Linear motor drive waveform adjustment method, device, and storage medium

Abstract

The application provides a linear motor driving waveform adjusting method and device and a storage medium. The method comprises the following steps: obtaining an initial driving waveform, using the initial driving waveform to provide a driving signal for a linear motor to work; obtaining a temperature-related parameter when the linear motor works, determining temperature change curve data of the linear motor based on the temperature-related parameter and the initial driving waveform; determining an over-temperature detection result based on an over-temperature time length in the temperature change curve data; if the over-temperature detection result represents that the temperature change curve data meets an over-temperature protection condition, adjusting driving parameters in the initial driving waveform until the final temperature change curve data determined based on the adjusted initial driving waveform does not meet the over-temperature protection condition, and stopping to obtain a target driving waveform. The scheme can effectively reduce vibration feeling distortion and motor damage caused by temperature change, and prolong the service life of the motor.

Description

Technical Field

[0001] This invention relates to the field of linear motor technology, and in particular to a method, apparatus and storage medium for adjusting the waveform of a linear motor drive. Background Technology

[0002] Linear resonant accelerators (LRAs), also known as linear resonant accelerators, are widely used in haptic feedback applications due to their small size, long lifespan, low power consumption, and fast response time. They are typically found in mobile devices such as smartphones and smartwatches. Because the metal coils inside a linear motor heat up after a period of vibration, continuous vibration at high temperatures can alter the vibration sensation and potentially damage the motor. Current technologies typically compensate for this difference between the motor's temperature and a preset temperature. However, current methods only compensate the drive waveform based on the motor's temperature, resulting in significant compensation errors and poor temperature protection for the motor. Summary of the Invention

[0003] The present invention provides a method, apparatus and storage medium for adjusting the drive waveform of a linear motor, which can improve the accuracy of compensation for the drive waveform of a linear motor, effectively reduce vibration distortion and motor damage caused by temperature changes, and extend the service life of the motor.

[0004] The technical solution of this invention is implemented as follows:

[0005] This invention provides a method for adjusting the waveform of a linear motor drive, comprising:

[0006] Acquire the initial drive waveform, and use the initial drive waveform to provide a drive signal to the linear motor for operation;

[0007] The temperature-related parameters of the linear motor during operation are obtained, and the temperature change curve data of the linear motor is determined based on the temperature-related parameters and the initial drive waveform.

[0008] The over-temperature detection result is determined based on the over-temperature duration in the temperature change curve data.

[0009] If the over-temperature detection result indicates that the temperature change curve data meets the over-temperature protection condition, then the driving parameters in the initial driving waveform are adjusted until the final temperature change curve data determined based on the adjusted initial driving waveform does not meet the over-temperature protection condition, and the target driving waveform is obtained.

[0010] This invention also provides a linear motor drive waveform adjustment device, comprising:

[0011] The data acquisition unit is used to acquire the initial drive waveform and use the initial drive waveform to provide a drive signal to the linear motor for operation.

[0012] The data acquisition unit is also used to acquire temperature-related parameters when the linear motor is working, and to determine the temperature change curve data of the linear motor based on the temperature-related parameters and the initial drive waveform;

[0013] The determining unit is used to determine the over-temperature detection result based on the over-temperature duration in the temperature change curve data;

[0014] An adjustment unit is used to adjust the driving parameters in the initial driving waveform if the over-temperature detection result indicates that the temperature change curve data meets the over-temperature protection conditions, until the final temperature change curve data determined based on the adjusted initial driving waveform does not meet the over-temperature protection conditions, thereby obtaining the target driving waveform.

[0015] This invention also provides a linear motor drive waveform adjustment device, including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the program to implement the steps in the above method.

[0016] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps in the above-described method.

[0017] This invention provides a method for adjusting the drive waveform of a linear motor. The method involves acquiring an initial drive waveform and using it to provide a drive signal to the linear motor for operation; acquiring temperature-related parameters during linear motor operation; determining the temperature change curve data of the linear motor based on the temperature-related parameters and the initial drive waveform; determining the over-temperature detection result based on the over-temperature duration in the temperature change curve data; if the over-temperature detection result indicates that the temperature change curve data meets the over-temperature protection conditions, adjusting the drive parameters in the initial drive waveform until the final temperature change curve data determined based on the adjusted initial drive waveform no longer meets the over-temperature protection conditions, thus obtaining the target drive waveform. Because this method uses temperature change curve data for feedforward adjustment of the drive waveform, the compensation of the drive waveform is more accurate, effectively reducing vibration distortion and motor damage caused by temperature changes, and extending the motor's service life. Attached Figure Description

[0018] Figure 1 This is an optional flowchart illustrating a linear motor drive waveform adjustment method provided in an embodiment of the present invention.

