Linear motor protection method, terminal device and computer readable storage medium

Abstract

The present invention discloses a method for protecting a linear motor, a terminal device, and a computer-readable storage medium, including: obtaining each driving voltage signal input into a target linear motor and each motor parameter of the target linear motor, and calculating each vibrator motion parameter prediction value in the target linear motor according to each driving voltage signal and each motor parameter; obtaining a collision warning result according to each vibrator motion parameter prediction value, and when the collision warning result indicates that there is a collision risk, calculating a target adjustment voltage signal according to each vibrator motion parameter prediction value and each motor parameter; processing the target adjustment voltage signal to obtain a target protection voltage signal, and inputting the target protection voltage signal into the target linear motor to protect the target linear motor. The present invention can achieve the technical effect of allowing the terminal device to perform intervention protection during the linear motor driving process, thereby preventing the vibrator in the linear motor from colliding with the motor housing during the movement process.

Description

Technical Field

[0001] The present invention relates to the technical field of linear motors, and in particular to a protection method for a linear motor, a terminal device, and a computer-readable storage medium. Background Art

[0002] With the development of the consumer electronics industry, linear resonant actuators (LRA) have been widely used in various occasions that require vibration feedback through consumer electronic products due to their advantages of strong, rich, crisp vibration and low energy consumption. Especially in AR (Augmented Reality) / VR (Virtual Reality) products, linear motors can achieve very rich, real and strong vibration feedback by constructing diverse driving voltage signals.

[0003] However, since technical personnel often cannot accurately know the specific physical characteristics and control algorithms of linear motors, they cannot ensure that the designed driving voltage can keep the vibrator in the linear motor within the maximum displacement range allowed by the linear motor hardware design when constructing the driving voltage signal. Especially in some application scenarios with large vibration requirements, AR / VR products often increase the driving voltage amplitude to improve the vibration feedback of the linear motor. In this way, it is easy for the vibrator in the linear motor to exceed the displacement range limited by the hardware of the linear motor itself during movement. Once the above situation occurs, the vibrator is prone to mechanical collision with the housing of the linear motor, thereby reducing the motor performance, generating vibration noise or affecting the normal vibration output of the linear motor, and even directly causing damage to the linear motor. Therefore, how to prevent the vibrator in the linear motor from colliding with the housing of the linear motor during movement has become an urgent problem to be solved in the industry. Summary of the invention

[0004] The embodiments of the present invention provide a linear motor protection method, a terminal device, and a computer-readable storage medium, so that the terminal device can perform intervention protection during the driving process of the linear motor, thereby preventing the vibrator in the linear motor from colliding with the motor housing during movement, thereby preventing the linear motor from experiencing performance degradation, abnormal vibration, loud vibration noise, or motor damage during the driving process.

[0005] To achieve the above object, the present invention provides a method for protecting a linear motor, the method comprising the following steps:

[0006] Acquire each driving voltage signal input into the target linear motor and each motor parameter of the target linear motor, and calculate the predicted value of each vibrator motion parameter in the target linear motor according to each driving voltage signal and each motor parameter;

[0007] Obtaining a collision warning result according to the predicted values ​​of the vibrator motion parameters, and when the collision warning result indicates that there is a collision risk, calculating a target adjustment voltage signal according to the predicted values ​​of the vibrator motion parameters and the motor parameters;

[0008] The target adjustment voltage signal is processed to obtain a target protection voltage signal, and the target protection voltage signal is input into the target linear motor to protect the target linear motor.

[0009] Further, the vibrator motion parameter prediction value includes a target vibrator displacement prediction value, a target vibrator velocity prediction value and a target vibrator energy prediction value;

[0010] The step of calculating the predicted value of each vibrator motion parameter in the target linear motor according to each of the driving voltage signals and each of the motor parameters comprises:

[0011] Determining each historical driving voltage signal within the nth moment to the nmth moment and each historical vibrator displacement prediction value within the nth moment to the nmth moment in each driving voltage signal;

[0012] Calculating each of the historical driving voltage signals and each of the historical vibrator displacement prediction values ​​based on a preset first prediction value calculation formula to obtain a target vibrator displacement prediction value;

[0013] Calculating each of the historical vibrator displacement prediction values ​​based on a preset second prediction value calculation formula to obtain the target vibrator velocity prediction value;

[0014] The target vibrator energy prediction value is obtained by calculating the target vibrator displacement prediction value, the target vibrator velocity prediction value and each of the motor parameters based on a preset third prediction value calculation formula.

[0015] Furthermore, before the step of obtaining a displacement warning result and an energy warning result according to the predicted values ​​of the motor parameters and the vibrator motion parameters, the method further includes:

[0016] Determining the maximum threshold of the vibrator displacement and the spring stiffness coefficient included in each of the motor parameters;

[0017] The maximum energy value of the system is obtained by calculating the maximum threshold of the vibrator displacement and the spring stiffness coefficient based on a preset energy calculation formula.

[0018] Furthermore, the collision warning result includes a displacement warning result, a displacement trigger result and an energy warning result; and the step of obtaining the collision warning result according to the predicted values ​​of the vibrator motion parameters includes:

[0019] Comparing the displacement amplitude corresponding to the target vibrator displacement prediction value with the preset displacement protection warning value to obtain the displacement warning result;

[0020] When the displacement warning result is that the displacement amplitude is greater than the displacement protection warning value, the displacement amplitude is compared with a preset displacement protection trigger value to obtain the displacement trigger result; wherein the displacement protection trigger value is greater than the displacement protection warning value;

[0021] When the displacement trigger result is that the displacement amplitude is greater than the displacement protection trigger value, the maximum energy value of the system is compared with the target vibrator energy prediction value to obtain the energy warning result;

[0022] When the energy warning result is that the predicted value of the target vibrator energy is greater than the maximum energy value of the system, it is determined that the collision warning result is that there is a collision risk.

[0023] Further, after the step of comparing the displacement amplitude with a preset displacement protection trigger value to obtain the displacement trigger result, the method further includes:

[0024] When the displacement trigger result is that the displacement amplitude is less than or equal to the displacement protection trigger value, determining the displacement amplitude change trend corresponding to the target vibrator displacement prediction value; wherein the displacement amplitude change trend includes an increasing trend and a decreasing trend;

[0025] When the displacement amplitude change trend is that the trend increases, the maximum energy value of the system is compared with the target vibrator energy prediction value to obtain the energy warning result;

[0026] When the energy warning result is that the predicted value of the target vibrator energy is greater than or equal to the maximum energy value of the system, it is determined that the collision warning result is that there is a collision risk.

