Performance parameter detection method and device of sound wave motor and electronic equipment

Abstract

The invention provides a performance parameter detection method and device of an acoustic wave motor and electronic equipment. The method comprises the following steps: acquiring a mechanical vibration model and an electrical impedance model of the acoustic wave motor; according to the mechanical vibration model and the electrical impedance model, obtaining mapping data representing a mapping relationship between electrical parameters and performance parameters of the acoustic motor; the sound wave motor is driven by a preset signal, and a voltage signal and a current signal at the two ends of the sound wave motor are obtained; determining electrical parameters of the acoustic motor according to the voltage signal and the current signal; and detecting performance parameters of the acoustic motor according to the electrical parameters and the mapping data.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the technical field of sonic wave motors, and more specifically, to a method, device, and electronic device for detecting performance parameters of a sonic wave motor. Background Art

[0002] With the development of technology, motor products have been added to electronic devices such as virtual reality devices, augmented reality devices, and game controllers to provide users with a rich tactile vibration experience.

[0003] The motor in the electric toothbrush commonly used in daily life is a sonic motor. The working principle of the sonic motor is that when a certain frequency of alternating positive and reverse current is given to the motor, the motor output shaft will swing back and forth at this frequency. The magnet interacts with the iron core (usually silicon steel sheet) magnetized by the energized coil, and the generated electromagnetic driving torque drives the rotating shaft and the iron core to swing back and forth at a small angle. The driving signal is a positive and negative rectangular wave or sine wave signal given by a certain frequency and duty cycle.

[0004] The accuracy of the performance parameters of the sonic motor affects the final vibration effect. Therefore, it is very necessary to propose a solution that can accurately detect the performance parameters of the sonic motor. Summary of the Invention

[0005] One purpose of the embodiments of the present disclosure is to provide a new technical solution for detecting performance parameters of a sonic motor.

[0006] According to a first aspect of the present disclosure, a method for detecting performance parameters of a sonic motor is provided, comprising:

[0007] Obtaining a mechanical vibration model and an electrical impedance model of the sonic motor;

[0008] Obtaining mapping data representing a mapping relationship between electrical parameters and performance parameters of the acoustic wave motor based on the mechanical vibration model and the electrical impedance model;

[0009] driving the sonic motor with a preset signal to obtain a voltage signal and a current signal at both ends of the sonic motor;

[0010] determining electrical parameters of the sonic motor according to the voltage signal and the current signal;

[0011] The performance parameters of the sonic motor are detected according to the electrical parameters and the mapping data.

[0012] Optionally, the performance parameters include at least one of mechanical parameters, quality parameters, resonant frequency, and torque conversion factor, wherein the mechanical parameters include damping coefficient and / or compliance.

[0013] Optionally, the performance parameter includes a torque conversion factor, the electrical parameter includes an equivalent capacitance, and the mapping data includes first mapping data representing a mapping relationship between the equivalent capacitance and the torque conversion factor;

[0014] Determining the performance parameter of the sonic motor according to the electrical parameter and the mapping data includes:

[0015] Obtaining the vibration inertia of the sonic motor;

[0016] The torque conversion factor is determined according to the vibration inertia, the equivalent capacitance, and the first mapping data.

[0017] Optionally, the first mapping data is expressed by the following formula:

[0018]

[0019] Where X is the torque conversion factor, J is the vibration inertia, C mes is the equivalent capacitance.

[0020] Optionally, the electrical parameters include equivalent capacitance and equivalent resistance, the performance parameters further include a damping coefficient, and the mapping data includes first mapping data representing a mapping relationship between the equivalent capacitance and the torque conversion factor, and second mapping data representing a mapping relationship between the equivalent resistance and the damping coefficient;

[0021] Determining the performance parameter of the sonic motor according to the electrical parameter and the mapping data includes:

[0022] Obtaining the vibration inertia of the sonic motor;

[0023] determining the torque conversion factor according to the vibration inertia, the equivalent capacitance, and the first mapping data;

[0024] The damping coefficient is determined according to the torque conversion factor, the equivalent resistance, and the second mapping data.

[0025] Optionally, the second mapping data is expressed by the following formula:

[0026]

[0027] Among them, R is the damping coefficient, X is the torque conversion factor, R es is the equivalent impedance of the sonic motor.