[0019] Figure 2A schematic diagram illustrating the effect of the linear motor drive waveform adjustment method provided in an embodiment of the present invention;

[0020] Figure 3 This is an optional flowchart illustrating a linear motor drive waveform adjustment method provided in an embodiment of the present invention.

[0021] Figure 4 This is an optional flowchart illustrating a linear motor drive waveform adjustment method provided in an embodiment of the present invention.

[0022] Figure 5 This is an optional flowchart illustrating a linear motor drive waveform adjustment method provided in an embodiment of the present invention.

[0023] Figure 6 This is an optional flowchart illustrating a linear motor drive waveform adjustment method provided in an embodiment of the present invention.

[0024] Figure 7 This is an optional flowchart illustrating a linear motor drive waveform adjustment method provided in an embodiment of the present invention.

[0025] Figure 8 This is an optional flowchart illustrating a linear motor drive waveform adjustment method provided in an embodiment of the present invention.

[0026] Figure 9 This is an optional flowchart illustrating a linear motor drive waveform adjustment method provided in an embodiment of the present invention.

[0027] Figure 10 This is an optional flowchart illustrating a linear motor drive waveform adjustment method provided in an embodiment of the present invention.

[0028] Figure 11 This is an optional flowchart illustrating a linear motor drive waveform adjustment method provided in an embodiment of the present invention.

[0029] Figure 12 This is an optional flowchart illustrating a linear motor drive waveform adjustment method provided in an embodiment of the present invention.

[0030] Figure 13 This is an optional flowchart illustrating a linear motor drive waveform adjustment method provided in an embodiment of the present invention.

[0031] Figure 14 This is a schematic diagram of the structure of the linear motor drive waveform adjustment device provided in an embodiment of the present invention;

[0032] Figure 15 This is a schematic diagram of a hardware entity of a linear motor drive waveform adjustment device provided in an embodiment of the present invention. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0035] If similar descriptions such as "first / second" appear in the invention document, the following explanation shall be added: In the following description, the terms "first / second / third" are used only to distinguish similar objects and do not represent a specific order of objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of the invention described herein can be implemented in an order other than that illustrated or described herein.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing embodiments of the invention only and is not intended to limit the invention.

[0037] This invention provides a method for adjusting the waveform of a linear motor drive. Please refer to [link / reference]. Figure 1 This is a schematic diagram of an optional process for adjusting the waveform of a linear motor drive provided in an embodiment of the present invention, which will be combined with... Figure 1 The steps shown are explained.

[0038] S101. Obtain the initial drive waveform and use the initial drive waveform to provide a drive signal to the linear motor for operation.

[0039] In this embodiment of the invention, the adjustment device acquires the initial drive waveform and uses the initial drive waveform to provide a drive signal to the linear motor for operation.

[0040] In this embodiment of the invention, the adjustment device can obtain the initial drive waveform of the linear motor for different applications from a local or other terminal. The linear motor can have different initial drive waveforms for different vibration modes.

[0041] In this embodiment of the invention, the adjustment device can be a user terminal equipped with a linear motor, or it can be a dedicated terminal with corresponding data acquisition and adjustment functions for adjusting various linear motors.

[0042] The parameters of the initial drive waveform may include: initial amplitude and initial frequency. For example, the initial drive waveform may be a sinusoidal drive waveform.

[0043] S102. Obtain the temperature-related parameters when the linear motor is working, and determine the temperature change curve data of the linear motor based on the temperature-related parameters and the initial drive waveform.

[0044] In this embodiment of the invention, the regulating device acquires temperature-related parameters when the linear motor is working, and determines the temperature change curve data of the linear motor based on the temperature-related parameters and the initial drive waveform.

[0045] In this embodiment of the invention, the regulating device acquires the motor coil resistance and temperature parameters during the operation of the linear motor. The regulating device can determine the driving voltage of the linear motor based on the initial driving waveform. The regulating device uses a preset program to process the coil resistance parameters, temperature parameters, and driving voltage to determine the temperature change curve data.

