Voltage signal processing method of actuator, electronic equipment and storage medium

Abstract

The invention discloses a voltage signal processing method of an actuator, electronic equipment and a storage medium. The method comprises the following steps: obtaining the Nth measurement voltage of an actuator controlled by a pulse width modulation controller; n is an integer greater than 2; according to the Nth measurement voltage, the reference voltage of the actuator and the (N-m) th measurement voltage of the actuator, calculating a target duty ratio for adjusting the pulse width controller for the Nth time; m is an integer greater than or equal to 1; generating a control signal of the pulse width modulation controller according to the target duty ratio; and controlling the actuator to vibrate through the control signal. According to the embodiment of the invention, the actuator can be accurately controlled.

Description

Technical Field

[0001] The present application belongs to the field of computer technology, and more specifically, to a voltage signal processing method of an actuator, an electronic device, and a storage medium. Background Art

[0002] The actuator is an essential and important part of the automatic control system. Its function is to receive the control signal sent by the controller, change the size of the controlled medium, and thus maintain the controlled variable at the required value or within a certain range. The actuator needs to operate normally within a specific voltage range. Therefore, after the actuator is powered on, monitoring the voltage of the actuator and accurately controlling the voltage at both ends of the actuator will help maintain the stable operation of the actuator. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a voltage signal processing method of an actuator, an electronic device and a storage medium, which can accurately measure the voltage of the actuator.

[0004] In a first aspect, an embodiment of the present application provides a voltage signal processing method for an actuator, comprising: obtaining the Nth measured voltage of an actuator controlled by a pulse width modulation controller; N is an integer greater than 2; calculating the Nth adjustment of the target duty cycle of the pulse width controller based on the Nth measured voltage and the reference voltage of the actuator, and the Nmth measured voltage of the actuator; m is an integer greater than or equal to 1; generating a control signal of the pulse width modulation controller based on the target duty cycle; and controlling the vibration of the actuator through the control signal.

[0005] In one embodiment, the pulse width modulation controller outputs a first output signal and a second output signal; the output end of the first output signal is connected to a first driving module, a first inductor, and a first end of the actuator in sequence; the output end of the second output signal is connected to a second driving module, the first inductor, and a first end of the actuator in sequence; the first driving module is connected to a power supply, and the second driving module is grounded; the second end of the actuator is grounded.

[0006] In one embodiment, obtaining the Nth measured voltage of the actuator controlled by the pulse width modulation controller includes: obtaining the Nth measured voltage according to an output signal of a first analog-to-digital converter; the first analog-to-digital converter is connected to the first end through the limiting circuit.

[0007] In one embodiment, the pulse width modulation controller outputs a first output signal, a second output signal, a third output signal and a fourth output signal; the output end of the first output signal is connected to a third driving module, a second inductor and a first end of the actuator in sequence; the output end of the second output signal is connected to a fourth driving module, the second inductor and a first end of the actuator in sequence; the output end of the third output signal is connected to a fifth driving module and a second end of the actuator in sequence; the output end of the fourth output signal is connected to a sixth driving module and the second end in sequence; the third driving module and the fifth driving module are connected to a power supply, and the fourth driving module and the sixth driving module are grounded respectively.

[0008] In one implementation, the pulse width modulation controller outputs a first output signal, a second output signal, a third output signal and a fourth output signal; the output end of the first output signal is connected to a seventh drive module, a third inductor and a first end of the actuator in sequence; the output end of the second output signal is connected to an eighth drive module, the third inductor and a first end of the actuator in sequence; the output end of the third output signal is connected to a ninth drive module, a fourth inductor and a second end of the actuator in sequence; the output end of the fourth output signal is connected to a tenth drive module, the fourth inductor and the second end in sequence; the seventh drive module is connected to a power supply, and the eighth drive module and the tenth drive module are grounded respectively; and the ninth drive module is connected to a power supply.

[0009] In one embodiment, obtaining the Nth measured voltage of the actuator controlled by the pulse width modulation controller includes: obtaining the Nth measured voltage through a second analog-to-digital converter; the second analog-to-digital converter connects the first end and the second end through a differential-to-single-ended circuit and a limiting protection circuit in sequence.

