Method, device, apparatus and storage medium for determining nonlinear parameters of a motor

Abstract

The present invention relates to the field of micro-electromechanical technology, and provides a method, device, equipment and medium for determining nonlinear parameters of a motor. The present invention can improve the accuracy and efficiency of determining nonlinear parameters of a motor during motor testing. The method includes: constructing a nonlinear model of the nonlinear parameters of the motor, using an excitation signal to drive the motor to vibrate, obtaining the voltage measurement values ​​at both ends of the motor in a vibrating state, the motor current measurement values ​​and the motor vibrator acceleration measurement values, and then obtaining the motor vibrator velocity and vibrator displacement based on the motor vibrator acceleration measurement values, and then constructing an overdetermined equation group associated with the nonlinear model based on the nonlinear model, fitting the overdetermined equation group according to the aforementioned voltage measurement values, motor current measurement values ​​and motor vibrator acceleration measurement values, and obtaining the aforementioned nonlinear parameters.

Description

Technical Field

[0001] The present invention relates to the field of micro-electromechanical technology, and in particular to a method, an apparatus, a computer device and a non-volatile computer-readable storage medium for determining nonlinear parameters of a motor. Background Art

[0002] With the rapid development of electronic devices, motors, as activators of tactile feedback, have been widely used in electronic devices such as smartphones, watches and tablets.

[0003] In practical applications, the classic second-order model of the motor can meet the design requirements of the application and tactile feedback effect. However, in scenarios where precise tactile feedback effect is required, the inherent nonlinear characteristics of the motor often make the application based on the classic second-order model unable to meet the requirements. The solution for obtaining the nonlinear parameters of the motor provided in the current technology is mainly to use an excitation signal to stimulate the motor to vibrate and then collect the voltage and current measurement values. The nonlinear parameter target value of the motor is calculated by adaptive filtering based on the voltage and current measurement values ​​combined with the initial values ​​of the motor's linear parameters and the initial values ​​of the nonlinear parameters. However, this method is still difficult to accurately estimate the nonlinear parameters of the motor in the nonlinear model. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, computer equipment and non-volatile computer-readable storage medium for determining the nonlinear parameters of a motor in order to address the above technical problems.

[0005] A method for determining nonlinear parameters of a motor, the method comprising:

[0006] Construct a nonlinear model including nonlinear parameters of the motor;

[0007] Using an excitation signal to drive the motor to vibrate, obtaining a voltage measurement value at both ends of the motor, a motor current measurement value, and a motor vibrator acceleration measurement value in a vibrating state;

[0008] Obtaining the vibrator velocity and displacement of the motor based on the motor vibrator acceleration measurement value;

[0009] Constructing an overdetermined set of equations associated with the nonlinear model based on the nonlinear model;

[0010] Fitting the overdetermined equations according to the voltage measurement value, the motor current measurement value and the motor vibrator acceleration measurement value to obtain the nonlinear parameters;

[0011] Wherein, the nonlinear model is expressed as:

[0012] u=R e i+Bl(x)v

[0013] Bl(x)i=ma+R m (v)v+K m (x)x

[0014] u is the voltage across the motor; i is the motor current; x is the oscillator displacement; v is the oscillator velocity; a is the motor oscillator acceleration; R e is the motor resistance; Bl(x) is the motor electromagnetic force coefficient; K m (x) is the motor spring constant; R m (v) is the motor damping; m is the motor oscillator mass;

[0015] The nonlinear parameter is expressed as:

[0016] Bl(x)=Bl0+Bl1x+Bl2x 2 +Bl3x 3 +Bl4x 4

[0017] K m (x) = K m0 +K m1 x+K m2 x 2 +K m3 x 3 +K m4 x 4

[0018] R m (v) = R m0 +R m1 v+R m2 v 2 .