[0046] The regulating device can obtain the temperature parameter through a temperature sensor installed on the linear motor coil.

[0047] Among them, the slope of the temperature change in the temperature change curve data is positively correlated with the temperature parameter, negatively correlated with the coil resistance parameter, and positively correlated with the driving voltage. For example, the relationship between the slope of the temperature change in the temperature change curve data and the temperature parameter, coil resistance parameter, and driving voltage can be expressed by formula (1).

[0048]

[0049] Among them, T C The slope of the temperature change in the temperature change curve data is represented by u, the driving voltage is represented by R, the coil resistance parameter is represented by T, and the temperature parameter is represented by T.

[0050] S103. Determine the over-temperature detection result based on the over-temperature duration in the temperature change curve data.

[0051] In this embodiment of the invention, the regulating device determines the over-temperature detection result based on the over-temperature duration in the temperature change curve data.

[0052] In this embodiment of the invention, the regulating device determines the over-temperature duration corresponding to the curve that is greater than the preset temperature threshold in the temperature change curve data. If the over-temperature duration is greater than the preset duration threshold, the over-temperature detection result is determined to be that the temperature change curve data meets the over-temperature protection conditions.

[0053] In this embodiment of the invention, if the over-temperature duration is not greater than a preset duration threshold, the regulating device determines that the over-temperature detection result indicates that the temperature change curve data does not meet the over-temperature protection conditions.

[0054] For example, in combination Figure 2 The adjustment device can obtain temperature change curve data within 300ms of linear motor operation. The peak temperature of the temperature change curve data is 92℃. The preset temperature threshold T... max The temperature is 80℃. The regulating device determines a value greater than T from the temperature change curve data. max The overtemperature duration t corresponds to the curve at 80℃. The regulating device compares the overtemperature duration t with a preset duration threshold. If t is greater than the preset duration threshold, the overtemperature detection result is determined to be that the temperature change curve data meets the overtemperature protection conditions. If t is not greater than the preset duration threshold, the regulating device determines that the temperature change curve data does not meet the overtemperature protection conditions.

[0055] The preset temperature threshold can be a static value or it can change dynamically. The preset temperature threshold T max The relationship between temperature parameters and maximum stroke can be shown by formula (2):

[0056] T max =f(T, X) max (2)

[0057] Where T is the temperature parameter, X max This represents the maximum stroke within the linear motor's capability range. When the preset temperature threshold dynamically changes, the preset temperature threshold is positively correlated with the temperature parameter and the maximum stroke within the linear motor's capability range.

[0058] S104. If the over-temperature detection result characterizes the temperature change curve data that meets the over-temperature protection conditions, then the driving parameters in the initial driving waveform are adjusted until the final temperature change curve data determined based on the adjusted initial driving waveform no longer meets the over-temperature protection conditions, and the target driving waveform is obtained.

[0059] In this embodiment of the invention, if the over-temperature detection result characterizes the temperature change curve data that meets the over-temperature protection conditions, the adjustment device adjusts the driving parameters in the initial driving waveform until the final temperature change curve data determined based on the adjusted initial driving waveform no longer meets the over-temperature protection conditions, and then stops, thus obtaining the target driving waveform.

[0060] In this embodiment of the invention, the regulating device adjusts the driving parameters in the initial driving waveform based on the maximum temperature and over-temperature duration represented by the temperature change curve data. After each adjustment of the initial driving waveform, the corresponding temperature change curve data is determined. This process continues until the final temperature change curve data no longer meets the over-temperature protection conditions, at which point the adjustment stops, and the driving waveform after the last adjustment is determined as the target driving waveform. The method for determining the final temperature change curve data can refer to the method in S102.

[0061] In this embodiment of the invention, the adjusting device can also iteratively adjust the driving parameters in the initial driving waveform. Each adjustment of the driving parameters determines a temperature change curve data, until the determined temperature change curve data no longer meets the over-temperature protection condition, at which point the adjustment stops, thus obtaining the target driving parameters. The adjusting device can use these target driving parameters to modify the driving parameters in the initial driving waveform, thereby obtaining the target driving waveform. The adjusting device then uses these target driving waveforms to provide a new driving signal to the linear motor for driving.

[0062] Please see Figure 3 This is a schematic diagram of an optional process for adjusting the waveform of a linear motor drive provided in an embodiment of the present invention. Figure 1 S101 to S104 shown can also be implemented by S201 to S204, which will be explained in conjunction with the steps.