[0010] In one embodiment, the pulse width modulation controller includes: a register, a digital comparator, a reset / set trigger and a selector; the register is connected to the digital comparator, the digital comparator is connected to the reset / set trigger, and the reset / set trigger is connected to the selector; the register is used to store the time when the pulse width modulation controller sends a control signal; the digital comparator is used to determine whether the current moment is consistent with the time stored in the register; the reset / set trigger is used to output a control signal when the digital comparator determines that the current moment is consistent with the time stored in the register; the selector is used to set one of a high level and a low level as a valid control signal.

[0011] In one embodiment, the calculating the target duty cycle of adjusting the pulse width controller for the Nth time based on the Nth measured voltage and the reference voltage of the actuator, and the Nmth measured voltage of the actuator, includes: determining a first error value between the Nth measured voltage and the reference voltage, and a second error value between the Nmth measured voltage and the reference voltage; determining the target duty cycle based on the first error value and the Nmth duty cycle; the Nmth duty cycle is obtained based on the second error value.

[0012] In a second aspect, an embodiment of the present application provides an electronic device, including a processor, wherein the processor is coupled to a memory, and the processor is used to execute a computer program or instruction stored in the memory so that the electronic device implements a method provided in any embodiment of the present application.

[0013] In a third aspect, an embodiment of the present application further provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute a method provided by any embodiment of the present application.

[0014] The voltage signal processing method, electronic device and storage medium of the actuator provided in the embodiment of the present application can adjust the target duty cycle of PWM according to the measured voltage obtained by measuring the voltage of the actuator multiple times and the reference voltage of the actuator, and the target duty cycle is used to control the proportion of high level in the control signal of PWM, so adjusting the target duty cycle can indirectly adjust the voltage of the actuator. By adjusting the voltage of the actuator, the amplitude of the actuator can be controlled, and the amplitude of the actuator has different requirements in different application scenarios. Accurate control of the amplitude of the actuator is conducive to better performance of the device and reduced energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 A schematic flow chart of a voltage signal processing method for an actuator provided in an embodiment of the present application; Figure 2 A schematic diagram of a circuit structure in an embodiment of the present application; Figure 3 This is another schematic diagram of a circuit structure in an embodiment of the present application; Figure 4 This is another schematic diagram of a circuit structure in an embodiment of the present application; Figure 5 A schematic diagram of the structure of PWM in an embodiment of the present application; Figure 6 A schematic diagram of the structure of the algorithm module of the embodiment of the present application; Figure 7 A schematic diagram of a device structure of an embodiment of the present application; Figure 8 This is another circuit structure schematic diagram of an embodiment of the present application. DETAILED DESCRIPTION

[0017] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0018] The present application provides a method for processing a voltage signal of an actuator, such as Figure 1 As shown, the process includes the following steps S11 to S14.

[0019] Step S11: obtaining the Nth measured voltage of the actuator controlled by the pulse width modulation controller; N is an integer greater than 2.

[0020] In the embodiment of the present application, the actuator is arranged in the pulse width modulation control circuit, and the actuator can vibrate according to the pulse control signal of the pulse width modulation controller (pulse width modulation, PWM). When the actuator vibrates, it can clean and remove dust from the environment or object where the actuator is arranged, or when the actuator vibrates, it can drive the air around the actuator to vibrate, thereby pushing the air out of a certain space to achieve the function of heat dissipation.

[0021] When the voltage of the actuator is measured multiple times, the Nth measured voltage obtained in step S11 is the voltage obtained after the first measurement when the voltage of the actuator is measured multiple times. When the voltage of the actuator is measured multiple times, the measurement can be performed at a certain time interval, or when a set signal is received. The set signal can be a signal obtained by calculating the previous measured voltage through an algorithm, or a signal generated by a signal sending module when an event is monitored. The above time interval can be, for example, a pre-set time interval or a cycle of a PWM controller.

[0022] In the embodiment of the present application, the actuator may be a piezoelectric actuator, which can utilize the inverse piezoelectric effect of piezoelectric materials to convert electrical energy into mechanical energy, thereby generating motion or displacement.

[0023] Step S12: Calculate the target duty cycle for adjusting the pulse width controller for the Nth time according to the Nth measured voltage and the reference voltage of the actuator, and the Nmth measured voltage of the actuator; m is an integer greater than or equal to 1.