[0027] Furthermore, the step of determining the displacement amplitude change trend corresponding to the target vibrator displacement prediction value includes:

[0028] Determine the displacement amplitude corresponding to the target vibrator displacement prediction value and the historical displacement amplitude corresponding to the target vibrator displacement prediction value at a previous moment;

[0029] Comparing the displacement amplitude with the historical displacement amplitude to obtain a displacement amplitude change trend, and when the displacement amplitude change trend is that the displacement amplitude is greater than the historical displacement amplitude, determining that the displacement amplitude change trend is an increasing trend;

[0030] When the displacement amplitude variation trend is that the displacement amplitude is less than or equal to the historical displacement amplitude, it is determined that the displacement amplitude variation trend is a decreasing trend.

[0031] Furthermore, the step of calculating the target adjustment voltage signal according to the predicted values ​​of the vibrator motion parameters and the motor parameters includes:

[0032] Determining a speed direction corresponding to the target vibrator speed prediction value;

[0033] Calculate the target adjustment voltage amplitude according to the motor parameters and the predicted values ​​of the vibrator motion parameters;

[0034] A target adjustment voltage signal opposite to the driving voltage signal is obtained according to the speed direction and the target adjustment voltage amplitude.

[0035] Furthermore, the step of processing the target adjustment voltage value to obtain a target protection voltage signal includes:

[0036] determining a target frequency component of the target adjustment voltage value that exceeds a bandwidth range corresponding to the target linear motor;

[0037] A smoothing filtering operation is performed on the target frequency component to generate a target protection voltage signal.

[0038] In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal device, which includes: a memory, a processor, and a linear motor protection program stored in the memory and executable on the processor, and the linear motor protection program, when executed by the processor, implements the steps of the linear motor protection method as described above.

[0039] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, on which a protection program for a linear motor is stored. When the protection program for the linear motor is executed by a processor, the steps of the linear motor protection method as described above are implemented.

[0040] The linear motor protection method, terminal device and computer-readable storage medium provided by the embodiments of the present invention obtain each driving voltage signal input into the target linear motor and each motor parameter of the target linear motor, and calculate each vibrator motion parameter prediction value in the target linear motor according to each driving voltage signal and each motor parameter; obtain a collision warning result according to each vibrator motion parameter prediction value, and when the collision warning result is that there is a collision risk, calculate a target adjustment voltage signal according to each vibrator motion parameter prediction value and each motor parameter; process the target adjustment voltage signal to obtain a target protection voltage signal, and input the target protection voltage signal into the target linear motor to protect the target linear motor.

[0041] In this embodiment, when the terminal device is running, it first obtains each driving voltage signal input into the target linear motor. At the same time, the terminal device reads the storage device in the target linear motor to obtain each motor parameter of the target linear motor. The terminal device then inputs the obtained driving voltage signals and motor parameters into a data processing device configured in the terminal device. The data processing device calculates the predicted values ​​of the vibrator motion parameters in the target linear motor according to the driving voltage signals and the motor parameters. After that, the data processing device calculates the displacement warning result according to the predicted values ​​of the vibrator motion parameters, and further determines the displacement trigger result and the energy warning result according to the displacement warning result to obtain the target linear motor. The data processing device calculates the target adjustment voltage signal according to the predicted values ​​of each motor parameter and each vibrator motion parameter when determining that the collision warning result is a collision risk, and uploads the target adjustment voltage signal to the terminal device. Finally, after obtaining the target adjustment voltage signal, the terminal device smoothes and filters the target adjustment voltage value through a built-in low-pass filtering device to obtain a target protection voltage signal, and amplifies the target protection voltage signal through an internally configured signal amplifying device. The terminal device then inputs the target protection voltage signal into the target linear motor to drive the vibrator in the target linear motor to generate a reverse displacement, thereby protecting the target linear motor.

[0042] In this way, the present invention adopts a method of calculating the predicted values ​​of each vibrator motion parameter according to each driving voltage signal input into the linear motor and each motor parameter of the linear motor, and determining the collision warning result corresponding to each vibrator motion parameter predicted value, thereby solving the problem of being unable to determine whether the vibrator is likely to collide with the shell during the motor driving process; and by calculating each motor parameter and each vibrator motion parameter predicted value to determine different target protection voltage signals when it is determined that the collision warning result is that there is a collision risk, and inputting the target protection voltage signal into the target linear motor to cause the vibrator in the target linear motor to produce a reverse displacement to protect the target linear motor, thereby achieving the technical effect of allowing the terminal device to intervene in the linear motor driving process for protection, thereby preventing the vibrator in the linear motor from colliding with the motor shell during movement, thereby preventing the linear motor from experiencing performance degradation, abnormal vibration, loud vibration noise or motor damage during driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the structure of a terminal device in a hardware operating environment involved in an embodiment of the present invention;

[0044] Figure 2 It is a schematic flow chart of a first embodiment of a method for protecting a linear motor according to the present invention;

[0045] Figure 3 A schematic diagram of a preferred embodiment of a linear motor protection method of the present invention;

[0046] Figure 4 A schematic diagram of a driving voltage signal waveform according to an embodiment of a method for protecting a linear motor of the present invention;

[0047] Figure 5 A schematic diagram of a waveform of a target vibrator displacement prediction value involved in an embodiment of a linear motor protection method of the present invention;

[0048] Figure 6 A schematic diagram of a waveform of a target vibrator energy prediction value involved in an embodiment of a linear motor protection method of the present invention;

[0049] Figure 7 Schematic diagram of displacement control timing involved in an embodiment of a linear motor protection method of the present invention;

[0050] Figure 8 A schematic diagram of a target adjustment voltage signal waveform according to an embodiment of a linear motor protection method of the present invention;

[0051] Fig. 9 A schematic diagram of a target protection voltage signal waveform according to an embodiment of a linear motor protection method of the present invention;

[0052] Fig.10 FIG. 4 is a schematic diagram of a displacement control waveform involved in an embodiment of a linear motor protection method of the present invention.

[0053] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0055] Please refer to Figure 1 , Figure 1 A schematic diagram of the terminal device structure of the hardware operating environment involved in the embodiment of the present invention.

[0056] It should be noted that Figure 1 The terminal device of the embodiment of the present invention may be a device for executing the linear motor protection method of the present invention, and the terminal device may be a mobile terminal, a data storage control terminal, a PC or a portable computer.

[0057] like Figure 1 As shown, the terminal device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0058] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the terminal device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0059] like Figure 1As shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module, and a protection program for the linear motor.

[0060] exist Figure 1 In the terminal device shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the terminal device of the present invention can be set in the terminal device, and the terminal device calls the linear motor protection program stored in the memory 1005 through the processor 1001, and executes the linear motor protection method provided in the embodiment of the present invention.

[0061] Based on the above-mentioned terminal device, various embodiments of the linear motor protection method of the present invention are provided.

[0062] Please refer to Figure 2 , Figure 2 FIG. 4 is a flow chart of a first embodiment of a method for protecting a linear motor according to the present invention.

[0063] It should be understood that although a logical sequence is shown in the flowchart, in some cases, the linear motor protection method of the present invention may also perform the steps shown or described in a sequence different from that shown here.