[0028] Optionally, the electrical parameters include equivalent capacitance and equivalent inductance, the performance parameters further include compliance, and the mapping data includes first mapping data representing a mapping relationship between the equivalent capacitance and the torque conversion factor, and third mapping data representing a mapping relationship between the equivalent inductance and the compliance;

[0029] Determining the performance parameter of the sonic motor according to the electrical parameter and the mapping data includes:

[0030] Obtaining the vibration inertia of the sonic motor;

[0031] determining the torque conversion factor according to the vibration inertia, the equivalent capacitance, and the first mapping data;

[0032] The compliance is determined according to the torque conversion factor, the equivalent inductance, and the third mapping data.

[0033] Optionally, the third mapping data is expressed by the following formula:

[0034]

[0035] Where C is compliance, X is torque conversion factor, L ces is the equivalent inductance of the sonic motor.

[0036] According to a second aspect of the present disclosure, a device for detecting performance parameters of a sonic motor is provided, comprising:

[0037] A model acquisition module, configured to acquire a mechanical vibration model and an electrical impedance model of the acoustic wave motor;

[0038] a mapping acquisition module, configured to obtain mapping data representing a mapping relationship between electrical parameters and performance parameters of the acoustic wave motor based on the mechanical vibration model and the electrical impedance model;

[0039] a signal acquisition module, configured to drive the sonic motor with a preset signal and acquire voltage and current signals at both ends of the sonic motor;

[0040] an electrical detection module, configured to determine electrical parameters of the sonic motor based on the voltage signal and the current signal;

[0041] A performance detection module is used to detect the performance parameters of the sonic motor according to the electrical parameters and the mapping data.

[0042] According to a third aspect of the present disclosure, an electronic device is provided, comprising a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the method described in the first aspect of the present disclosure under the control of the computer program.

[0043] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0044] Through the embodiments of the present disclosure, mapping data representing the mapping relationship between the electrical parameters and performance parameters of the sonic wave motor is obtained based on the mechanical vibration model and electrical impedance model of the sonic wave motor. The sonic wave motor is driven by a preset signal to obtain voltage and current signals at both ends of the sonic wave motor. The electrical parameters of the sonic wave motor are determined based on the voltage and current signals. The performance parameters of the sonic wave motor are then detected based on the electrical parameters and the mapping data. In this way, the performance parameters of the sonic wave motor can be detected, and accurate and effective performance parameter detection results can be obtained.

[0045] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0047] Figure 1 is a block diagram illustrating a hardware configuration of an electronic device that can implement an embodiment of the present disclosure;

[0048] Figure 2 is a flow chart of a method for detecting performance parameters of a sonic motor according to one embodiment of the present disclosure;

[0049] Figure 3 is a block diagram of a device for detecting performance parameters of a sonic motor according to one embodiment of the present disclosure;

[0050] Figure 4 is a block diagram of an electronic device according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0051] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0052] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0053] Technologies, methods and equipment known to persons of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods and equipment should be considered part of the specification.

[0054] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0055] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0056] <Hardware Configuration>

[0057] Figure 1 is a block diagram illustrating a hardware configuration of an electronic device 1000 that can implement an embodiment of the present disclosure.

[0058] The electronic device 1000 may be a portable computer, a desktop computer, a mobile phone, a tablet computer, etc. Figure 1 As shown, electronic device 1000 may include a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600, a speaker 1700, a microphone 1800, and the like. Processor 1100 may be a CPU, a microprocessor MCU, or the like. Memory 1200 may include, for example, ROM (read-only memory), RAM (random access memory), or a non-volatile memory such as a hard disk. Interface device 1300 may include, for example, a USB interface or a headphone jack. Communication device 1400 may be capable of wired or wireless communication, specifically, Wi-Fi, Bluetooth, 2G / 3G / 4G / 5G communication, or the like. Display device 1500 may be, for example, an LCD display or a touchscreen display. Input device 1600 may include, for example, a touchscreen, a keyboard, or somatosensory input. Users may input and output voice information through speaker 1700 and microphone 1800.

[0059] Figure 1 The electronic device shown is merely illustrative and does not in any way limit the present disclosure, its application or use. In the embodiments of the present disclosure, the memory 1200 of the electronic device 1000 is used to store instructions, which are used to control the processor 1100 to operate to perform any of the methods provided in the embodiments of the present disclosure. It should be understood by those skilled in the art that although Figure 1 While multiple devices are shown for electronic device 1000, the present disclosure may only relate to some of these devices. For example, electronic device 1000 may only relate to processor 1100 and memory 1200. A skilled person can design instructions based on the solutions disclosed in this disclosure. How instructions control processor operations is well known in the art and will not be described in detail here.