[0024] When N is greater than 2, m may be an integer greater than 1. When N is equal to 2, m is an integer equal to 1. The PWM duty cycle may refer to the ratio of the time occupied by the high level (or "on" state) to the entire cycle time in a PWM cycle.

[0025] During the PWM signal cycle, changes in the duty cycle will cause changes in the duration of the high level. When the duty cycle is small, the high level duration is short, and the corresponding average voltage is relatively low; when the duty cycle is large, the high level duration is long, and the corresponding average voltage is relatively high. Therefore, there is a positive correlation between the PWM duty cycle and the actuator voltage. In other words, the larger the duty cycle, the higher the average voltage on the actuator; the smaller the duty cycle, the lower the average voltage. Therefore, by adjusting the duty cycle of the PWM, the voltage of the actuator can be controlled. The target duty cycle can refer to the duty cycle to which the PWM is to be adjusted.

[0026] Step S13: generating a control signal of the pulse width modulation controller according to the target duty cycle.

[0027] Step S13 may include: when the PWM is adjusted to the target duty cycle, the PWM outputs a control signal to the actuator. Alternatively, step S13 may include: adjusting the PWM to the target duty cycle to obtain a control signal for the PWM, in which case the control signal output by the PWM is a control signal generated after the duty cycle is adjusted.

[0028] Step S14: controlling the vibration of the actuator through the control signal.

[0029] When executing step S14, the voltage of the actuator can be indirectly controlled by the control signal, so that the voltage across the actuator is closer to the reference voltage of the actuator.

[0030] Through the signal control method provided in the embodiment of the present application, the target duty cycle of PWM can be adjusted according to the measured voltage obtained by measuring the voltage of the actuator multiple times and the reference voltage of the actuator, and the target duty cycle is used to control the proportion of high level in the control signal of PWM, so adjusting the target duty cycle can indirectly adjust the voltage of the actuator. By adjusting the voltage of the actuator, the amplitude of the actuator can be controlled, and the amplitude of the actuator has different requirements in different application scenarios. Accurate control of the amplitude of the actuator is conducive to better performance of the device and reduced energy consumption.

[0031] In one embodiment, Figure 2 As shown, the pulse width modulation controller outputs a first output signal and a second output signal; the output end of the first output signal is connected to the first driving module 28, the first inductor 21, and the first end of the actuator 22 in sequence; the output end of the second output signal is connected to the second driving module 29, the first inductor 21, and the first end of the actuator 22 in sequence; the first driving module 28 is connected to the power supply 27, and the second driving module 29 is grounded; the second end of the actuator 22 is grounded.

[0032] At the same time, one end of the first resistor 23 is connected between the actuator 22 and the first inductor 21, and the other end of the first resistor 23 is connected to the limit protection circuit 24, the first analog-to-digital converter 25 and the algorithm module 26 in sequence. The algorithm module 26 can be used to execute Figure 1 Steps shown.

[0033] In one embodiment, Figure 2 Based on the circuit shown, the Nth measurement voltage of the actuator controlled by the pulse width modulation controller is obtained, including: obtaining the Nth measurement voltage according to the output signal of the first analog-to-digital converter 25; the first analog-to-digital converter 25 is connected to the first end through the limiting circuit 24.

[0034] The first driving module and the second driving module can be a driving circuit, an algorithm module, or a MOS tube. Figure 2 As shown, both the first driving module 28 and the second driving module 29 can be MOS tubes.

[0035] The embodiment of the present application proposes to connect an inductor in series with the actuator. The inductor has the function of boosting voltage and storing energy, which can reduce power consumption, reduce the withstand voltage of the drive circuit, and thus reduce costs. The voltage on the actuator is read by an analog-to-digital converter, and then the drive pulse width is calculated by an algorithm to control the drive circuit, so that precise voltage control can be achieved.

[0036] In addition to the digital-to-analog converter, the embodiment of the present application can also obtain the measured voltage of the actuator by connecting a corresponding voltmeter at both ends of the actuator. When the voltage at both ends of the actuator changes, the voltage at the heart of the actuator can be obtained through the voltmeter.