[0064] In this embodiment, the linear motor protection method of the present invention may include the following steps:

[0065] Step S10: acquiring each driving voltage signal input into the target linear motor and each motor parameter of the target linear motor, and calculating predicted values ​​of each vibrator motion parameter in the target linear motor according to each driving voltage signal and each motor parameter;

[0066] It should be noted that the driving voltage signal is a broadband signal generated by an AR or VR terminal device connected to a target linear motor according to an actual application scenario, or is a broadband signal generated by processing the sound effects actually output by a game application by an AR / VR terminal device; similarly, the motor parameters can be composed of the hardware-related parameters of the motor itself and the parameter indicators corresponding to the vibrator contained in the motor. It can be understood that the motor parameters can be stored in the terminal device or the target linear motor by a technician before the terminal device leaves the factory, so that the terminal device can directly read the storage device to obtain them when needed. Of course, there are many ways to set and store motor parameters, and the present invention is not limited to this.

[0067] In this embodiment, when the terminal device is running, it first obtains each driving voltage signal input into the target linear motor. At the same time, the terminal device reads the storage device in the target linear motor to obtain each motor parameter of the target linear motor. The terminal device then inputs the obtained driving voltage signals and motor parameters into a data processing device configured in the terminal device, and the data processing device calculates the predicted values ​​of the vibrator motion parameters in the target linear motor according to the driving voltage signals and the motor parameters.

[0068] For example, see Figure 4 , Figure 4 FIG. 1 is a schematic diagram of a driving voltage signal waveform involved in an embodiment of a displacement control method for a linear motor vibrator of the present invention. When the terminal device is running, the driving voltage signal sent by the VR device connected to the terminal device is first obtained, and the driving voltage signal is generated according to the following example: Figure 4 The waveform diagram shown in FIG. 1 determines the driving voltage signal u1(n) corresponding to each moment. At the same time, the terminal device reads the storage device of the target linear motor to obtain the motor parameters pre-stored by the technician, and determines the bandwidth range [f aL , f aH ], the mass of the vibrator in the motor m, the magnetic field strength B1, the spring constant k, the damping coefficient r, the coil DC resistance R e , the maximum displacement threshold value of the vibrator x hmax and the maximum output voltage u of the terminal equipment max The terminal device then obtains each driving voltage signal u1(t), bandwidth range [f aL , f aH ], the mass m of the vibrator in the motor, the magnetic field strength Bl, the spring stiffness k, the damping coefficient r, the coil DC resistance Re, the maximum displacement threshold x of the vibrator hmax and the maximum output voltage u of the terminal equipment max The data is input to a data processing device configured in the terminal device, and the data processing device calculates the predicted values ​​of the vibrator motion parameters of the vibrator in the target linear motor when it is in motion based on the driving voltage signals u1(n) and the motor parameters.

[0069] Further, in a feasible embodiment, the predicted values ​​of the vibrator motion parameters include a predicted value of a target vibrator displacement, a predicted value of a target vibrator velocity, and a predicted value of a target vibrator energy; the step of "calculating the predicted values ​​of the vibrator motion parameters in the target linear motor according to the driving voltage signals and the motor parameters" in the above step S10 may specifically include:

[0070] Step S101: determining each historical driving voltage signal within the nth moment to the nmth moment and each historical vibrator displacement prediction value within the nth moment to the nmth moment in each driving voltage signal;

[0071] In this embodiment, after acquiring each of the above-mentioned driving voltage signals, the terminal device first determines in each of the driving voltage signals the historical driving voltage signals at the current nth moment and at m moments before the nth moment, and determines the historical vibrator displacement prediction values ​​corresponding to each of the historical driving voltage signals.

[0072] Step S102: calculating each of the historical driving voltage signals and each of the historical vibrator displacement prediction values ​​based on a preset first prediction value calculation formula to obtain a target vibrator displacement prediction value;

[0073] In this embodiment, the terminal device inputs the acquired historical driving voltage signals and the historical vibrator displacement prediction values ​​into the above-mentioned data processing device, and the data processing device calculates each of the historical driving voltage signals and each of the historical vibrator displacement prediction values ​​based on an internally preset first prediction value calculation formula to obtain a target vibrator displacement prediction value.

[0074] Step S103: calculating each of the historical vibrator displacement prediction values ​​based on a preset second prediction value calculation formula to obtain the target vibrator velocity prediction value;

[0075] In this embodiment, the terminal device inputs the acquired historical vibrator displacement prediction values ​​into the data processing device, and the data processing device calculates the target vibrator speed prediction value based on the internally preset second prediction value calculation formula for each historical vibrator displacement prediction value.

[0076] Step S104: calculating the target vibrator displacement prediction value, the target vibrator velocity prediction value and each of the motor parameters based on a preset third prediction value calculation formula to obtain the target vibrator energy prediction value;

[0077] In this embodiment, the terminal device inputs the acquired target vibrator displacement prediction value, the target vibrator velocity prediction value and each of the above-mentioned motor parameters into the above-mentioned data processing device, and the data processing device calculates the target vibrator displacement prediction value, the target vibrator velocity prediction value and each of the motor parameters based on an internally preset third prediction value calculation formula to obtain a target vibrator energy prediction value.

[0078] Exemplarily, for example, after the terminal device obtains each of the above-mentioned driving voltage signals u1(n) input into the target linear motor, it first determines in each of the driving voltage signals u1(n) the voltage values ​​u corresponding to each of the historical driving voltage signals u1(n) at the current nth moment, the n-1th moment and the n-2th moment, and the historical vibrator displacement prediction values ​​x1(n-1) and x1(n-2) corresponding to each of the historical driving voltage signals at the n-1th moment and the n-2th moment. After that, the terminal device inputs the obtained historical driving voltage signals and the historical vibrator displacement prediction values ​​into the above-mentioned data processing device, and the data processing device calculates the first prediction value based on the first prediction value calculation formula preset by the technician:

[0079]

[0080] The historical driving voltage signals and the historical oscillator displacement predictions are calculated to obtain the target oscillator displacement prediction value x1(n) at the current nth moment, and the following is generated based on the target oscillator displacement prediction values: Figure 5 The target vibrator displacement prediction value waveform diagram shown;

[0081] Similarly, after obtaining the target vibrator displacement prediction value x1(n), the data processing device brings the initial vibrator displacement prediction value x1(n) and the historical vibrator displacement prediction value x1(n-1) at the n-1th moment into the second prediction value calculation formula preset by the technician:

[0082]

[0083] Thus, the target oscillator velocity prediction value v1(n) at the nth moment is obtained;

[0084] Similarly, the data processing device further brings the target vibrator displacement prediction value x1(n), the target vibrator velocity prediction value v1(n), the motor vibrator mass value m and the spring stiffness coefficient k at the nth moment into the third prediction value calculation formula preset by the technician:

[0085]

[0086] The initial oscillator energy prediction value E1(n) at the nth time is calculated, and the following is generated based on each target oscillator energy prediction value: Figure 6 The target oscillator energy prediction value waveform diagram shown;

[0087] It should be noted that, in this embodiment, the first prediction value calculation formula

[0088] T is the sampling period of signal processing.