[0060] <Method Example>

[0061] The present disclosure provides a method for detecting the performance parameters of a sonic motor. The method can be implemented by an electronic device, such as Figure 1 The electronic device 1000 is shown.

[0062] Figure 2 Flowchart of a method for detecting performance parameters of a sonic motor according to an embodiment of the present disclosure.

[0063] like Figure 2 As shown, the method includes steps S2100 to S2500 as shown below:

[0064] Step S2100: Acquire the mechanical vibration model and electrical impedance model of the sonic motor.

[0065] In this embodiment, the force analysis of the sonic motor can be performed, including the electromagnetic driving torque, the reverse torque generated by the rotational friction between parts, the reverse torque generated by the contact friction between parts, the torque caused by the difference in the attractive force between the iron core and the magnet at different positions, and the restoring torque generated by the elastic shaft when the vibrator rotates.

[0066] If the rotor of the sonic motor is regarded as a rotating point mass, the following mechanical vibration model can be obtained:

[0067]

[0068] Where M is the driving torque, J is the moment of inertia, a is the angular acceleration, ω is the angular velocity, is the angle, v is the rotation speed, r is the radius of the particle from the center, T is the period, R is the damping coefficient, K is the elastic coefficient, and C is the compliance.

[0069] Furthermore, the electrical analysis of the sonic motor can be performed using the following formula:

[0070] U(s)=R e I(s)+L e sI(s)+E

[0071] E=blv

[0072] v=wr

[0073] Among them, U(s) is the voltage across the sonic motor, I(s) is the current across the sonic motor, and R e is the DC resistance of the sonic motor, L e is the inductance of the sonic motor, E is the induced electromotive force, and bl is the equivalent electromechanical coefficient in the circuit where the sonic motor is located.

[0074] According to the relationship between speed and angular velocity, the induced electromotive force E is equivalent to the product of X and angle w, which can be expressed as:

[0075] E=blwr=Xw

[0076] Where X is the torque conversion factor.

[0077] Then, the mechanical vibration model of the sonic motor can be expressed as:

[0078]

[0079] Where M is the driving torque, J is the moment of inertia, F is the rotational force, a is the angular acceleration, ω is the angular velocity, is the angle, R is the damping coefficient, K is the elastic coefficient, and X is the torque conversion factor.

[0080] The electrical impedance model of the sonic motor can be expressed as:

[0081]

[0082] Where Z(s) is the impedance of the sonic motor, U(s) is the voltage across the sonic motor, I(s) is the current across the sonic motor, and R e is the DC resistance of the sonic motor, L e is the inductance of the sonic motor, X is the torque conversion factor, and ω is the angular velocity.

[0083] In step S2200 , mapping data representing a mapping relationship between electrical parameters and performance parameters of the acoustic wave motor is obtained based on the mechanical vibration model and the electrical impedance model.

[0084] In this embodiment, the mechanical vibration model and the electrical impedance model can be jointly analyzed through the following process to obtain the impedance expression of the acoustic wave motor, which can be specifically expressed as:

[0085]

[0086] The equivalent impedance model of the sonic motor can be expressed as:

[0087]

[0088] Where Z(s) is the impedance of the sonic motor, R e is the DC resistance of the sonic motor, L e is the inductance of the sonic motor, R es is the equivalent impedance of the sonic motor, L ces is the equivalent inductance of the sonic motor, C mes is the equivalent capacitance of the sonic motor.

[0089] By analogy with the equivalent impedance model of the sonic motor and the impedance expression of the sonic motor, the following mapping data can be obtained:

[0090]

[0091] L ces =C*X 2

[0092]

[0093] Among them, R es is the equivalent impedance of the sonic motor, L ces is the equivalent inductance of the sonic motor, C mes is the equivalent capacitance of the sonic motor, J is the moment of inertia, R is the damping coefficient, C is the compliance, and X is the torque conversion factor.

[0094] In step S2300 , the sonic motor is driven by a preset signal to obtain voltage signals and current signals at both ends of the sonic motor.

[0095] In this embodiment, when the sonic wave motor is driven to vibrate by a preset signal, the voltage and current at both ends of the sonic wave motor may be sampled to obtain a voltage signal and a current signal.