[0019] A device for determining nonlinear parameters of a motor, comprising:

[0020] A model construction module, used to construct a nonlinear model including nonlinear parameters of the motor;

[0021] A measurement value acquisition module, used to drive the motor to vibrate using an excitation signal, and obtain a voltage measurement value at both ends of the motor, a motor current measurement value, and a motor vibrator acceleration measurement value under a vibrating state;

[0022] A velocity and displacement obtaining module, used for obtaining the vibrator velocity and displacement of the motor based on the measured value of the motor vibrator acceleration;

[0023] An equation group construction module, used for constructing an overdetermined equation group associated with the nonlinear model based on the nonlinear model;

[0024] A nonlinear parameter acquisition module, used for fitting the overdetermined equation group according to the voltage measurement value, the motor current measurement value and the motor vibrator acceleration measurement value to obtain the nonlinear parameters;

[0025] Wherein, the nonlinear model is expressed as:

[0026] u=R e i+Bl(x)v

[0027] Bl(x)i=ma+R m (v)v+K m (x)x

[0028] u is the voltage across the motor; i is the motor current; x is the oscillator displacement; v is the oscillator velocity; a is the motor oscillator acceleration; R e is the motor resistance; Bl(x) is the motor electromagnetic force coefficient; K m (x) is the motor spring constant; R m (v) is the motor damping; m is the motor oscillator mass;

[0029] The nonlinear parameter is expressed as:

[0030] Bl(x)=Bl0+Bl1x+Bl2x 2 +Bl3x 3 +Bl4x 4

[0031] K m (x) = K m0 +K m1 x+K m2 x 2 +K m3 x 3 +K m4 x 4

[0032] R m (v) = R m0 +R m1 v+R m2 v 2 .

[0033] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0034] Construct a nonlinear model including nonlinear parameters of the motor; use an excitation signal to drive the motor to vibrate, obtain the voltage measurement values ​​at both ends of the motor, the motor current measurement values ​​and the motor vibrator acceleration measurement values ​​under the vibration state; obtain the vibrator velocity and displacement of the motor based on the motor vibrator acceleration measurement values; construct an overdetermined equation group associated with the nonlinear model based on the nonlinear model; fit the overdetermined equation group according to the voltage measurement values, the motor current measurement values ​​and the motor vibrator acceleration measurement values ​​to obtain the nonlinear parameters; wherein the nonlinear model is expressed as:

[0035] u=R e i+Bl(x)v

[0036] Bl(x)i=ma+R m (v)v+K m (x)x

[0037] u is the voltage across the motor; i is the motor current; x is the oscillator displacement; v is the oscillator velocity; a is the motor oscillator acceleration; R e is the motor resistance; Bl(x) is the motor electromagnetic force coefficient; K m (x) is the motor spring constant; R m (v) is the motor damping; m is the motor oscillator mass;

[0038] The nonlinear parameter is expressed as:

[0039] Bl(x)=Bl0+Bl1x+Bl2x 2 +Bl3x 3 +Bl4x 4

[0040] K m (x) = K m0 +K m1 x+K m2 x 2 +K m3 x 3 +K m4 x 4

[0041] R m (v) = R m0 +R m1 v+R m2 v 2 .

[0042] A non-volatile computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0043] Construct a nonlinear model including nonlinear parameters of the motor; use an excitation signal to drive the motor to vibrate, obtain the voltage measurement values ​​at both ends of the motor, the motor current measurement values ​​and the motor vibrator acceleration measurement values ​​under the vibration state; obtain the vibrator velocity and displacement of the motor based on the motor vibrator acceleration measurement values; construct an overdetermined equation group associated with the nonlinear model based on the nonlinear model; fit the overdetermined equation group according to the voltage measurement values, the motor current measurement values ​​and the motor vibrator acceleration measurement values ​​to obtain the nonlinear parameters; wherein the nonlinear model is expressed as:

[0044] u=R e i+Bl(x)v

[0045] Bl(x)i=ma+R m (v)v+K m (x)x

[0046] u is the voltage across the motor; i is the motor current; x is the oscillator displacement; v is the oscillator velocity; a is the motor oscillator acceleration; R e is the motor resistance; Bl(x) is the motor electromagnetic force coefficient; K m (x) is the motor spring constant; R m (v) is the motor damping; m is the motor oscillator mass;

[0047] The nonlinear parameter is expressed as:

[0048] Bl(x)=Bl0+Bl1x+Bl2x 2 +Bl3x 3 +Bl4x 4

[0049] K m (x) = K m0 +K m1 x+K m2 x 2 +K m3 x 3 +K m4 x 4

[0050] R m (v) = R m0 +R m1 v+R m2 v 2 .