[0089] Step S20: obtaining a collision warning result according to the predicted values ​​of the vibrator motion parameters, and when the collision warning result indicates that there is a collision risk, obtaining a target adjustment voltage signal according to the predicted values ​​of the vibrator motion parameters and the motor parameters;

[0090] In this embodiment, the data processing device calculates a displacement warning result based on the predicted values ​​of each vibrator motion parameter, and further determines the displacement trigger result and the energy warning result based on the displacement warning result to obtain a collision warning result in the target linear motor. When the data processing device further determines that the collision warning result indicates that there is a collision risk, it calculates a target adjustment voltage signal based on each motor parameter and each vibrator motion parameter predicted value, and uploads the target adjustment voltage signal to the terminal device.

[0091] For example, the data processing device compares the obtained target vibrator displacement prediction value x1(n) with the preset displacement protection warning value x1(n). tha The displacement warning result is obtained by comparison, and then the target vibrator displacement prediction value x1(n) and the preset displacement protection trigger value x1(n) are further determined according to the displacement warning result. thb After that, the data processing device determines the energy warning result according to the obtained target vibrator energy prediction value E1(n), and obtains the collision warning result according to the displacement warning result, the displacement trigger result and the energy warning result, and calculates the maximum displacement threshold x of the vibrator contained in each motor parameter according to the preset target voltage when the collision warning result is determined to be a collision risk. hmax , displacement protection trigger value x thb , Maximum output voltage u max The target vibrator displacement prediction value x1(n) is obtained and the target adjustment voltage signal u2(n) is calculated, and the target adjustment voltage signal u2(n) is uploaded to the terminal device.

[0092] Furthermore, in a feasible embodiment, before the above step S20, the linear motor protection method of the present invention may further include:

[0093] Step A10: determining the maximum threshold of the vibrator displacement and the spring stiffness coefficient included in each of the motor parameters;

[0094] Step A20: Calculate the maximum threshold of the vibrator displacement and the spring stiffness coefficient based on a preset energy calculation formula to obtain a maximum energy value of the system;

[0095] Exemplarily, for example, the data processing device first determines the maximum threshold value x of the vibrator displacement in each motor parameter. hmax And the spring stiffness coefficient k, and according to the preset energy calculation formula:

[0096]

[0097] The maximum threshold value x for the oscillator displacement hmax The maximum energy value E of the system is calculated by calculating the spring stiffness coefficient k. max .

[0098] Further, in a feasible embodiment, the collision warning result includes a displacement warning result, a displacement trigger result and an energy warning result. The step of "obtaining a collision warning result according to the predicted values ​​of each of the vibrator motion parameters" in the above step S20 may specifically include:

[0099] Step S201: Compare the displacement amplitude corresponding to the target vibrator displacement prediction value with the preset displacement protection warning value to obtain the displacement warning result;

[0100] In this embodiment, the terminal device reads the storage device to obtain the displacement protection warning value preset by the technician, and inputs the displacement protection warning value into the data processing device. At the same time, the data processing device determines the displacement amplitude corresponding to the above-mentioned target vibrator displacement prediction value, and compares the displacement amplitude with the displacement protection warning value to obtain the displacement warning result.

[0101] Step S202: when the displacement warning result is that the displacement amplitude is greater than the displacement protection warning value, the displacement amplitude is compared with a preset displacement protection trigger value to obtain the displacement trigger result; wherein the displacement protection trigger value is greater than the displacement protection warning value;

[0102] In this embodiment, when the data processing device determines that the displacement warning result is that the displacement amplitude is greater than the displacement protection warning value, it obtains the displacement protection trigger value preset by the technician in the terminal device, and compares the displacement amplitude with the displacement protection trigger value to obtain the displacement trigger result.

[0103] Step S203: when the displacement trigger result is that the displacement amplitude is greater than the displacement protection trigger value, the system maximum energy value is compared with the target vibrator energy prediction value to obtain the energy warning result;

[0104] In this embodiment, when the data processing device determines that the displacement trigger result is that the displacement amplitude is greater than the displacement protection trigger value, the data processing device determines that the target vibrator displacement prediction value may exceed the vibrator maximum displacement threshold contained in the above-mentioned motor parameters, and compares the obtained above-mentioned system maximum energy value with the above-mentioned target vibrator energy prediction value to obtain an energy warning result.

[0105] Step S204: when the energy warning result is that the predicted energy value of the target vibrator is greater than the maximum energy value of the system, determining that the collision warning result is that there is a collision risk;

[0106] In this embodiment, when the data processing device determines that the energy warning result is that the predicted energy value of the target vibrator is greater than the maximum energy value of the system, the data processing device determines that the vibrator in the target linear motor is at risk of colliding with the motor housing, thereby obtaining a collision warning result corresponding to the predicted value of each vibrator motion parameter, which is that there is a collision risk.

[0107] For example, the terminal device first reads the storage device to obtain the preset displacement protection warning value x tha and displacement protection trigger value x thb , and the displacement protection warning value x tha and displacement protection trigger value x thb The data processing device determines the displacement amplitude |x1(n)| corresponding to the target vibrator displacement prediction value x1(n), and compares the displacement amplitude |x1(n)| with the displacement protection warning value x1(n). tha Compare and get the displacement warning result. When the displacement warning result is that the displacement amplitude |x1(n)| is greater than the displacement protection warning value x tha When the terminal device determines that the displacement of the vibrator in the target linear motor is in the warning interval, and further compares the displacement amplitude |x1(n)| with the displacement protection trigger value x through the data processing device. thb Compare and get the displacement trigger result. When the displacement trigger result is that the displacement amplitude |x1(n)| is greater than the displacement protection trigger value x thb When , the terminal device determines that the displacement of the vibrator is within the displacement protection operation triggering interval, thereby determining that the displacement of the vibrator exceeds the above-mentioned maximum displacement threshold value x of the vibrator. hmax The maximum energy value E of the system is further obtained by the data processing device. max The energy warning result is obtained by comparing the target oscillator energy prediction value E1(n). When the energy warning result is that the target oscillator energy prediction value E1(n) is greater than the system maximum energy value E max When , the terminal device determines that the displacement control operation needs to be applied immediately, and determines that the collision warning result corresponding to the predicted value of each vibrator motion parameter is that there is a collision risk.

[0108] It can be understood that, in this embodiment, the displacement protection trigger value x thb Should be set higher than the displacement protection warning value x tha Of course, in another embodiment, the terminal device may also be configured without the need to compare the displacement amplitude |x1(n)| with the displacement protection warning value x thaWhen the displacement warning result is obtained by comparison, the displacement amplitude |x1(n)| is directly compared with the displacement protection trigger value x thb The comparison is performed to directly obtain the above displacement trigger result.