[0096] The preset signal in this embodiment may be a fixed frequency signal, a frequency sweep signal, or a pink noise signal.

[0097] Step S2400: determining the electrical parameters of the sonic motor according to the voltage signal and the current signal.

[0098] In this embodiment, the electrical parameter may include at least one of a direct current resistance, an equivalent impedance, an equivalent inductance, and an equivalent capacitance.

[0099] In this embodiment, for the equivalent impedance, equivalent inductance, and equivalent capacitance, the voltage signal and the current signal can be Fourier transformed to obtain the frequency domain representation of the voltage signal and the frequency domain representation of the current signal. According to Ohm's law, the impedance of the sonic motor is obtained, and then the equivalent impedance, equivalent inductance, and equivalent capacitance are determined based on the impedance.

[0100] In this embodiment, for the DC resistance, the effective value of the voltage signal may be determined as the voltage effective value, and the effective value of the current signal may be determined as the current effective value. The DC resistance value may be obtained based on the voltage effective value and the current effective value.

[0101] In some embodiments, before detecting the performance parameters of the sonic motor based on the voltage signal, the current signal and the equivalent impedance model, the method may further include: filtering the voltage signal and the current signal respectively.

[0102] This embodiment filters the voltage signal and the current signal to make the detection results of the electrical parameters more accurate, thereby making the performance parameters of the obtained sonic motor more accurate.

[0103] Step S2500: detecting the performance parameters of the sonic motor according to the electrical parameters and mapping data.

[0104] In this embodiment, the performance parameters include at least one of mechanical parameters, quality parameters, resonant frequency, and torque conversion factor. The mechanical parameters include damping coefficient and / or compliance, and the quality parameters include at least one of total quality parameter, mechanical quality factor, and electrical quality factor.

[0105] In this embodiment, the electrical parameters of the sonic motor obtained in step S2400 may be substituted into the mapping data to obtain the performance parameters of the sonic motor.

[0106] In an embodiment where the performance parameters include a torque conversion factor, the mapping data includes first mapping data representing a mapping relationship between equivalent capacitance and the torque conversion factor. Then, determining the performance parameters of the sonic wave motor based on the electrical parameters includes: obtaining the vibration inertia of the sonic wave motor; and determining the torque conversion factor based on the vibration inertia, equivalent capacitance and the first mapping data.

[0107] In this embodiment, the first mapping data may be expressed by the following formula:

[0108]

[0109] Where X is the torque conversion factor, J is the vibration inertia, C mes is the equivalent capacitance.

[0110] Furthermore, the vibration inertia of the sonic motor can be determined by the following formula:

[0111] J=m*r 2

[0112] Wherein, J is the vibration inertia of the sonic motor, m is the mass of the sonic motor, and r is the radius of the mass point of the sonic motor from the center.

[0113] In this embodiment, the vibration inertia of the sonic motor may be pre-set in the electronic device, or may be calculated based on the mass of the set sonic motor and the radius of the mass point from the center.

[0114] In an embodiment where the performance parameters also include a damping coefficient, the mapping data includes first mapping data representing a mapping relationship between equivalent capacitance and a torque conversion factor, and second mapping data representing a mapping relationship between equivalent resistance and a damping coefficient. Then, determining the performance parameters of the sonic motor based on the electrical parameters includes: obtaining the vibration inertia of the sonic motor; determining the torque conversion factor based on the vibration inertia, the equivalent capacitance and the first mapping data; and determining the damping coefficient based on the torque conversion factor, the equivalent resistance and the second mapping data.

[0115] In this embodiment, the second mapping data may be expressed by the following formula:

[0116]

[0117] Among them, R is the damping coefficient, X is the torque conversion factor, R es is the equivalent impedance of the sonic motor.

[0118] In an embodiment where the performance parameters also include compliance, the mapping data includes first mapping data representing the mapping relationship between equivalent capacitance and torque conversion factor, and third mapping data representing the mapping relationship between equivalent inductance and compliance. Then, determining the performance parameters of the sonic wave motor based on the electrical parameters includes: obtaining the vibration inertia of the sonic wave motor; determining the torque conversion factor based on the vibration inertia, equivalent capacitance and the first mapping data; and determining the compliance based on the torque conversion factor, equivalent inductance and the third mapping data.

[0119] In this embodiment, the third mapping data may be expressed by the following formula:

[0120]

[0121] Where C is compliance, X is torque conversion factor, L ces is the equivalent inductance of the sonic motor.