[0051] The above-mentioned method, device, computer equipment and storage medium for determining the nonlinear parameters of the motor construct a nonlinear model of the nonlinear parameters of the motor, use an excitation signal to drive the motor to vibrate, obtain the voltage measurement values ​​at both ends of the motor, the motor current measurement values ​​and the motor vibrator acceleration measurement values ​​under the vibration state, and then obtain the vibrator velocity and vibrator displacement of the motor based on the motor vibrator acceleration measurement values, and then construct an overdetermined equation group associated with the nonlinear model based on the nonlinear model, fit the overdetermined equation group according to the aforementioned voltage measurement values, motor current measurement values ​​and motor vibrator acceleration measurement values ​​to obtain the aforementioned nonlinear parameters, and can use the excitation signal to drive the motor to vibrate, obtain the voltage, current and acceleration at both ends of the motor under the vibration state, and use the acceleration measurement values ​​to obtain the vibrator velocity and vibrator displacement of the motor, so as to fit the overdetermined equation group associated with the nonlinear model to obtain the nonlinear parameters of the motor, thereby improving the accuracy and efficiency of determining the nonlinear parameters of the motor during the motor testing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A diagram of an application environment of a method for determining nonlinear parameters of a motor in one embodiment;

[0053] Figure 2 A schematic flow chart of a method for determining nonlinear parameters of a motor in one embodiment;

[0054] Figure 3 is a structural block diagram of a device for determining nonlinear parameters of a motor in one embodiment;

[0055] Figure 4 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention 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 invention and are not intended to limit the present invention.

[0057] The method for determining the nonlinear parameters of a motor provided by the present invention can be applied to Figure 1The application environment shown may include a computer device 140, an acquisition card 150, a power amplifier 160, a signal amplifier 170, and a motor 110 to be tested. The computer device 140 may be, but is not limited to, various personal computers, laptops, smart phones, and tablet computers; the motor 110 may include an LRA (Linear Resonance Actuator), which is a linear motor used in smart phones. The motor 110 can be placed on a sponge 130 to improve the test accuracy of the motor 110. In some test scenarios, a tooling 120 may be placed between the motor 110 and the sponge 130, so that the tooling 120 can be used to support the motor 110 and collect the acceleration data of the motor vibrator during the test of the motor 110.

[0058] Specifically, based on the above scenario, the tester can generate an excitation signal for the motor 110 on the computer device 140. The excitation signal is generally a digital signal. The excitation signal is converted from a digital signal to an analog signal through the acquisition card 150. Then, the excitation signal is loaded to both ends of the motor 110 through the power amplifier 160 for excitation to drive the motor 110 to vibrate. In the vibration state, the voltage measurement values ​​at both ends of the motor 110, the motor current measurement values, and the motor vibrator acceleration measurement values ​​can be obtained. After obtaining the motor vibrator acceleration measurement values, the computer device 140 can obtain the vibrator velocity and vibrator displacement of the motor 110 based on the motor vibrator acceleration measurement values, and construct an overdetermined equation group associated with the nonlinear model based on the constructed nonlinear model containing the nonlinear parameters of the motor, and fit the overdetermined equation group according to the voltage measurement values, the motor current measurement values, and the motor vibrator acceleration measurement values ​​to obtain the nonlinear parameters.

[0059] Based on the above scenario, the method for determining the nonlinear parameters of the motor provided by the present invention can be implemented, so that after the motor 110 is driven to vibrate by an excitation signal on the computer device 140, the voltage, current and acceleration at both ends of the motor 110 in the vibration state can be obtained, and the oscillator velocity and oscillator displacement of the motor 110 can be obtained by using the acceleration measurement value, so as to fit the overdetermined equation group associated with the nonlinear model to obtain the nonlinear parameters of the motor, thereby improving the accuracy and efficiency of determining the nonlinear parameters of the motor 110 during the test of the motor 110, helping to shorten the test time of the nonlinear parameters of the motor, and using the nonlinear model for signal design can improve the similarity between the simulation signal and the measured signal, providing support for the design of accurate tactile feedback effects.

[0060] The method for determining the nonlinear parameters of a motor provided by the present invention is further described below in conjunction with the embodiments and drawings.

[0061] In one embodiment, Figure 2As shown, a method for determining the nonlinear parameters of a motor is provided, which can be obtained by Figure 1 The method is performed by the computer device 140 in the embodiment of the present invention, and comprises the following steps:

[0062] Step S201, constructing a nonlinear model including nonlinear parameters of the motor.