[0037] In one embodiment, Figure 3As shown, the pulse width modulation controller outputs a first output signal, a second output signal, a third output signal and a fourth output signal; the output end of the first output signal is connected to the third driving module 36, the second inductor 31 and the first end of the actuator 32 in sequence; the output end of the second output signal is connected to the fourth driving module 37, the second inductor 31 and the first end of the actuator 32 in sequence; the output end of the third output signal is connected to the fifth driving module 38 and the second end of the actuator 32 in sequence; the output end of the fourth output signal is connected to the sixth driving module 39 and the second end in sequence; the third driving module 36 and the fifth driving module 38 are connected to the power supply 33, and the fourth driving module 37 and the sixth driving module 39 are grounded respectively.

[0038] In one embodiment, the obtaining of the Nth measured voltage of the actuator 32 controlled by the pulse width modulation controller includes: obtaining the Nth measured voltage through a second analog-to-digital converter 310; the second analog-to-digital converter 310 is connected to the first end and the second end through a differential-to-single-ended circuit 34 and a limiting protection circuit 35 in sequence. Figure 3 In the illustrated embodiment, the third driving module 36 to the sixth driving module 39 can all be MOS transistors. A second resistor 311 is also connected between the two ends of the actuator 32 and the amplitude limiting protection circuit 35 .

[0039] In one embodiment, referring to Figure 4 As shown, the pulse width modulation controller outputs a first output signal, a second output signal, a third output signal and a fourth output signal; the output end of the first output signal is connected to the seventh driving module 44, the third inductor 41, and the first end of the actuator 42 in sequence; the output end of the second output signal is connected to the eighth driving module 45, the third inductor 41, and the first end of the actuator 42 in sequence; the output end of the third output signal is connected to the ninth driving module 46, the fourth inductor 43, and the second end of the actuator 42 in sequence; the output end of the fourth output signal is connected to the tenth driving module 47, the fourth inductor 43 and the second end in sequence; the seventh driving module 44 is connected to a power supply, and the eighth driving module 45 and the tenth driving module 47 are grounded respectively; the ninth driving module 46 is connected to a power supply 48.

[0040] exist Figure 4 In the embodiment shown, the implementation of the driving module can be the same as Figure 3 Same. At the same time, Figure 4 The illustrated embodiment also includes a limiting protection circuit, a differential to single-ended circuit, an analog-to-digital converter, an algorithm module, and the like.

[0041] In one embodiment, Figure 5As shown, the pulse width modulation controller includes: a register 51, a digital comparator 52, a reset / set trigger 53 and a selector 54; the register 51 is connected to the digital comparator 52, the digital comparator 52 is connected to the reset / set trigger 53, and the reset / set trigger 53 is connected to the selector 54; the register 51 is used to store the time when the pulse width modulation controller sends a control signal; the digital comparator 52 is used to determine whether the current time is consistent with the time stored in the register 51; the reset / set trigger 53 is used to output a control signal when the digital comparator 52 determines that the current time is consistent with the time stored in the register 51; the selector 54 is used to set one of a high level and a low level as a valid control signal.

[0042] In an embodiment of the present application, register 51 may be a limited storage unit in a central processing unit (CPU) for temporarily storing data or instructions. Register 51 may include an overflow high unit (OVRH), an overflow low unit (OVRL), a counter high unit (CH), a counter low unit (CL), a data register high unit (DxH), and a data register low unit (DxL). OVRH may be used to store the upper 8 bits of the PWM cycle length. OVRL may be used to store the lower 8 bits of the PWM cycle length. CH may be used to store the upper 8 bits of the current value of the counter. CL may be used for the lower 8 bits of the current value of the counter. DxH may be used to store the upper 8 bits of the width of the PWM output valid level. DxL may be used to store the lower 8 bits of the width of the PWM output valid level.

[0043] The reset / set trigger (Reset / Set) 53 may include a reset interface (Reset, R), a set interface (Set, S) and an output terminal (Q). The set interface is used to receive the Set PWMxIF signal, and Set PWMx IF can be a sign that the PWM output valid level is completed. The reset interface is used to receive the Set TIF signal, and the Set TIF signal is a sign that the PWM cycle is over. In the reset / set trigger, the Q terminal is used to output the current state of the trigger. The state of the trigger can be a high level (logic 1) or a low level (logic 0), depending on the input signal of the trigger and its previous state. The state change of the Q terminal is closely related to the set (Set) and reset (Reset) operations of the trigger. Figure 5 In the illustrated embodiment, PWM OUT is used to represent the PWM output signal.