[0063] S201. Obtain the initial driving waveform.

[0064] In this embodiment of the invention, the adjustment device acquires the initial driving waveform.

[0065] S202. Calculate the temperature curve based on the initial driving waveform and temperature model.

[0066] In this embodiment of the invention, the regulating device calculates the temperature curve based on the initial driving waveform and the temperature model.

[0067] S203. Determine whether temperature protection is required.

[0068] In this embodiment of the invention, the regulating device determines whether the temperature curve requires temperature protection.

[0069] S204. If so, adjust the driving waveform.

[0070] In this embodiment of the invention, if so, the adjustment device adjusts the parameters in the initial driving waveform to obtain the target driving waveform.

[0071] This invention provides a method for adjusting the drive waveform of a linear motor. The method involves acquiring an initial drive waveform and using it to provide a drive signal to the linear motor for operation; acquiring temperature-related parameters during linear motor operation; determining the temperature change curve data of the linear motor based on the temperature-related parameters and the initial drive waveform; determining the over-temperature detection result based on the over-temperature duration in the temperature change curve data; if the over-temperature detection result indicates that the temperature change curve data meets the over-temperature protection condition, then adjusting the drive parameters in the initial drive waveform until the final temperature change curve data determined based on the adjusted initial drive waveform no longer meets the over-temperature protection condition, thus obtaining the target drive waveform. Because this method uses temperature change curve data for feedforward adjustment of the drive waveform, the compensation of the drive waveform is more accurate, effectively reducing vibration distortion and motor damage caused by temperature changes, and extending the motor's service life.

[0072] Please see Figure 4 This is a schematic diagram of an optional process for adjusting the waveform of a linear motor drive provided in an embodiment of the present invention. Figure 1 S102 to S104 shown can also be implemented by S105 to S109, which will be explained in conjunction with the steps.

[0073] S105. Obtain the temperature parameters and coil resistance parameters of the linear motor during operation.

[0074] In this embodiment of the invention, the regulating device acquires the temperature parameters and coil resistance parameters of the linear motor during operation.

[0075] The temperature parameter can be obtained through a temperature sensor, and the coil resistance parameter can be obtained through a preset data set.

[0076] S106. Determine the driving voltage of the linear motor when it is working based on the initial amplitude in the initial driving waveform.

[0077] In this embodiment of the invention, the regulating device determines the driving voltage of the linear motor when it is working based on the initial amplitude in the initial driving waveform.

[0078] In this embodiment of the invention, the regulating device obtains the maximum voltage represented by the initial amplitude in the initial drive waveform. The regulating device uses this maximum voltage divided by the square root of 2 to determine the drive voltage.

[0079] S107. The temperature parameters, coil resistance parameters, and driving voltage are processed using a preset program to generate temperature change curve data; wherein, the slope of the temperature change in the temperature change curve data is positively correlated with the temperature parameters, negatively correlated with the coil resistance parameters, and positively correlated with the driving voltage.

[0080] In this embodiment of the invention, the regulating device uses a preset program to process the temperature parameter, the coil resistance parameter, and the driving voltage to form temperature change curve data; wherein, the temperature change slope in the temperature change curve data is positively correlated with the temperature parameter, negatively correlated with the coil resistance parameter, and positively correlated with the driving voltage.

[0081] S108. Determine the over-temperature duration corresponding to the curve that is greater than the preset temperature threshold in the temperature change curve data. If the over-temperature duration is greater than the preset duration threshold, determine the over-temperature detection result that the temperature change curve data meets the over-temperature protection conditions.

[0082] In this embodiment of the invention, the over-temperature duration corresponding to the curve that is greater than a preset temperature threshold is determined from the temperature change curve data. If the over-temperature duration is greater than the preset duration threshold, the regulating device determines the over-temperature detection result that the temperature change curve data meets the over-temperature protection conditions.

[0083] For example, the preset duration threshold can be 30ms. In other embodiments, the preset duration threshold can be other values.

[0084] S109. If the temperature change curve data represented by the over-temperature detection result meets the over-temperature protection conditions, the driving parameters are adjusted based on the energy data obtained from the over-temperature duration until the final temperature change curve data no longer meets the over-temperature protection conditions, and the target driving waveform is obtained.