[0063] The nonlinear model of the motor 110 is formed by expressing some parameters in the classical second-order model of the motor 110 as nonlinear parameters (i.e., they are not constants during the motion of the motor vibrator). When estimating the nonlinear parameters in the nonlinear model of the motor 110, all the nonlinear parameters contained in the nonlinear model can be used as nonlinear parameters to be estimated. The nonlinear parameters can be represented by polynomials. In this step, the computer device 140 can construct a nonlinear model containing the nonlinear parameters of the motor and obtain the polynomial representation corresponding to the nonlinear parameters. Among them, the nonlinear parameters can be approximated by polynomials as quantities that vary with one or more variables, and the polynomials have corresponding coefficients of various orders.

[0064] For example, the classical second-order model of the motor 110 can be expressed by the following equations (1) and (2):

[0065]

[0066] Bli=ma+R m v+K m x (2)

[0067] Wherein, (1) is the electrical equation, and (2) is the mechanical equation. Wherein, u represents the voltage across the motor, i represents the motor current, x represents the displacement of the motor vibrator, v represents the speed of the motor vibrator, a represents the acceleration of the motor vibrator, and R e Indicates the motor resistance, L e represents the motor inductance, Bl represents the motor electromagnetic force coefficient, m represents the motor vibrator mass, K m represents the motor spring rate and R m Indicates motor damping.

[0068] Based on equations (1) and (2), it is generally considered that these parameters are expressed as nonlinear parameters: L e , Bl, R m and K m These nonlinear parameters can be approximately expressed as polynomials with variables such as vibrator displacement, vibrator velocity and vibrator acceleration. In some engineering applications, some nonlinear parameters with less influence can be ignored. For the convenience of description, the present invention replaces the motor inductance L in the above formula (1) with e Ignore the influence of the motor electromagnetic force coefficient Bl and the motor spring stiffness coefficient K by using displacement x and velocity v.m and motor damping R m Specifically, the nonlinear model of the motor 110 can be expressed by the following equations (3) and (4):

[0069] u=R e i+Bl(x)v ​​(3)

[0070] Bl(x)i=ma+R m (v)v+K m (x)x (4)

[0071] Wherein, equation (3) and equation (4) are nonlinear expressions of the electrical equation and the mechanical equation, respectively, that is, the nonlinear model of the motor 110 may include the electrical equation and the mechanical equation; wherein the nonlinear parameters include the motor electromagnetic force coefficient Bl, the motor spring stiffness coefficient K m and motor damping R m , respectively expressed as:

[0072] Bl(x)=Bl0+Bl1x+Bl2x 2 +Bl3x 3 +Bl4x 4 (5)

[0073] K m (x) = K m0 +K m1 x+K m2 x 2 +K m3 x 3 +K m4 x 4 (6)

[0074] R m (v) = R m0 +R m1 v+R m2 v 2 (7)

[0075] Wherein, the above formulas (5) to (7) are the motor electromagnetic force coefficient Bl, the motor spring stiffness coefficient K, respectively. m and motor damping R m The polynomial expression of Bl0 to Bl4 is the coefficients of each order of the motor electromagnetic force coefficient Bl, and the vibrator displacement x is the variable corresponding to the motor electromagnetic force coefficient Bl. Similarly, K m0 To K m4 is the motor spring stiffness coefficient K m The coefficients of various orders, the oscillator displacement x is the motor spring stiffness coefficient K m The corresponding variable, R m0 To R m2 is the motor damping Rm The various order coefficients of the speed v are the motor damping R m The corresponding variable.

[0076] In this step, the computer device 140 can obtain the nonlinear model represented by the above equations (3) and (4), and the nonlinear parameters included in the nonlinear model are represented by the above equations (5) to (7).

[0077] Step S202 , using an excitation signal to drive the motor to vibrate, and obtaining a voltage measurement value across the motor, a motor current measurement value, and a motor vibrator acceleration measurement value in a vibrating state.

[0078] In this step, the computer device 140 can use the excitation signal to drive the motor 110 to vibrate. The motor 110 is driven to vibrate. The computer device 140 obtains the voltage measurement value at both ends of the motor 110 in the vibrating state, the motor current measurement value, and the motor vibrator acceleration measurement value. In some embodiments, the excitation signal can be generated by the computer device 140. The specific form of the excitation signal can be various. For example, the excitation signal can include a single-frequency signal, a broadband signal, or a white noise signal at the rated voltage resonant frequency of the motor 110.

