acceleration. In this embodiment, the gain coefficient can be represented as G.

[0063] It should also be noted that the absolute value of the gain coefficient is usually determined based on the maximum value of acceleration, with the aim of "achieving the fastest braking". However, in some cases, it may not be necessary to achieve the fastest braking, but rather to intentionally prolong the braking time to achieve certain special haptic feedback experiences. In this case, a separate braking maintenance parameter can be set; then, the absolute value of the gain coefficient is determined together with the maximum value of acceleration and the braking maintenance parameter. This allows for adjustment of the braking time length to achieve the desired haptic feedback experience. In this embodiment, the braking maintenance parameter can be represented as G'.

[0064] Step 203: Determine the braking current using the gain coefficient and the preset braking waveform function.

[0065] Since this embodiment only performs amplitude and phase detection on the oscillator once, and does not perform further amplitude and phase detection, it is necessary to use a preset braking waveform function to predetermine the waveform shape of the braking current. In other words, the basic shape of the braking current waveform will be consistent with the braking waveform function.

[0066] Following the steps outlined above, amplitude and phase information, as well as the gain coefficient, can be determined through a single amplitude and phase detection. The braking current is then determined based on the gain coefficient and the braking waveform function. In other words, the value of the gain coefficient can alter the amplitude of the braking waveform function, and the positive or negative value of the gain coefficient can cause the braking waveform function to be mirrored on the horizontal axis (time axis). However, the gain coefficient does not change the fundamental shape of the braking waveform function.

[0067] In this embodiment, the braking waveform function can be represented as u(t), where t represents the time variable. This embodiment does not limit the specific functional relationship of the braking waveform function; any functional relationship that can achieve the same or similar effect can be used as the braking waveform function in this embodiment. For example, the braking waveform function can be a sine function or other sine-like functions.

[0068] In this embodiment, the braking current can be expressed as U. Based on the above, the braking current determined by the gain coefficient and the braking waveform function is U = G*u(t). Furthermore, the braking current determined by the gain coefficient, braking maintenance parameters, and the braking waveform function is U = G*G'*u(t).

[0069] Step 204: Input braking current into the linear motor to brake the linear motor.

[0070] After determining the form of the braking current, the braking current can be input to the linear motor to brake it. For example... Figure 4 The diagram shows the drive signal and braking current input to the linear motor. The sinusoidal waveform to the left of the dashed line represents the drive current, and the waveform to the right of the dashed line represents the braking current. This is combined with the process of determining the braking current described above, and... Figure 4 As can be seen, the braking current determined in this embodiment is a continuously varying full-drive signal over time. Therefore, by inputting this full-drive signal to the linear motor to implement the braking current, full-cycle braking of the linear motor is achieved. In practice, it can be measured that braking can be completed in as little as 1 to 2 cycles during full-cycle braking, significantly improving braking efficiency.

[0071] It's also important to note that the sign of the braking current must always be opposite to the sign of the acceleration to generate a reverse electromagnetic force, thus achieving a braking effect. Conversely, if the signs of the braking current and acceleration are the same, not only will there be no braking effect, but it will also produce a driving effect. Therefore, the timing of the braking current input must be precise. For example, the timing of the braking current input can be determined as follows: determine when the oscillator's acceleration reaches a reference value; determine the input time of the braking current based on when the acceleration reaches the reference value; and input the braking current to the linear motor at the specified input time.

[0072] In other words, the moment when the oscillator acceleration first reaches the reference value after the braking conditions are met, i.e., the moment when the acceleration curve first crosses zero, can be used as the reference. In some cases, the braking current can be directly input at this moment.

[0073] As can be seen from the above technical solution, the beneficial effects of this embodiment are: during the braking process, the amplitude and phase information and gain coefficient of the linear motor are determined by a single amplitude and phase detection, and the braking current in the form of a full-drive signal is determined by using the gain coefficient and the braking waveform function; the braking current is input to the linear motor to achieve full-cycle braking, thereby improving the braking efficiency of the linear motor.

[0074] Figure 2 The embodiments shown are merely basic examples of the method described in this invention. Further optimization and extensions can lead to other preferred embodiments of the method.

[0075] like Figure 5 The image shows another specific embodiment of the braking method for a linear motor according to the present invention. This embodiment further describes the process of determining the braking waveform function based on the foregoing embodiments. In this embodiment, the method includes the following steps:

[0076] Step 501: Determine the braking waveform function based on the performance parameters of the linear motor.

[0077] The performance parameters of a linear motor involve a variety of specific parameters determined based on the characteristics of its components. In this field, these performance parameters can all be considered known values. The braking waveform function is a functional relationship determined by combining the performance parameters. In this embodiment, the braking waveform function can be specifically as follows:

[0078] u(t)=A*v(t)

[0079] Where u(t) represents the braking waveform function, A represents the performance parameter of the linear motor, v(t) represents the equivalent exponential sine function of the linear motor, and t represents the time variable. Typically, the performance parameter A depends on the performance of the components in the linear motor, and can be obtained through actual measurements of the linear motor or estimated empirically; in this embodiment, it can be considered a known value.

[0080] The equivalent exponential sine function v(t) is as follows:

[0081] v(t) = e ξt *sin(wt+α)

[0082] Where ξ represents the equivalent damping coefficient of the linear motor, w represents the natural frequency of the linear motor oscillator, and α represents the initial phase of the oscillator.

[0083] Based on the above calculation process, this embodiment realizes the determination of the braking waveform function according to the performance parameters of the linear motor.

[0084] Step 502: When the braking conditions are met, the amplitude and phase of the linear motor oscillator are detected to determine the amplitude and phase information.