[0085] In this embodiment of the invention, if the over-temperature detection result characterizes the temperature change curve data to meet the over-temperature protection conditions, the adjustment device adjusts the driving parameters based on the energy data obtained from the over-temperature duration until the final temperature change curve data no longer meets the over-temperature protection conditions, and then stops to obtain the target driving waveform.

[0086] The regulating device can calculate energy data based on the over-temperature duration, and then adjust the driving parameters using the energy data. After each adjustment of the initial driving waveform, the corresponding temperature change curve data is determined, and the process continues until the final temperature change curve data no longer meets the over-temperature protection conditions, thus obtaining the target driving waveform.

[0087] Please see Figure 5 This is a schematic diagram of an optional process for adjusting the waveform of a linear motor drive provided in an embodiment of the present invention. Figure 4 S109 shown can also be implemented via S110, which will be explained in conjunction with the steps.

[0088] S110. If the over-temperature detection result indicates that the temperature change curve data meets the over-temperature protection conditions, then the driving parameters are adjusted based on the initial driving waveform until the final temperature change curve data no longer meets the over-temperature protection conditions, and the target driving waveform is obtained.

[0089] In this embodiment of the invention, the adjustment device can also directly iteratively adjust the driving parameters in the initial driving waveform. Each adjustment to the initial driving waveform is performed once, and a corresponding temperature change curve is determined based on the adjusted initial driving waveform. This process continues until the final temperature change curve no longer meets the over-temperature protection condition, at which point the target driving waveform is determined.

[0090] Please see Figure 6 This is a schematic diagram of an optional process for adjusting the waveform of a linear motor drive provided in an embodiment of the present invention. Figure 4 S109 shown can also be implemented by S111 to S113, which will be explained in conjunction with the steps.

[0091] S111. If the temperature change curve data represented by the over-temperature detection result meets the over-temperature protection conditions, the corresponding energy data is calculated based on the over-temperature duration.

[0092] In this embodiment of the invention, if the over-temperature detection result characterizes the temperature change curve data to meet the over-temperature protection conditions, the regulating device calculates the corresponding energy data based on the over-temperature duration. The regulating device can calculate the energy data Q using formula (3).

[0093] Q = (U 2 t / R)×k (3)

[0094] Where k ranges from 0.9 to 1.2, U is the driving voltage, t is the over-temperature duration, and R is the coil resistance. The regulating device uses the product of the square of the driving voltage U and the over-temperature duration t, divided by R, to obtain the energy data Q.

[0095] S112. Determine the adjustment coefficient based on the energy data.

[0096] In this embodiment of the invention, the regulating device determines the adjustment coefficient based on energy data.

[0097] In this embodiment, the adjustment device calculates the difference between the energy data and the energy threshold, calculates the ratio of the difference to the difference threshold, and uses 1 minus the ratio to obtain the adjustment coefficient.

[0098] In this embodiment of the invention, if the over-temperature detection result represents the temperature change curve data that meets the over-temperature protection conditions, the regulating device can further calculate a first difference between the maximum temperature represented by the temperature change curve data and a preset temperature threshold, and calculate a second difference between the over-temperature duration and a preset duration threshold. The regulating device can obtain a base coefficient, and by subtracting the first and second differences from the base coefficient, the regulating device determines the adjustment coefficient.

[0099] The preset temperature threshold is T. maxThe preset time threshold is t0. The maximum temperature can be T1, and the over-temperature duration can be t1. The regulating device utilizes T1-T max The first difference is obtained, and the adjustment device uses t1-t0 to obtain the second difference. The adjustment coefficient is negatively correlated with the first and second differences, respectively.

[0100] In this embodiment of the invention, for example, the base coefficient can be 1, the first difference can be 0.2, and the second difference can be 0.3. The adjustment device uses 1-0.2-0.3 to obtain an adjustment coefficient of 0.5.

[0101] In this embodiment of the invention, the adjustment device can obtain a base coefficient. The adjustment device multiplies a first difference by a first coefficient to obtain a first product, and multiplies a second difference by a second coefficient to obtain a second product. The adjustment coefficient is determined by subtracting the first and second products from the base coefficient.

[0102] S113. Adjust the driving parameters in the initial driving waveform using the adjustment coefficient until the final temperature change curve data no longer meets the over-temperature protection condition, and then stop to obtain the target driving waveform.