[0079] Step S203, obtaining the vibrator velocity and displacement of the motor based on the motor vibrator acceleration measurement value.

[0080] In this step, the computer device 140 can calculate the motor vibrator velocity and the motor vibrator displacement based on the motor vibrator acceleration measurement value according to the relationship between acceleration, speed and displacement.

[0081] In some embodiments, the computer device 140 may integrate the measured values ​​of the motor vibrator acceleration to obtain the vibrator velocity and the vibrator displacement. In this embodiment, based on the mechanical relationship between acceleration, velocity and displacement, the computer device 140 may integrate the motor vibrator acceleration once in time to obtain the motor vibrator velocity, and integrate the motor vibrator acceleration twice in time to obtain the motor vibrator displacement. In this way, the measurement complexity of the vibrator velocity and vibrator displacement of the motor 110 can be simplified. Specifically, the computer device 140 can collect the motor vibrator acceleration measurement values ​​of the motor 110 in a vibrating state at multiple time collection points, and then the computer device 140 can use the relationship between speed and acceleration to integrate the motor vibrator acceleration measurement values ​​collected at multiple time collection points once in time to obtain the vibrator speed of the motor 110; and integrate the motor vibrator acceleration measurement values ​​collected at multiple time collection points twice in time to obtain the vibrator displacement of the motor 110, thereby completing the conversion from the motor vibrator acceleration to the vibrator speed and vibrator displacement respectively, and the vibrator speed and vibrator displacement data can be obtained without the need for additional speed and displacement measurement equipment.

[0082] Step S204: construct an overdetermined set of equations associated with the nonlinear model based on the nonlinear model.

[0083] Among them, an overdetermined system of equations refers to a system of equations in which the number of equations is greater than the number of unknowns. In this step, the computer device 140 constructs an overdetermined system of equations associated with the nonlinear model. Specifically, the computer device 140 can express the nonlinear parameters in the nonlinear model represented by the above equations (3) and (4) using the above equations (5) to (7), thereby constructing an overdetermined system of equations associated with the nonlinear model.

[0084] On the one hand, according to the electrical equation (3) and the polynomial expression (5) of the motor electromagnetic force coefficient Bl, the following overdetermined equation group (8) associated with the electrical equation (3) can be constructed:

[0085] A e C e =Y e (8)

[0086] in:

[0087]

[0088]

[0089]

[0090] On the other hand, according to the mechanical equation (4) and the motor electromagnetic force coefficient Bl, the motor spring stiffness coefficient K m and motor damping R m The polynomial representations (5) to (7) can be used to construct the following overdetermined system of equations (12) associated with the mechanical equations (4):

[0091] A m C m =Y m (12)

[0092] in:

[0093]

[0094]

[0095]

[0096] Among them, [·] is used to represent the th sampling point, and n represents the total number of sampling points.

[0097] Step S205, fitting an overdetermined set of equations according to the voltage measurement value, the motor current measurement value and the motor vibrator acceleration measurement value to obtain nonlinear parameters.

[0098] In this step, the computer device 140 can solve the above overdetermined equations (8) and (12), and specifically can use the least square method to fit the above overdetermined equations (8) and (12) based on the known voltage measurement values, motor current measurement values, motor vibrator acceleration measurement values, vibrator velocity and vibrator displacement of the motor 110. Specifically, for the nonlinear parameter coefficient matrix C of the overdetermined equations (8) e The least squares solution of (16) is:

[0099] C e =inv(A e T A e )·(A e T Y e ) (16)

[0100] For the nonlinear parameter coefficient matrix C of the overdetermined system of equations (12) m The least squares solution of (17) is:

[0101] C m =inv(A m T A m )·(A m T Y m ) (17).

[0102] After the computer device 140 obtains the corresponding coefficients of each nonlinear parameter in the nonlinear model of the motor 110 through the above-mentioned solution, the nonlinear parameter estimation process of the motor 110 is completed, thereby accurately and efficiently determining each nonlinear parameter expressed by a polynomial in the nonlinear model. Using the nonlinear model of the motor 110 for signal design can improve the similarity between the simulation signal and the measured signal, thereby providing support for the design of accurate tactile feedback effects and meeting the design requirements of accurate tactile feedback effects.