[0109] Furthermore, in a feasible embodiment, after the above step S202, the linear motor protection method of the present invention may further include:

[0110] Step B10: when the displacement trigger result is that the displacement amplitude is less than or equal to the displacement protection trigger value, determining the displacement amplitude change trend corresponding to the target vibrator displacement prediction value; wherein the displacement amplitude change trend includes an increasing trend and a decreasing trend;

[0111] In this embodiment, when the data processing device determines that the displacement trigger result is that the displacement amplitude is less than or equal to the displacement protection trigger value, the terminal device determines that the displacement amplitude is within the displacement warning value interval but is not within the displacement protection value interval, thereby further determining through the data processing device whether the displacement amplitude change trend corresponding to the target vibrator displacement prediction value is an increasing trend or a decreasing trend.

[0112] Step B20: when the displacement amplitude change trend is the increasing trend, comparing the system maximum energy value with the target vibrator energy prediction value to obtain the energy warning result;

[0113] In this embodiment, when the data processing device determines that the displacement amplitude change trend is increasing, the terminal device determines that the target vibrator displacement prediction value may exceed the vibrator maximum displacement threshold contained in the above-mentioned motor parameters, and compares the obtained system maximum energy value with the above-mentioned target vibrator energy prediction value to obtain an energy warning result.

[0114] Step B30: when the energy warning result is that the predicted energy value of the target vibrator is greater than or equal to the maximum energy value of the system, determining that the collision warning result is that there is a collision risk;

[0115] In this embodiment, when the data processing device determines that the energy warning result is that the predicted energy value of the target vibrator is greater than the maximum energy value of the system, the data processing device determines that the vibrator in the target linear motor is at risk of colliding with the motor housing, thereby obtaining a collision warning result corresponding to the predicted value of each vibrator motion parameter, which is that there is a collision risk.

[0116] Exemplarily, for example, the data processing device determines that the displacement trigger result is that the displacement amplitude |x1(n)| is less than or equal to the displacement protection trigger value x thb, the terminal device determines that the displacement amplitude |x1(n)| is within the displacement warning value interval, but not within the displacement protection value interval, that is, the risk level of the current state of the vibrator colliding with the motor housing has not reached the situation of triggering the control displacement operation. After that, the terminal device further determines the displacement amplitude change trend corresponding to the target vibrator displacement prediction value x1(n) through the data processing device, and when it is determined that the displacement amplitude change trend is increasing, the terminal device determines that the risk level of the vibrator colliding with the motor housing is increasing, and thus the above-mentioned system maximum energy value E is obtained through the data processing device. max The energy warning result is obtained by comparing the target oscillator energy prediction value E1(n) with the obtained target oscillator energy prediction value E1(n). max When , the terminal device determines that the displacement control operation needs to be applied immediately, and determines that the collision warning result corresponding to the predicted value of each vibrator motion parameter is that there is a collision risk.

[0117] It should be noted that, in this embodiment, please refer to Figure 7 , Figure 7 FIG. 1 is a schematic diagram of displacement control timing involved in an embodiment of a method for protecting a linear motor of the present invention. It can be understood that, in this embodiment, by Figure 7 With the above Figure 5 and Figure 6 By comparing and observing, it can be clearly seen that Figure 5 In the interval from t = 0.9s to t = 1.5s, the normalized value result x corresponding to the target oscillator displacement prediction value x1(n) 1_1FS (n) is greater than 1 many times, that is, in x 1_1FS Each time when (n) is greater than 1 is the time when the target vibrator displacement prediction value x1(n) is in the above displacement protection operation triggering interval; similarly, Figure 6 In the interval from t = 0.9 to t = 1.5s, the normalized value result E corresponding to the target oscillator energy prediction value E1(n) 1_1FS Many times greater than 1, that is, E 1_1FS The moments greater than 1 are when the predicted energy value E1(n) of each target oscillator is greater than the maximum energy value E of the system. max at the moment; similarly, at Figure 7 In the interval from t = 0.9s to t = 1.5s, it can be clearly seen that the moment when the control timing En value is 1 is Figure 5 The target oscillator displacement prediction value x1(n) is within the displacement protection operation triggering interval, and the target oscillator energy prediction value E1(n) is greater than the system maximum energy value E max The moment is corresponding, thus indicating that the terminal device can perform the corresponding displacement control operation when determining that the collision warning result is that there is a collision risk; it can be understood that, in this embodiment, Figure 5 and Figure 6 1FS represents the rated amplitude, that is, the set maximum amplitude. Of course, the specific numerical value of the rated amplitude can be modified and set by technicians according to actual needs, and the present invention does not limit this.

[0118] Further, in a feasible embodiment, after the step of "determining the displacement amplitude change trend corresponding to the target vibrator displacement prediction value" in the above step B10, the linear motor protection method of the present invention may also include:

[0119] Step B101: determining the displacement amplitude corresponding to the target vibrator displacement prediction value and the historical displacement amplitude corresponding to the target vibrator displacement prediction value at the previous moment;

[0120] In this embodiment, the data processing device determines the displacement amplitude corresponding to the target vibrator displacement prediction value corresponding to the current nth moment and the historical displacement amplitude corresponding to the target vibrator displacement prediction value at the n-1th moment in the calculated target vibrator displacement prediction values.

[0121] Step B102: comparing the displacement amplitude with the historical displacement amplitude to obtain a displacement amplitude change trend; when the displacement amplitude change trend is that the displacement amplitude is greater than the historical displacement amplitude, determining that the displacement amplitude change trend is an increasing trend;

[0122] In this embodiment, the data processing device compares the displacement amplitude with the historical displacement amplitude to obtain the displacement amplitude change trend. When the displacement amplitude change trend is that the displacement amplitude is greater than the historical displacement amplitude, the data processing device determines that the displacement amplitude change trend is an increasing trend.

[0123] Step B103: when the displacement amplitude change trend is that the displacement amplitude is less than or equal to the historical displacement amplitude, determining that the displacement amplitude change trend is decreasing;

[0124] In this embodiment, when the data processing device determines that the displacement amplitude change trend is that the displacement amplitude is less than or equal to the historical displacement amplitude, it determines that the displacement amplitude change trend is a decreasing trend.