[0085] Step 503: Determine the gain coefficient based on the amplitude and phase information; determine the braking current using the gain coefficient and the braking waveform function.

[0086] Step 504: Input braking current into the linear motor.

[0087] The content of steps 502 to 504 above is the same as that in the previous embodiment, and will not be repeated here.

[0088] like Figure 6 The image shows a specific embodiment of a braking device for a linear motor according to the present invention. The device described in this embodiment is used to perform... Figures 2-5 The physical apparatus of the method is essentially the same as that in the above embodiments, and the corresponding descriptions in the above embodiments also apply to this embodiment. The apparatus in this embodiment includes:

[0089] The amplitude and phase information determination module 601 is used to perform amplitude and phase detection on the oscillator of the linear motor when the braking conditions are met, so as to determine the amplitude and phase information.

[0090] The gain coefficient determination module 602 is used to determine the gain coefficient based on the amplitude and phase information.

[0091] The braking current determination module 603 is used to determine the braking current using the gain coefficient and a preset braking waveform function.

[0092] The braking current input module 604 is used to input braking current to the linear motor so as to brake the linear motor.

[0093] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include main memory, such as high-speed random-access memory (RAM), or it may also include non-volatile memory, such as at least one disk storage device. Of course, the electronic device may also include other hardware required for other services.

[0094] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 7 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0095] Memory is used to store instructions for execution. Specifically, instructions for execution are computer programs that can be executed. Memory can include main memory and non-volatile memory, and it provides the processor with execution instructions and data.

[0096] In one possible implementation, the processor reads the corresponding execution instructions from non-volatile memory into main memory and then executes them. Alternatively, it may obtain the corresponding execution instructions from other devices to form a braking device for the linear motor at the logical level. The processor executes the execution instructions stored in the memory to implement the braking method for the linear motor provided in any embodiment of the present invention.

[0097] The above is as described in the present invention. Figure 6The braking device of the linear motor provided in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor.

[0098] The steps of the method disclosed in the embodiments of this invention can be directly manifested as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0099] This invention also proposes a readable medium storing execution instructions. When these instructions are executed by a processor of an electronic device, the electronic device can perform the braking method of the linear motor provided in any embodiment of this invention, specifically for performing actions such as... Figure 2 or Figure 5 The method shown.

[0100] The electronic devices described in the foregoing embodiments may be computers.

[0101] Those skilled in the art will understand that embodiments of the present invention can be provided as methods or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or a combination of software and hardware.

[0102] The various embodiments in this invention are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0103] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0104] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A braking method for a linear motor, characterized in that, include: When braking conditions are met, the amplitude and phase of the linear motor oscillator are detected to determine the amplitude and phase information. The step of performing amplitude and phase detection on the oscillator of the linear motor to determine amplitude and phase information includes: using an analog-to-digital converter to perform amplitude and phase detection on the oscillator of the linear motor to determine the trend of the acceleration of the oscillator when it reaches a reference value, and the maximum value of the acceleration; and using the trend of the acceleration and the maximum value of the acceleration as the amplitude and phase information. The gain coefficient is determined based on the amplitude and phase information; The braking current is determined using the gain coefficient and the preset braking waveform function; The braking current is input to the linear motor to brake the linear motor.

2. The method according to claim 1, characterized in that, Determining the gain coefficient based on the amplitude and phase information includes: The positive or negative value of the gain coefficient is determined based on the trend of the acceleration change; The absolute value of the gain coefficient is determined based on the maximum value of the acceleration.

3. The method according to claim 2, characterized in that, Also includes: Determine the brake sustaining parameters; The step of determining the absolute value of the gain coefficient based on the maximum value of the acceleration includes: determining the absolute value of the gain coefficient based on the maximum value of the acceleration and the braking maintenance parameter.

4. The method according to claim 1, characterized in that, Also includes: The braking waveform function is determined based on the performance parameters of the linear motor.

5. The method according to claim 4, characterized in that, Determining the braking waveform function based on the performance parameters of the linear motor includes: Where u(t) represents the braking waveform function, A represents the performance parameters of the linear motor, v(t) represents the equivalent exponential sine function of the linear motor, and t represents the time variable.

6. The method according to any one of claims 1 to 5, characterized in that, The step of inputting the braking current into the linear motor includes: Determine the moment when the acceleration of the oscillator reaches the reference value; The input time of the braking current is determined based on the time when the acceleration reaches the reference value. At the moment the braking current is input, the braking current is input to the linear motor.

7. A braking device for a linear motor, characterized in that, include: The amplitude and phase information determination module is used to detect the amplitude and phase of the oscillator of the linear motor when the braking conditions are met, so as to determine the amplitude and phase information. The step of performing amplitude and phase detection on the oscillator of the linear motor to determine amplitude and phase information includes: using an analog-to-digital converter to perform amplitude and phase detection on the oscillator of the linear motor to determine the trend of the acceleration of the oscillator when it reaches a reference value, and the maximum value of the acceleration; and using the trend of the acceleration and the maximum value of the acceleration as the amplitude and phase information. A gain coefficient determination module is used to determine the gain coefficient based on the amplitude and phase information; The braking current determination module is used to determine the braking current using the gain coefficient and a preset braking waveform function; A braking current input module is used to input the braking current into the linear motor so as to brake the linear motor.

8. A computer-readable storage medium storing a computer program for performing a braking method for a linear motor according to any one of claims 1-6.

9. An electronic device, the electronic device comprising: processor; Memory used to store the processor's executable instructions; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the braking method of the linear motor according to any one of claims 1-6.

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