[0122] In an embodiment where the performance parameters include the resonant frequency, the mapping data includes fourth mapping data representing the mapping relationship between the equivalent inductance, the equivalent capacitance and the resonant frequency. Then, determining the performance parameters of the sonic wave motor based on the electrical parameters includes: determining the resonant frequency of the sonic wave motor based on the equivalent inductance, the equivalent capacitance and the fourth mapping data of the sonic wave motor.

[0123] In this embodiment, the fourth mapping data may be expressed by the following formula:

[0124]

[0125] Among them, f s is the resonant frequency, L ces is the equivalent inductance of the sonic motor, C mes is the equivalent capacitance of the sonic motor.

[0126] In an embodiment where the performance parameters include mechanical quality factor, the mapping data includes fourth mapping data representing the mapping relationship between equivalent inductance, equivalent capacitance and resonant frequency, and fifth mapping data representing the mapping relationship between equivalent impedance, equivalent capacitance and mechanical quality factor. Then, determining the performance parameters of the sonic wave motor based on the electrical parameters includes: determining the resonant frequency of the sonic wave motor based on the equivalent inductance, equivalent capacitance and fourth mapping data of the sonic wave motor; determining the mechanical quality factor of the sonic wave motor based on the equivalent impedance, equivalent capacitance and fifth mapping data of the sonic wave motor.

[0127] In this embodiment, the fifth mapping data may be expressed by the following formula:

[0128] Q ms =2π*f s *C mes *R es

[0129] Among them, Q ms is the mechanical quality factor of the acoustic motor, f s is the resonant frequency, C mes is the equivalent capacitance of the sonic motor, R es is the equivalent impedance of the sonic motor.

[0130] In an embodiment where the performance parameters include electrical quality factors, the mapping data include fourth mapping data representing the mapping relationship between equivalent inductance, equivalent capacitance and resonant frequency, and sixth mapping data representing the mapping relationship between DC resistance, equivalent capacitance and electrical quality factors. Then, determining the performance parameters of the sonic wave motor based on the electrical parameters includes: determining the resonant frequency of the sonic wave motor based on the equivalent inductance, equivalent capacitance and fourth mapping data of the sonic wave motor; determining the electrical quality factor of the sonic wave motor based on the DC resistance, equivalent capacitance and sixth mapping data of the sonic wave motor.

[0131] In this embodiment, the sixth mapping data may be expressed by the following formula:

[0132] Q es =2π*f s *C mes *R e

[0133] Among them, Q es is the electrical quality factor of the sonic motor, f s is the resonant frequency, C mes is the equivalent capacitance of the sonic motor, F e is the DC resistance of the sonic motor.

[0134] In an embodiment where the performance parameters include total quality parameters, the mapping data include fourth mapping data representing the mapping relationship between equivalent inductance, equivalent capacitance and resonant frequency, fifth mapping data representing the mapping relationship between equivalent impedance, equivalent capacitance and mechanical quality factor, and sixth mapping data representing the mapping relationship between DC resistance, equivalent capacitance and electrical quality factor. Then, determining the performance parameters of the sonic wave motor based on the electrical parameters includes: determining the resonant frequency of the sonic wave motor based on the equivalent capacitance, equivalent inductance and the fourth mapping data; determining the mechanical quality factor of the sonic wave motor based on the resonant frequency, equivalent capacitance, equivalent resistance and the fifth mapping data; determining the electrical quality factor of the sonic wave motor based on the resonant frequency, equivalent capacitance, DC resistance and the sixth mapping data; and determining the total quality factor of the sonic wave motor based on the mechanical quality factor and the electrical quality factor.

[0135] In this embodiment, the total quality factor can be determined by the following formula:

[0136]

[0137] Among them, Q ts is the total quality factor of the sonic motor, Q ms is the mechanical quality factor of the sonic motor, Q es is the electrical quality factor of the sonic motor.

[0138] Through the embodiments of the present disclosure, mapping data representing the mapping relationship between the electrical parameters and performance parameters of the sonic wave motor is obtained based on the mechanical vibration model and electrical impedance model of the sonic wave motor. The sonic wave motor is driven by a preset signal to obtain voltage and current signals at both ends of the sonic wave motor. The electrical parameters of the sonic wave motor are determined based on the voltage and current signals. The performance parameters of the sonic wave motor are then detected based on the electrical parameters and the mapping data. In this way, the performance parameters of the sonic wave motor can be detected, and accurate and effective performance parameter detection results can be obtained.