[0103] In the above method for determining the nonlinear parameters of the motor, the computer device 140 can obtain the nonlinear model of the constructed nonlinear parameters of the motor, use the excitation signal to drive the motor 110 to vibrate, and obtain the voltage measurement values ​​at both ends of the motor 110, the motor current measurement values ​​and the motor vibrator acceleration measurement values ​​under the vibration state. Then the computer device 140 obtains the vibrator velocity and vibrator displacement of the motor based on the motor vibrator acceleration measurement values. Then the computer device 140 constructs an overdetermined equation group associated with the nonlinear model based on the nonlinear model, and fits the overdetermined equation group according to the aforementioned voltage measurement values, motor current measurement values ​​and motor vibrator acceleration measurement values ​​to obtain the aforementioned nonlinear parameters. The computer device 140 can use the excitation signal to drive the motor 110 to vibrate, obtain the voltage, current and acceleration at both ends of the motor under the vibration state, and use the acceleration measurement values ​​to obtain the vibrator velocity and vibrator displacement of the motor 110, so as to fit the overdetermined equation group associated with the nonlinear model to obtain the nonlinear parameters of the motor, thereby improving the accuracy and efficiency of determining the nonlinear parameters of the motor during the test of the motor 110.

[0104] In some embodiments, the step S202 of using the excitation signal to drive the motor to vibrate and obtaining the voltage measurement value at both ends of the motor, the motor current measurement value, and the motor vibrator acceleration measurement value in the vibration state may include:

[0105] The motor is supported by a tooling piece, and the acceleration measurement value of the motor vibrator is calculated by measuring the acceleration measurement value of the tooling piece.

[0106] like Figure 1 As shown, in this embodiment, the tooling 120 can be used to support the motor 110, so that the computer device 140 can calculate the motor vibrator acceleration measurement value by measuring the acceleration measurement value of the tooling 120. The acceleration measurement value of the tooling 120 and the motor vibrator acceleration measurement value satisfy the following relationship:

[0107] a=A f m f / m

[0108] Among them, A f is the acceleration of the tooling 120, m f is the mass of the tooling 120, m is the mass of the motor vibrator, and a is the acceleration of the motor vibrator. According to the above acceleration relationship, the computer device 140 can convert the collected acceleration measurement value of the tooling 120 into the motor vibrator acceleration measurement value.

[0109] Furthermore, in some embodiments, before fitting the overdetermined equations according to the voltage measurement values, the motor current measurement values, and the motor vibrator acceleration measurement values ​​in step S205, the method may further include the following steps:

[0110] The acceleration measurement value of the tooling 120 is amplified by a signal amplifier. The amplification factor of the signal amplifier is generally 1-10 times, etc., in order to reduce the data quantization error of the analog-to-digital conversion at the acquisition card. In this embodiment, the acceleration measurement value collected from the tooling 120 can be transmitted to the computer device 140 through the signal amplifier 170 and the acquisition card 150. The acceleration measurement value received by the signal amplifier 170 is the acceleration measurement value of the tooling 120, and what the computer device 140 needs is the acceleration measurement value of the motor vibrator. In this embodiment, the signal amplifier 170 can be used to complete the conversion from the acceleration measurement value of the tooling 120 to the acceleration measurement value of the motor vibrator, that is, the acceleration measurement value of the tooling 120 is amplified by the signal amplifier 170, and the amplification factor of the signal amplifier 170 can be set to 1-10 times to reduce the data quantization error of the analog-to-digital conversion at the acquisition card.

[0111] It should be understood that, although the various steps in the above flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the above flowchart may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0112] In one embodiment, Figure 3 As shown, a device for determining nonlinear parameters of a motor is provided, and the device 300 may include:

[0113] A model construction module 301 is used to construct a nonlinear model including nonlinear parameters of the motor;

[0114] A measurement value acquisition module 302 is used to drive the motor to vibrate using an excitation signal, and obtain a voltage measurement value at both ends of the motor, a motor current measurement value, and a motor vibrator acceleration measurement value in a vibrating state;

[0115] A velocity displacement obtaining module 303, used to obtain the vibrator velocity and displacement of the motor based on the motor vibrator acceleration measurement value;

[0116] An equation group construction module 304, configured to construct an overdetermined equation group associated with the nonlinear model based on the nonlinear model;