[0125] For example, when the terminal device determines that the displacement amplitude |x1(n)| corresponding to the target vibrator displacement prediction value x1(n) at the nth moment is higher than the displacement protection warning value x1(n), the terminal device determines that the displacement amplitude |x1(n)| corresponding to the target vibrator displacement prediction value x1(n) at the nth moment is higher than the displacement protection warning value x1(n). tha , but lower than the displacement protection trigger value x thb, the target vibrator displacement prediction value x1(n-1) at the n-1th moment is determined by the data processing device, and the historical displacement amplitude |x1(n-1)| corresponding to the target vibrator displacement prediction value x1(n-1) is determined. Thereafter, the data processing device compares the displacement amplitude |x1(n)| with the historical displacement amplitude |x1(n-1)| to obtain a displacement amplitude change trend, and when the displacement amplitude change trend is that the displacement amplitude |x1(n)| is greater than the historical displacement amplitude |x1(n-1)|, the displacement amplitude change trend is determined to be an increasing trend. Similarly, when the displacement amplitude change trend is that the displacement amplitude |x1(n)| is less than or equal to the historical displacement amplitude |x1(n-1)|, the displacement amplitude change trend is determined to be a decreasing trend.

[0126] Further, in a feasible embodiment, the step of "calculating the target adjustment voltage value according to the predicted values ​​of the vibrator motion parameters and the motor parameters" in the above step S20 may specifically include:

[0127] Step S205: determining the speed direction corresponding to the target vibrator speed prediction value;

[0128] In this embodiment, the terminal device reads the storage device to obtain a preset sign function, and inputs the sign function to the data processing device, which judges the obtained target vibrator speed prediction value according to the sign function to obtain the speed direction corresponding to the target vibrator speed prediction value.

[0129] Step S206: Calculating a target adjustment voltage amplitude according to each of the motor parameters and each of the vibrator motion parameter prediction values;

[0130] In this embodiment, the data processing device calculates each motor parameter and each vibrator motion parameter according to a preset target voltage calculation formula to obtain a target adjustment voltage amplitude.

[0131] Step S207: obtaining a target adjustment voltage signal opposite to the driving voltage signal according to the speed direction and the target adjustment voltage amplitude;

[0132] In this embodiment, the data processing device obtains the target adjustment voltage sign according to the acquired speed direction, and integrates the target adjustment voltage sign with the target adjustment voltage amplitude, thereby obtaining a target adjustment voltage signal opposite to the driving voltage signal.

[0133] Exemplarily, for example, the terminal device first reads the storage device to obtain the sign function sign() preset by the technician, and inputs the sign function sign() to the data processing device. Thereafter, the data processing device determines the direction of the calculated target vibrator velocity prediction value v1(n) according to the sign function sign() to obtain the velocity direction. When the target vibrator velocity prediction value v1(n)>0, it is determined that the sign function sign(v1(n))=1, and the velocity direction is determined to be sign(v1(n))=1. Similarly, when the target vibrator velocity prediction value v1(n)<0, it is determined that the sign function sign(v1(n))=-1, and the velocity direction is determined to be sign(v1(n))=1. Similarly, when the target vibrator velocity prediction value v1(n)<0, it is determined that the sign function sign(v1(n))=-1, and the velocity direction is determined to be sign(v1(n))=1. )=0, determine that the sign function sign(v1(n))=0, and determine that the speed direction is sign(v1(n))=1, and then, when the data processing device determines that the speed direction is sign(v1(n))=1, determine that the target adjustment voltage sign sign(u2(n))=-1, similarly, when the data processing device determines that the speed direction is sign(v1(n))=-1, determine that the target adjustment voltage sign sign(u2(n))=1, similarly, when the data processing device determines that the speed direction is sign(v1(n))=0, determine that the target adjustment voltage sign sign(u2(n))=0, that is, there is a negative relationship between the speed direction sign(v1(n)) and the target adjustment voltage sign sign(u2(n));

[0134] Then, the data processing device extracts the maximum displacement threshold x of the vibrator from each motor parameter. hmax , displacement protection trigger value x thb And the maximum output voltage u max , and calculate the target voltage using the preset formula:

[0135]

[0136] The extracted motor parameters and the target vibrator displacement prediction value x1(n) are calculated to obtain the target adjustment voltage amplitude |u2(n)|. Finally, the data processing device multiplies the obtained target adjustment voltage sign sign(u2(n)) with the target adjustment voltage amplitude |u2(n)| to obtain the target adjustment voltage signal u2(n)=sign(u2(n))·|u2(n)| which is opposite to the driving voltage signal, and generates the following: Figure 8 Schematic diagram of the target adjustment voltage signal waveform shown.

[0137] Understandably, please refer to Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 ,Will Figure 5 , Figure 6 , Figure 7 and Figure 8 By comparison, it can be clearly observed that at the moment when the above-mentioned target vibrator displacement prediction value and the target vibrator energy prediction value are both greater than 1 and at the moment corresponding to the displacement control time En=1, the overall waveform and local waveform corresponding to the target adjustment voltage signal u2(n) are significantly different from the waveform corresponding to the above-mentioned driving voltage signal u1(n), that is, the terminal device can perform a displacement control operation by generating a reverse target adjustment voltage signal.

[0138] Step S30: Processing the target adjustment voltage value to obtain a target protection voltage signal, and inputting the target protection voltage signal into the target linear motor to protect the target linear motor;

[0139] In this embodiment, after obtaining the target adjustment voltage signal, the terminal device smoothes and filters the target adjustment voltage signal through a built-in low-pass filtering device to obtain a target protection voltage signal, and amplifies the target protection voltage signal through an internally configured signal amplification device. The terminal device then inputs the target protection voltage signal into the target linear motor to drive the vibrator in the target linear motor to produce reverse displacement, thereby protecting the target linear motor.

[0140] For example, after obtaining the target adjustment voltage value u2(n), the terminal device calls a low-pass filter device and adjusts the voltage according to the cutoff frequency f of the low-pass filter device. LP The target adjustment voltage u2(n) is smoothed and filtered to obtain a target protection voltage signal u3(n), and then the following is generated according to each target protection voltage signal u3(n): Fig. 9 The target protection voltage signal waveform diagram is shown, after which the terminal device amplifies the power of the target protection voltage signal u3(n) through the above-mentioned signal amplification device, and inputs the target protection voltage signal u3(n) into the target linear motor to drive the vibrator in the target linear motor to produce reverse displacement, thereby protecting the target linear motor.

[0141] Understandably, please refer to Figure 8 and Fig. 9 ,Will Figure 8 and Fig. 9 By comparison, it can be clearly observed that after the target adjustment voltage value u2(n) is smoothed and filtered, Fig. 9 There is no voltage waveform jump problem in the waveform diagram corresponding to the target protection voltage signal u3(n) shown in the figure, and the overall voltage waveform avoids jump points and glitches.

[0142] It should be noted that, in this embodiment, the signal amplifying device is specifically an amplifier that performs power matching on the input signal, and can specifically be a common class A, class B, class AB, or class D driver. It can be understood that the input signal can be an analog signal or a digital signal.