[0139] <Device Example>

[0140] The present disclosure also provides a device for detecting performance parameters of a sonic motor, such as Figure 3 As shown, the performance parameter detection device 3000 of the sonic motor may include a model acquisition module 3100 , a mapping acquisition module 3200 , a signal acquisition module 3300 , an electrical detection module 3400 and a performance detection module 3500 .

[0141] The model acquisition module 3100 is used to obtain the mechanical vibration model and electrical impedance model of the sonic motor.

[0142] The mapping acquisition module 3200 is used to obtain mapping data representing a mapping relationship between electrical parameters and performance parameters of the sonic motor according to the mechanical vibration model and the electrical impedance model.

[0143] The signal acquisition module 3300 is used to drive the sonic motor with a preset signal and acquire the voltage signal and current signal at both ends of the sonic motor.

[0144] The electrical detection module 3400 is used to determine the electrical parameters of the sonic motor according to the voltage signal and the current signal.

[0145] The performance detection module 3500 is used to detect the performance parameters of the sonic motor according to the electrical parameters and the mapping data.

[0146] In some embodiments, the performance parameter includes at least one of a mechanical parameter, a quality parameter, a resonant frequency, and a torque conversion factor, wherein the mechanical parameter includes a damping coefficient and / or compliance.

[0147] In some embodiments, the performance parameter includes a torque conversion factor, the electrical parameter includes an equivalent capacitance, and the mapping data includes first mapping data representing a mapping relationship between the equivalent capacitance and the torque conversion factor; the performance detection module 3500 is configured to:

[0148] Obtaining the vibration inertia of the sonic motor;

[0149] The torque conversion factor is determined according to the vibration inertia, the equivalent capacitance, and the first mapping data.

[0150] In some embodiments, the first mapping data is represented by the following formula:

[0151]

[0152] Where X is the torque conversion factor, J is the vibration inertia, C mes is the equivalent capacitance.

[0153] In some embodiments, the electrical parameters include equivalent capacitance and equivalent resistance, the performance parameters further include a damping coefficient, and the mapping data includes first mapping data representing a mapping relationship between the equivalent capacitance and the torque conversion factor, and second mapping data representing a mapping relationship between the equivalent resistance and the damping coefficient;

[0154] The performance detection module 3500 is used to:

[0155] Obtaining the vibration inertia of the sonic motor;

[0156] determining the torque conversion factor according to the vibration inertia, the equivalent capacitance, and the first mapping data;

[0157] The damping coefficient is determined according to the torque conversion factor, the equivalent resistance, and the second mapping data.

[0158] In some embodiments, the second mapping data is represented by the following formula:

[0159]

[0160] Among them, R is the damping coefficient, X is the torque conversion factor, R es is the equivalent impedance of the sonic motor.

[0161] In some embodiments, the electrical parameters include equivalent capacitance and equivalent inductance, the performance parameters further include compliance, the mapping data includes first mapping data representing a mapping relationship between the equivalent capacitance and the torque conversion factor, and third mapping data representing a mapping relationship between the equivalent inductance and the compliance; the performance detection module 3500 is configured to:

[0162] Obtaining the vibration inertia of the sonic motor;

[0163] determining the torque conversion factor according to the vibration inertia, the equivalent capacitance, and the first mapping data;

[0164] The compliance is determined according to the torque conversion factor, the equivalent inductance, and the third mapping data.

[0165] <Electronic Equipment Example>

[0166] This embodiment provides an electronic device. In one aspect, the electronic device may include the aforementioned in another aspect, such as Figure 4 As shown, the electronic device 4000 may include a processor 4100 and a memory 4200, the memory 4200 is used to store computer programs, and the processor 4100 is used to control the electronic device to execute the method of any embodiment of the present disclosure under the control of the computer program.

[0167] <Readable Storage Medium Embodiment>

[0168] This embodiment provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method described in any method embodiment of the present disclosure is executed.

[0169] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0170] A computer-readable storage medium can be a tangible device that can hold and store instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination thereof. As used herein, a computer-readable storage medium is not to be construed as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through an electrical wire.

[0171] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to be stored in the computer-readable storage medium in each computing / processing device.