[0044] exist Figure 5 In the illustrated embodiment, when a PWM cycle starts, the digital comparator 52 counts, the values ​​CH and CL counted by the digital comparator 52 are cleared, and the system clock starts to be counted up. The Set TIF flag is cleared. The Set PWMxIF flag is cleared. PWM OUT starts to output a valid level.

[0045] When the values ​​of CH and CL are equal to DxH and DxL, Set PWMxIF outputs a high level to mark the end of the effective level of PWM. PWM OUT stops outputting the effective level, that is, outputs the inverse level of the effective level.

[0046] When the values ​​of CH and CL are equal to OVRH and OVRL, Set TIF outputs a high level to mark the completion of a PWM cycle. The output signal PWM OUT ends the output of this cycle. The next PWM cycle flip starts after the next PWM system clock arrives.

[0047] In one embodiment, the calculating the target duty cycle of adjusting the pulse width controller for the Nth time based on the Nth measured voltage and the reference voltage of the actuator, and the Nmth measured voltage of the actuator, includes: determining a first error value between the Nth measured voltage and the reference voltage, and a second error value between the Nmth measured voltage and the reference voltage; determining the target duty cycle based on the first error value and the Nmth duty cycle; the Nmth duty cycle is obtained based on the second error value.

[0048] In the embodiments of this application, refer to Figure 6 As shown, the Nmth voltage measurement includes: the N-1th voltage measurement. Figure 6 In the embodiment shown, the difference between the N-1th measured voltage and the reference voltage can be stored with a delay. n-1 , the difference between the N-2th measured voltage and the reference voltage e n-2 When calculating the Nth target duty cycle, the target duty cycle obtained by the N-1th calculation and the difference between the Nth measured voltage and the reference voltage e n Calculate. The calculation formula is: n = y n-1 + A×e n + B×e n + C×e n . Where A, B, and C are pre-set coefficients. n is the target duty cycle calculated for the Nth time. n-1 The target duty cycle obtained by the N-1th calculation.

[0049] In another implementation, referring to Figure 8As shown, the Nth target duty cycle can be calculated based on the Nth measured voltage to the N-m1th measured voltage, the reference voltage, the target duty cycle calculated by the N-1th calculation to the target duty cycle measured by the N-m2th calculation. m1 is an integer greater than 1, and m2 is an integer greater than 1. The calculation formula is: n = K n-1 ×y n-1 +K n-2 ×y n-2 +……K n-m1 ×y n-m1 +A n ×e n +A n-1 ×e n-1 +A n-2 ×e n-2 +……+A n-m2 ×e n-m2 . Where K n-1 , K n-2 ...K n-m1 is the coefficient. n , A n-1 , A n-2 ...A n-m2 is the coefficient. Therefore, Figure 8 In the calculation module shown, storage units for the Nth measured voltage to the N-m1th measured voltage and the target duty cycle calculated for the N-1th to the N-m2th measured voltage can be set.

[0050] The present application also provides a voltage signal processing device for an actuator, such as Figure 7 As shown, it includes: a measurement voltage acquisition module, a target duty cycle calculation module, a control signal generation module and a vibration control module.

[0051] A measurement voltage acquisition module, used to obtain the Nth measurement voltage of the actuator controlled by the pulse width modulation controller; N is an integer greater than 2; a target duty cycle calculation module, used to calculate the target duty cycle of the pulse width controller for the Nth adjustment based on the Nth measurement voltage and the reference voltage of the actuator, and the Nmth measurement voltage of the actuator; m is an integer greater than or equal to 1; a control signal generation module, used to generate a control signal of the pulse width modulation controller according to the target duty cycle; a vibration control module, used to control the vibration of the actuator through the control signal.

[0052] The voltage signal processing device for an actuator provided in an embodiment of the present application can implement the steps of the voltage signal processing method for an actuator provided in any embodiment of the present application.