[0117] A nonlinear parameter acquisition module 305, configured to fit the overdetermined equations according to the voltage measurement value, the motor current measurement value and the motor vibrator acceleration measurement value to obtain the nonlinear parameters;

[0118] Wherein, the nonlinear model is expressed as:

[0119] u=R e i+Bl(x)v

[0120] Bl(x)i=ma+R m (v)v+K m (x)x

[0121] u is the voltage across the motor; i is the motor current; x is the oscillator displacement; v is the oscillator velocity; a is the motor oscillator acceleration; R e is the motor resistance; Bl(x) is the motor electromagnetic force coefficient; K m (x) is the motor spring constant; R m (v) is the motor damping; m is the motor oscillator mass;

[0122] The nonlinear parameter is expressed as:

[0123] Bl(x)=Bl0+Bl1x+Bl2x 2 +Bl3x 3 +Bl4x 4

[0124] K m (x) = K m0 +K m1 x+K m2 x 2 +K m3 x 3 +K m4 x 4

[0125] R m (v) = R m0 +R m1 v+R m2 v 2 .

[0126] In one embodiment, the velocity displacement obtaining module 303 is further used to perform integration processing on the motor vibrator acceleration measurement value to obtain the vibrator velocity and vibrator displacement respectively.

[0127] In one embodiment, the excitation signal is a single frequency signal or a white noise signal.

[0128] In one embodiment, the nonlinear parameter obtaining module 305 is further used to fit the overdetermined equations using the least squares method.

[0129] In one embodiment, the measurement value acquisition module 302 is further used to support the motor with a tooling piece, and calculate the acceleration measurement value of the motor vibrator by measuring the acceleration measurement value of the tooling piece, and the acceleration measurement value of the tooling piece and the acceleration measurement value of the motor vibrator satisfy: a=A f m f / m; where A f is the tooling acceleration, m f is the mass of the tooling, m is the mass of the motor vibrator, and a is the acceleration of the motor vibrator.

[0130] In one embodiment, the device 300 further includes: an amplification processing module, which is used to amplify the acceleration measurement value of the tooling part using a signal amplifier, and the amplification factor of the signal amplifier is 1-10 times.

[0131] The specific definition of the device for determining the nonlinear parameters of the motor can be found in the definition of the method for determining the nonlinear parameters of the motor above, which will not be repeated here. Each module in the above-mentioned device for determining the nonlinear parameters of the motor can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0132] In one embodiment, a computer device is provided, whose internal structure diagram can be as follows: Figure 4 As shown. The computer device 400 includes a processor 401, a memory, a communication interface 402, a display screen 403 and an input device 404 connected via a system bus. Among them, the processor 401 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium 405 and an internal memory 406. The non-volatile storage medium 405 stores an operating system 4051 and a computer program 4052. The internal memory 406 provides an environment for the operation of the operating system 4051 and the computer program 4052 in the non-volatile storage medium. The communication interface 402 of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program 4052 is executed by the processor 401, a method for determining the nonlinear parameters of a motor is implemented. The display screen 403 of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device 404 of the computer device can be a touch layer covering the display screen 403, or a button, trackball or touchpad set on the computer device 400 shell, or an external keyboard, touchpad or mouse.

[0133] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device 400 to which the solution of the present invention is applied. The specific computer device 400 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0134] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0135] In one embodiment, a non-volatile computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0136] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0137] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0138] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for determining nonlinear parameters of a motor, characterized in that: The method comprises: Construct a nonlinear model including nonlinear parameters of the motor; Using an excitation signal to drive the motor to vibrate, obtaining a voltage measurement value at both ends of the motor, a motor current measurement value, and a motor vibrator acceleration measurement value in a vibrating state; Integrate the measured value of the motor vibrator acceleration once in time to obtain the vibrator velocity of the motor, and integrate the measured value of the motor vibrator acceleration twice in time to obtain the vibrator displacement of the motor; Constructing an overdetermined set of equations associated with the nonlinear model based on the nonlinear model; Fitting the overdetermined equations according to the voltage measurement value, the motor current measurement value, the motor vibrator acceleration measurement value, the vibrator velocity, and the vibrator displacement, solving the nonlinear parameter coefficient matrix of the overdetermined equations to obtain the nonlinear parameters; Wherein, the nonlinear model is expressed as: u=R e i+Bl(x)v Bl(x)i=ma+R m (v)v+K m (x)x u is the voltage across the motor; i is the motor current; x is the oscillator displacement; v is the oscillator velocity; a is the motor oscillator acceleration; R e is the motor resistance; Bl(x) is the motor electromagnetic force coefficient; K m (x) is the motor spring constant; R m (v) is the motor damping; m is the motor oscillator mass; The nonlinear parameter is expressed as: Bl(x)=Bl0+Bl1x+Bl2x 2 +Bl3x 3 +Bl4x 4 K m (x)=K m0 +K m1 x+K m2 x 2 +K m3 x 3 +K m4 x 4 R m (v)=R m0 +R m1 v+R m2 v 2 。 2. The method according to claim 1, characterized in that: The excitation signal is a single-frequency signal or a white noise signal.