[0143] Further, in a feasible embodiment, the step of "processing the target adjustment voltage value to obtain a target protection voltage signal" in the above step S30 may specifically include:

[0144] Step S301: determining a target frequency component in the target adjustment voltage value that exceeds a bandwidth range corresponding to the target linear motor;

[0145] In this embodiment, the terminal device calls the above-mentioned low-pass filtering device to determine each target frequency component in the above-mentioned target adjustment voltage signal that exceeds the bandwidth range of the motor within the above-mentioned motor parameters.

[0146] Step S302: performing a smoothing filter operation on the target frequency component to generate a target protection voltage signal;

[0147] In this embodiment, the low-pass filter device performs a smoothing filtering operation on each of the above target frequency components, so that each target frequency component is within the bandwidth range of the above linear motor, and determines the target adjustment voltage value after completing the smoothing filtering operation as the target protection voltage signal.

[0148] Exemplarily, for example, the terminal device calls the low-pass filter device to determine the motor bandwidth frequency upper limit f in the target adjustment voltage signal u2(n) that exceeds the motor parameter. aH Each target frequency component is obtained by performing a smoothing filtering operation on each target frequency component through the low-pass filtering device, so that each target frequency component is within the upper frequency limit f of the bandwidth. aH and the target adjusted voltage value after the smoothing filtering operation is determined as the target protection voltage signal u3(n).

[0149] It can be understood that, in this embodiment, in order to ensure that the smoothing filtering operation of the low-pass filtering device can completely perform a smoothing filtering operation on the target adjustment voltage value u2(n), the cutoff frequency f of the low-pass filtering device can be set to LP In the above target linear motor bandwidth frequency upper limit f aH Above, for example, let f LP =2f aH Of course, there are many specific setting methods and setting ranges for the cutoff frequency, and the present invention does not limit this.

[0150] In addition, please refer to Figure 5 and Fig.10,in, Fig.10 is a schematic diagram of a displacement control waveform involved in an embodiment of a linear motor protection method of the present invention; Figure 5 and Fig.10 By comparison, it can be clearly observed that after the above-mentioned target protection voltage signal is output through the protection method of the linear motor of the present invention, as shown in FIG. Fig.10 As shown, in the interval from t = 9 to t = 1.5, the part of the predicted value of the vibrator displacement in the target linear motor that exceeds -1 and 1 will return to the interval from -1 to 1, thereby effectively preventing the displacement of the vibrator from exceeding the maximum threshold value x of the vibrator displacement. hmax of the motor, thereby reducing the risk of collision between the vibrator and the motor housing.

[0151] In this embodiment, when the terminal device is running, it first obtains each driving voltage signal input into the target linear motor. At the same time, the terminal device reads the storage device in the target linear motor to obtain each motor parameter of the target linear motor. The terminal device then inputs the obtained driving voltage signals and motor parameters into a data processing device configured in the terminal device. The data processing device calculates the predicted values ​​of the vibrator motion parameters in the target linear motor according to the driving voltage signals and the motor parameters. After that, the data processing device calculates the displacement warning result according to the predicted values ​​of the vibrator motion parameters, and further determines the displacement trigger result and the energy warning result according to the displacement warning result to obtain the target linear motor. The data processing device calculates the target adjustment voltage signal according to the predicted values ​​of each motor parameter and each vibrator motion parameter when determining that the collision warning result is a collision risk, and uploads the target adjustment voltage signal to the terminal device. Finally, after obtaining the target adjustment voltage signal, the terminal device smoothes and filters the target adjustment voltage signal through a built-in low-pass filtering device to obtain a target protection voltage signal, and amplifies the target protection voltage signal through an internally configured signal amplifying device. The terminal device then inputs the target protection voltage signal into the target linear motor to drive the vibrator in the target linear motor to produce reverse displacement, thereby protecting the target linear motor.

[0152] In this way, the present invention adopts a method of calculating the predicted values ​​of each vibrator motion parameter according to each driving voltage signal input into the linear motor and each motor parameter of the linear motor, and determining the collision warning result corresponding to each vibrator motion parameter predicted value, thereby solving the problem of being unable to determine whether the vibrator is likely to collide with the shell during the motor driving process; and by calculating each motor parameter and each vibrator motion parameter predicted value to determine different target protection voltage signals when it is determined that the collision warning result is that there is a collision risk, and inputting the target protection voltage signal into the target linear motor to cause the vibrator in the target linear motor to produce a reverse displacement to protect the target linear motor, thereby achieving the technical effect of allowing the terminal device to intervene in the linear motor driving process for protection, thereby preventing the vibrator in the linear motor from colliding with the motor shell during movement, thereby preventing the linear motor from experiencing performance degradation, abnormal vibration, loud vibration noise or motor damage during driving.

[0153] Furthermore, based on the first embodiment of the protection method for a linear motor of the present invention, a preferred embodiment of the protection method for a linear motor of the present invention is proposed herein.

[0154] Please refer to Figure 3 , Figure 3 Schematic diagram of a preferred embodiment of a linear motor protection method of the present invention.

[0155] In this embodiment, the VR / AR device connected to the terminal device first inputs a preset driving voltage signal into the terminal device. After that, the terminal device calculates the target vibrator displacement prediction value, the target vibrator velocity prediction value and the target vibrator energy prediction value corresponding to the driving voltage point by point through the internally configured data processor, and compares the target vibrator displacement prediction value with the preset displacement protection warning value through the data processing device to obtain the displacement warning result to complete Figure 3 The displacement interval determination and action steps shown in the figure are as follows, and when the displacement warning result is that the displacement amplitude corresponding to the target vibrator displacement prediction value is greater than the displacement protection warning value, the displacement amplitude change trend corresponding to the displacement amplitude is further determined to complete the Figure 3 The displacement amplitude change trend determination step shown in , and then, when the data processing device determines that the displacement amplitude change trend is an increasing trend, the obtained target vibrator energy prediction value is further compared with the calculated system maximum energy value to complete Figure 3 The energy interval determination step is performed after determining that the target oscillator energy prediction value is greater than the system maximum energy value. Figure 3In the middle drive protection step, the target adjustment voltage signal is obtained by calculating the predicted value of each vibrator motion parameter and each motor parameter, and the target adjustment voltage signal is uploaded to the terminal device. Finally, the terminal device calls the internally configured low-pass filter device to smooth and filter the target adjustment voltage signal to obtain the target protection voltage signal to complete Figure 3 The driving voltage smoothing filter operation shown in the figure is performed, and the target protection voltage signal is amplified by the internally configured signal amplifier, and then the target protection voltage signal is input into the target linear motor to drive the vibrator in the target linear motor to produce reverse displacement to complete Figure 3 The power amplification and driving steps shown in the figure are performed to protect the target linear motor.

[0156] In addition, the present invention also provides a terminal device having a linear motor protection method that can be run on a processor, and when the terminal device executes the linear motor protection method, the steps of the linear motor protection method as described in any of the above embodiments are implemented.

[0157] The specific embodiments of the terminal device of the present invention are basically the same as the embodiments of the above-mentioned linear motor protection method, and will not be described in detail here.