[0053] The implementation of the above-mentioned embodiment of the present application is a combination of elements and features of the embodiment of the present application. Unless otherwise mentioned, elements or features may be considered as optional. Each element or feature may be put into practice without being combined with other elements or features. In addition, the implementation of the present application may be constructed by combining some elements and / or features. The order of operations described in the implementation of the present application may be rearranged. Some constructions of any one embodiment may be included in another embodiment, and may be replaced by the corresponding construction of another embodiment. It is obvious to those skilled in the art that claims that do not have a clear reference relationship to each other in the attached claims may be combined with the implementation of this application, or may be included as new claims in the amendment after submitting this application.

[0054] In a firmware or software configuration, the embodiments of the present application may be implemented in the form of modules, processes, functions, etc. The software code may be stored in a memory unit and executed by a processor. The memory unit is located inside or outside the processor and may send data to and receive data from the processor via various known means.

[0055] Various aspects of the systems and methods described herein may be implemented as functions programmed into any of a variety of circuits, including programmable logic devices (PLDs), such as field programmable gate arrays (FPGAs), programmable array logic (PAL) devices, electronic programmable logic and storage devices, standard cell-based devices, and application-specific integrated circuits (ASICs). Some other possibilities for implementing these aspects of the system include: microcontrollers with memory, such as electronically erasable programmable read-only memory (EEPROM), embedded microprocessors, firmware, software, etc. In addition, these aspects of the system may be embodied in microprocessors with software-based circuit simulation, discrete logic (sequential and combinational), custom devices, fuzzy (neural) logic, quantum devices, and combinations of any of the above various device types. Of course, the underlying device technology may be provided in a variety of component types, such as metal oxide semiconductor field effect transistor (MOSFET) technology such as complementary metal oxide semiconductor (CMOS), bipolar technology such as emitter coupled logic (ECL), polymer technology (e.g., silicon conjugated polymer and metal conjugated polymer metal structure), hybrid analog and digital, etc.

[0056] The various functions or processes disclosed herein may be described as data and / or instructions embodied in various computer-readable media in terms of their behavior, register transfers, logic components, transistors, geometric layouts, and / or other characteristics. Computer-readable media that may contain such formatted data and / or instructions include, but are not limited to, various forms of non-volatile storage media (e.g., optical, magnetic, or semiconductor storage media) and carrier waves, which may be used to transmit such formatted data and / or instructions via wireless, optical, or wired signal media, or any combination thereof. When received in any of a variety of circuits (e.g., computers), such data and / or instructions may be processed by a processing entity (e.g., one or more processors).

[0057] The above description of the illustrated embodiments of the systems and methods is not intended to be exhaustive or to limit the systems and methods to the precise forms disclosed. Although specific embodiments and examples of the system components and methods are described herein for illustrative purposes, it will be appreciated by those skilled in the art that various equivalent modifications may be made within the scope of the systems, components, and methods. The teachings of the systems and methods provided herein may be applied to other processing systems and methods, not just to the above-described systems and methods.

[0058] Those skilled in the art will appreciate that, without departing from the spirit or scope of the broad description of the present application, various changes and / or modifications may be made to the present application shown in the specific embodiments. Therefore, the present embodiment will be considered in all respects to be illustrative and not restrictive. In addition, the present application includes any combination of features described for different embodiments (including features in the abstract section), even if the feature or combination of features is not clearly defined in the claims or the detailed description of the present embodiment.

[0059] Generally, in the following claims, the terms used should not be construed to limit the systems and methods to the specific embodiments disclosed in the specification and the claims, but should be construed to include all processing systems that operate under the claims. Therefore, the systems and methods are not limited by the present disclosure, but rather the scope of the systems and methods is determined entirely by the claims.

[0060] Unless the context clearly requires otherwise, throughout the specification and claims, the words "include", "including", "comprising", etc. should be interpreted in an inclusive sense and not in an exclusive or exhaustive sense; that is, in the sense of "including but not limited to". Words using the singular or plural number also include the singular or plural number, respectively. In addition, "herein", "herein below", "above", "hereafter" and words of similar meaning refer to this application as a whole and not to any particular part of this application. When the word "or" is used in a list involving two or more items, the word "or" includes all of the following interpretations of the word: any item in the list, all items in the list, and any combination of items in the list.