[0172] The computer program instructions for performing the operation of the present invention can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, and conventional procedural programming languages ​​such as "C" language or similar programming languages. The computer readable program instructions can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), is personalized by utilizing the state information of the computer readable program instructions, and the electronic circuit can execute the computer readable program instructions, thereby realizing various aspects of the present invention.

[0173] Various aspects of the present invention are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present invention. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0174] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0175] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0176] The flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of an instruction, and the module, program segment or part of the instruction contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.

[0177] While various embodiments of the present invention have been described above, the foregoing description is intended to be illustrative, non-exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technological improvements in the marketplace, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A method for detecting performance parameters of a sonic motor, characterized in that: include: Obtaining a mechanical vibration model and an electrical impedance model of the sonic motor; Obtaining mapping data representing a mapping relationship between electrical parameters and performance parameters of the acoustic wave motor based on the mechanical vibration model and the electrical impedance model; driving the sonic motor with a preset signal to obtain a voltage signal and a current signal at both ends of the sonic motor; determining electrical parameters of the sonic motor according to the voltage signal and the current signal; The performance parameters of the sonic motor are detected according to the electrical parameters and the mapping data.

2. The method according to claim 1, characterized in that The performance parameters include at least one of mechanical parameters, quality parameters, resonant frequency, and torque conversion factor, wherein the mechanical parameters include damping coefficient and / or compliance.

3. The method according to claim 1, characterized in that The performance parameter includes a torque conversion factor, the electrical parameter includes an equivalent capacitance, and the mapping data includes first mapping data representing a mapping relationship between the equivalent capacitance and the torque conversion factor; Determining the performance parameter of the sonic motor according to the electrical parameter and the mapping data includes: Obtaining the vibration inertia of the sonic motor; The torque conversion factor is determined according to the vibration inertia, the equivalent capacitance, and the first mapping data.

4. The method according to claim 3, characterized in that The first mapping data is expressed by the following formula: Where X is the torque conversion factor, J is the vibration inertia, C mes is the equivalent capacitance.

5. The method according to claim 1, wherein The electrical parameters include equivalent capacitance and equivalent resistance, the performance parameters also include a damping coefficient, and the mapping data includes first mapping data representing a mapping relationship between the equivalent capacitance and the torque conversion factor, and second mapping data representing a mapping relationship between the equivalent resistance and the damping coefficient; Determining the performance parameter of the sonic motor according to the electrical parameter and the mapping data includes: Obtaining the vibration inertia of the sonic motor; determining the torque conversion factor according to the vibration inertia, the equivalent capacitance, and the first mapping data; The damping coefficient is determined according to the torque conversion factor, the equivalent resistance, and the second mapping data.

6. The method according to claim 5, characterized in that The second mapping data is expressed by the following formula: Among them, R is the damping coefficient, X is the torque conversion factor, R es is the equivalent impedance of the sonic motor.

7. The method according to claim 1, characterized in that The electrical parameters include equivalent capacitance and equivalent inductance, the performance parameters also include compliance, and the mapping data includes first mapping data representing a mapping relationship between the equivalent capacitance and the torque conversion factor, and third mapping data representing a mapping relationship between the equivalent inductance and the compliance; Determining the performance parameter of the sonic motor according to the electrical parameter and the mapping data includes: Obtaining the vibration inertia of the sonic motor; determining the torque conversion factor according to the vibration inertia, the equivalent capacitance, and the first mapping data; The compliance is determined according to the torque conversion factor, the equivalent inductance, and the third mapping data.

8. The method according to claim 7, characterized in that The third mapping data is expressed by the following formula: Where C is compliance, X is torque conversion factor, L ces is the equivalent inductance of the sonic motor.

9. A performance parameter detection device for a sonic motor, characterized in that: include: A model acquisition module, configured to acquire a mechanical vibration model and an electrical impedance model of the acoustic wave motor; a mapping acquisition module, configured to obtain mapping data representing a mapping relationship between electrical parameters and performance parameters of the acoustic wave motor based on the mechanical vibration model and the electrical impedance model; a signal acquisition module, configured to drive the sonic motor with a preset signal and acquire voltage and current signals at both ends of the sonic motor; an electrical detection module, configured to determine electrical parameters of the sonic motor based on the voltage signal and the current signal; A performance detection module is used to detect the performance parameters of the sonic motor according to the electrical parameters and the mapping data.

10. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the method according to any one of claims 1 to 8 under the control of the computer program.

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