3. The method according to claim 1, characterized in that The step of fitting the overdetermined set of equations according to the voltage measurement value, the motor current measurement value, and the motor vibrator acceleration measurement value comprises: The overdetermined system of equations is fitted using the least squares method.

4. The method according to claim 1, characterized in that: The method of using an excitation signal to drive the motor to vibrate and obtaining a voltage measurement value at both ends of the motor, a motor current measurement value, and a motor vibrator acceleration measurement value in a vibrating state includes: The motor is supported by a tooling piece, and the acceleration measurement value of the motor vibrator is calculated by measuring the acceleration measurement value of the tooling piece, and the acceleration measurement value of the tooling piece and the acceleration measurement value of the motor vibrator satisfy: a=A f m f / m; Among them, A f is the tooling acceleration, m f is the mass of the tooling, m is the mass of the motor vibrator, and a is the acceleration of the motor vibrator.

5. The method according to claim 4, characterized in that Before fitting the overdetermined equations according to the voltage measurement value, the motor current measurement value and the motor vibrator acceleration measurement value, the method further includes: amplifying the acceleration measurement value of the tooling part by using a signal amplifier.

6. A device for determining nonlinear parameters of a motor, characterized in that: include: A model construction module, used to construct a nonlinear model including nonlinear parameters of the motor; A measurement value acquisition module, used to drive the motor to vibrate using an excitation signal, and obtain a voltage measurement value at both ends of the motor, a motor current measurement value, and a motor vibrator acceleration measurement value under a vibrating state; A velocity displacement acquisition module, used for obtaining the vibrator velocity and vibrator displacement of the motor based on the motor vibrator acceleration measurement value; An equation group construction module, used for constructing an overdetermined equation group associated with the nonlinear model based on the nonlinear model; A nonlinear parameter acquisition module, used for fitting the overdetermined equation group according to the voltage measurement value, the motor current measurement value, the motor vibrator acceleration measurement value, the vibrator velocity, and the vibrator displacement to obtain the nonlinear parameters; Wherein, the nonlinear model is expressed as: u=R e i+Bl(x)v Bl(x)i=ma+R m (v)v+K m (x)x u is the voltage across the motor; i is the motor current; x is the oscillator displacement; v is the oscillator velocity; a is the motor oscillator acceleration; R e is the motor resistance; Bl(x) is the motor electromagnetic force coefficient; K m (x) is the motor spring constant; R m (v) is the motor damping; m is the motor oscillator mass; The nonlinear parameter is expressed as: Bl(x)=Bl0+Bl1x+Bl2x 2 +Bl3x 3 +Bl4x 4 K m (x)=K m0 +K m1 x+K m2 x 2 +K m3 x 3 +K m4 x 4 R m (v)=R m0 +R m1 v+R m2 v 2 。 7. The device according to claim 6, characterized in that The nonlinear parameter acquisition module is further used for: The overdetermined system of equations is fitted using the least squares method.

8. The device according to claim 6, characterized in that The measurement value acquisition module is further used for: The motor is supported by a tooling piece, and the acceleration measurement value of the motor vibrator is calculated by measuring the acceleration measurement value of the tooling piece, and the acceleration measurement value of the tooling piece and the acceleration measurement value of the motor vibrator satisfy: a=A f m f / m; Among them, A f is the tooling acceleration, m f is the mass of the tooling, m is the mass of the motor vibrator, and a is the acceleration of the motor vibrator.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A non-volatile computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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