[0061] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0062] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A voltage signal processing method for an actuator, characterized in that: include: Obtaining an Nth measured voltage of an actuator controlled by a pulse width modulation controller; N is an integer greater than 2; Calculating a target duty cycle for adjusting the pulse width controller for the Nth time according to the Nth measured voltage and the reference voltage of the actuator, and the Nmth measured voltage of the actuator; m is an integer greater than or equal to 1; generating a control signal of the pulse width modulation controller according to the target duty cycle; The actuator is controlled to vibrate by means of the control signal.

2. The method according to claim 1, characterized in that The pulse width modulation controller outputs a first output signal and a second output signal; the output end of the first output signal is connected to a first driving module, a first inductor, and a first end of the actuator in sequence; the output end of the second output signal is connected to a second driving module, the first inductor, and a first end of the actuator in sequence; the first driving module is connected to a power supply, and the second driving module is grounded; the second end of the actuator is grounded.

3. The method according to claim 2, characterized in that The obtaining of the Nth measured voltage of the actuator controlled by the pulse width modulation controller comprises: The Nth measurement voltage is obtained according to an output signal of a first analog-to-digital converter; the first analog-to-digital converter is connected to the first end via a limiting circuit.

4. The method according to claim 1, characterized in that: The pulse width modulation controller outputs a first output signal, a second output signal, a third output signal and a fourth output signal; the output end of the first output signal is connected to a third driving module, a second inductor and a first end of the actuator in sequence; the output end of the second output signal is connected to a fourth driving module, the second inductor and a first end of the actuator in sequence; the output end of the third output signal is connected to a fifth driving module and a second end of the actuator in sequence; the output end of the fourth output signal is connected to a sixth driving module and the second end in sequence; the third driving module and the fifth driving module are connected to a power supply, and the fourth driving module and the sixth driving module are grounded respectively.

5. The method according to claim 1, characterized in that The pulse width modulation controller outputs a first output signal, a second output signal, a third output signal and a fourth output signal; the output end of the first output signal is connected to the seventh driving module, the third inductor and the first end of the actuator in sequence; the output end of the second output signal is connected to the eighth driving module, the third inductor and the first end of the actuator in sequence; the output end of the third output signal is connected to the ninth driving module, the fourth inductor and the second end of the actuator in sequence; the output end of the fourth output signal is connected to the tenth driving module, the fourth inductor and the second end in sequence; the seventh driving module is connected to a power supply, and the eighth driving module and the tenth driving module are grounded respectively; the ninth driving module is connected to a power supply.

6. The method according to claim 4 or 5, characterized in that: The obtaining of the Nth measured voltage of the actuator controlled by the pulse width modulation controller comprises: The Nth measured voltage is obtained through a second analog-to-digital converter; the second analog-to-digital converter is connected to the first end and the second end through a differential-to-single-ended circuit and a limiting protection circuit in sequence.

7. The method according to claim 1, characterized in that The pulse width modulation controller includes: a register, a digital comparator, a reset / set trigger and a selector; the register is connected to the digital comparator, the digital comparator is connected to the reset / set trigger, and the reset / set trigger is connected to the selector; the register is used to store the time when the pulse width modulation controller sends a control signal; the digital comparator is used to determine whether the current time is consistent with the time stored in the register; the reset / set trigger is used to output a control signal when the digital comparator determines that the current time is consistent with the time stored in the register; the selector is used to set one of a high level and a low level as a valid control signal.

8. The method according to claim 1, characterized in that The calculating, according to the Nth measured voltage and the reference voltage of the actuator, and the Nmth measured voltage of the actuator, the target duty cycle of adjusting the pulse width controller for the Nth time comprises: Determine a first error value between the Nth measured voltage and the reference voltage, and a second error value between the Nmth measured voltage and the reference voltage; The target duty cycle is determined according to the first error value and the Nmth duty cycle; the Nmth duty cycle is obtained according to the second error value.

9. An electronic device, characterized in that: The electronic device comprises a processor coupled to a memory, wherein the processor is configured to execute a computer program or instruction stored in the memory, so that the electronic device implements the method according to any one of claims 1 to 8.

10. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-8.

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