[0158] In addition, the present invention also provides a computer-readable storage medium, on which a linear motor protection method is stored. When the linear motor protection method is executed by a processor, the steps of the linear motor protection method described in any of the above embodiments are implemented.

[0159] The specific embodiments of the computer-readable storage medium of the present invention are basically the same as the embodiments of the above-mentioned linear motor protection method, and will not be described in detail here.

[0160] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0161] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0162] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment method can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, including a number of instructions for enabling a terminal device (which can be a device for executing the protection method of the linear motor of the present invention, and the terminal device can specifically be a mobile terminal, a data storage control terminal, a PC or a portable computer, etc.) to execute the methods described in each embodiment of the present invention.

[0163] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for protecting a linear motor, characterized in that: The protection method of the linear motor comprises the following steps: Acquire each driving voltage signal input into the target linear motor and each motor parameter of the target linear motor, and calculate each vibrator motion parameter prediction value in the target linear motor according to each driving voltage signal and each motor parameter, wherein the vibrator motion parameter prediction value includes a target vibrator displacement prediction value, a target vibrator velocity prediction value, and a target vibrator energy prediction value; The step of calculating the predicted value of each vibrator motion parameter in the target linear motor according to each of the driving voltage signals and each of the motor parameters comprises: Determining each historical driving voltage signal within the nth moment to the nmth moment and each historical vibrator displacement prediction value within the nth moment to the nmth moment in each driving voltage signal; The target vibrator displacement prediction value is obtained by calculating each of the historical driving voltage signals and each of the historical vibrator displacement prediction values ​​based on a preset first prediction value calculation formula, wherein the first prediction value calculation formula is: , , , , , , , , , , T is the sampling period of signal processing, is the spring stiffness coefficient, is the mass of the vibrator in the target linear motor, is the magnetic field strength, is the DC coil resistance, is the damping coefficient, is the historical driving voltage signal; The target vibrator velocity prediction value is obtained by calculating each of the historical vibrator displacement prediction values ​​based on a preset second prediction value calculation formula, wherein the second prediction value calculation formula is: ; The target vibrator displacement prediction value, the target vibrator velocity prediction value and each of the motor parameters are calculated based on a preset third prediction value calculation formula to obtain the target vibrator energy prediction value, wherein the third prediction value calculation formula is: , is the spring coefficient included in each of the motor parameters; Obtaining a collision warning result according to the predicted values ​​of the vibrator motion parameters, and when the collision warning result indicates that there is a collision risk, calculating a target adjustment voltage signal according to the predicted values ​​of the vibrator motion parameters and the motor parameters; The target adjustment voltage signal is processed to obtain a target protection voltage signal, and the target protection voltage signal is input into the target linear motor to protect the target linear motor.

2. The linear motor protection method according to claim 1, characterized in that: Before the step of obtaining a collision warning result according to the predicted values ​​of the vibrator motion parameters, the method further includes: Determining the maximum threshold of the vibrator displacement and the spring stiffness coefficient included in each of the motor parameters; The maximum energy value of the system is obtained by calculating the maximum threshold of the vibrator displacement and the spring stiffness coefficient based on a preset energy calculation formula, wherein the energy calculation formula is: is the maximum threshold of the vibrator displacement included in each of the motor parameters.

3. The linear motor protection method according to claim 2, characterized in that: The collision warning result includes a displacement warning result, a displacement trigger result and an energy warning result; The step of obtaining a collision warning result according to the predicted values ​​of the vibrator motion parameters comprises: Comparing the displacement amplitude corresponding to the target vibrator displacement prediction value with the preset displacement protection warning value to obtain the displacement warning result; When the displacement warning result is that the displacement amplitude is greater than the displacement protection warning value, the displacement amplitude is compared with a preset displacement protection trigger value to obtain the displacement trigger result; wherein the displacement protection trigger value is greater than the displacement protection warning value; When the displacement trigger result is that the displacement amplitude is greater than the displacement protection trigger value, the maximum energy value of the system is compared with the target vibrator energy prediction value to obtain the energy warning result; When the energy warning result is that the predicted value of the target vibrator energy is greater than the maximum energy value of the system, it is determined that the collision warning result is that there is a collision risk.

4. The method for protecting a linear motor according to claim 3, wherein: After the step of comparing the displacement amplitude with a preset displacement protection trigger value to obtain the displacement trigger result, the method further includes: When the displacement trigger result is that the displacement amplitude is less than or equal to the displacement protection trigger value, determining the displacement amplitude change trend corresponding to the target vibrator displacement prediction value; wherein the displacement amplitude change trend includes an increasing trend and a decreasing trend; When the displacement amplitude change trend is that the trend increases, the maximum energy value of the system is compared with the target vibrator energy prediction value to obtain the energy warning result; When the energy warning result is that the predicted value of the target vibrator energy is greater than or equal to the maximum energy value of the system, it is determined that the collision warning result is that there is a collision risk.

5. The method for protecting a linear motor according to claim 4, wherein: The step of determining the displacement amplitude change trend corresponding to the target vibrator displacement prediction value comprises: Determine the displacement amplitude corresponding to the target vibrator displacement prediction value and the historical displacement amplitude corresponding to the target vibrator displacement prediction value at a previous moment; Comparing the displacement amplitude with the historical displacement amplitude to obtain a displacement amplitude change trend, and when the displacement amplitude change trend is that the displacement amplitude is greater than the historical displacement amplitude, determining that the displacement amplitude change trend is an increasing trend; When the displacement amplitude variation trend is that the displacement amplitude is less than or equal to the historical displacement amplitude, it is determined that the displacement amplitude variation trend is a decreasing trend.

6. The linear motor protection method according to any one of claims 1 to 5, characterized in that: The step of calculating the target adjustment voltage signal according to the predicted values ​​of the vibrator motion parameters and the motor parameters comprises: Determining a speed direction corresponding to the target vibrator speed prediction value; Calculate the target adjustment voltage amplitude according to the motor parameters and the predicted values ​​of the vibrator motion parameters; A target adjustment voltage signal opposite to the driving voltage signal is obtained according to the speed direction and the target adjustment voltage amplitude.

7. The linear motor protection method according to claim 1, characterized in that: The step of processing the target adjustment voltage value to obtain a target protection voltage signal includes: determining a target frequency component of the target adjustment voltage value that exceeds a bandwidth range corresponding to the target linear motor; A smoothing filtering operation is performed on the target frequency component to generate a target protection voltage signal.

8. A terminal device, characterized in that: The terminal device includes: a memory, a processor, and a linear motor protection program stored in the memory and executable on the processor. When the linear motor protection program is executed by the processor, the steps of the linear motor protection method as described in any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a protection program for a linear motor, and when the protection program for the linear motor is executed by a processor, the steps of the protection method for a linear motor as described in any one of claims 1 to 7 are implemented.

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