[0103] In this embodiment of the invention, the adjustment device adjusts the driving parameters in the initial driving waveform using an adjustment coefficient. Each adjustment to the initial driving waveform results in a corresponding temperature change curve data. If the temperature change curve data meets the over-temperature protection condition, the initial driving waveform is adjusted again by subtracting a certain step size from the current adjustment coefficient, until the final temperature change curve data no longer meets the over-temperature protection condition. The adjusted driving waveform corresponding to the final temperature change curve data is then determined as the target driving waveform.

[0104] In this embodiment of the invention, the adjustment device can multiply the initial amplitude in the initial driving waveform by an adjustment coefficient to obtain a target amplitude. The adjustment device then uses this target amplitude to change the initial amplitude in the initial driving waveform to obtain the target driving waveform. The adjustment device also uses the target amplitude to change the initial amplitude of a waveform within a predetermined time period in the initial driving waveform to obtain the target driving waveform. The predetermined time period waveform is the band in the initial driving waveform corresponding to the overtemperature duration.

[0105] In this embodiment of the invention, the adjustment device can multiply the initial frequency in the initial driving waveform by an adjustment coefficient to obtain a target frequency. The adjustment device then uses this target frequency to change the initial frequency in the initial driving waveform to obtain the target driving waveform. The adjustment device also uses the target amplitude to change the initial frequency of the waveform within a predetermined time period in the initial driving waveform to obtain the target driving waveform.

[0106] In this embodiment of the invention, the adjustment device can multiply the initial amplitude and initial frequency of the initial driving waveform by an adjustment coefficient to obtain a target amplitude and a target frequency. The adjustment device then uses the target amplitude and target frequency to change the initial amplitude and initial frequency of the initial driving waveform to obtain the target driving waveform. The adjustment device also uses the target amplitude and target frequency to change the initial amplitude and initial frequency of the waveform during a predetermined time period in the initial driving waveform to obtain the target driving waveform.

[0107] In this embodiment of the invention, when the temperature change curve data detected by the regulating device meets the over-temperature protection conditions, the initial driving waveform can be adjusted in amplitude, frequency, or in combination. Amplitude adjustment method: The regulating device can determine the adjustment coefficient k1 based on the magnitude of the maximum temperature exceeding the preset temperature threshold (first difference) and the magnitude of the over-temperature duration exceeding the preset time threshold (second difference). K1∈(0,1). The overall waveform adjustment is as shown in formula (4):

[0108] A out =k1·A in (4)

[0109] Among them, A out A represents the amplitude of the adjusted target driving waveform. in This represents the initial amplitude.

[0110] The frequency adjustment method is as follows: the regulating device can determine the adjustment coefficient k2 based on the magnitude of the maximum temperature exceeding the preset temperature threshold (first difference) and the magnitude of the over-temperature duration exceeding the preset time threshold (second difference), as well as the frequency response characteristics of the linear motor. K2∈(0,1), and the overall waveform adjustment is as shown in formula (5):

[0111] f out =k2·f in (5)

[0112] Among them, f out f represents the adjusted target drive waveform frequency. in This indicates the initial frequency. The adjustment device linearly lowers the overall frequency of the initial drive waveform so that the adjusted temperature change curve no longer exceeds the preset threshold.

[0113] Coordinated adjustment method: The adjustment device can keep K2 constant, increase K1 by gradient, and use K2 and K1 after each gradient increase to adjust the driving parameters in the initial driving waveform until the determined temperature change curve just does not meet the over-temperature protection condition, and then stop to obtain the target driving waveform.

[0114] In this embodiment of the invention, when the temperature change curve data detected by the regulating device meets the over-temperature protection conditions, the regulating device determines the adjustment time interval (T). start Tend This refers to the time interval corresponding to the over-temperature duration. The regulating device adjusts the initial drive waveform within this time interval, while the waveform outside the time interval remains unchanged. For amplitude adjustment, the regulating device determines the adjustment coefficient k3 based on the magnitude of the maximum temperature exceeding the preset temperature threshold (first difference) and the magnitude of the over-temperature duration exceeding the preset time threshold (second difference). k3 ∈ (0, 1). For the time interval (T... start T end The waveform adjustment is shown in formula (6):

[0115] A out =k3·A in (6)

[0116] Among them, A out A represents the amplitude of the adjusted target drive waveform within the time zone. in This indicates the amplitude of the initial drive waveform before adjustment within the time interval.

[0117] The frequency adjustment method is as follows: the regulating device can determine the adjustment coefficient k4 based on the magnitude of the maximum temperature exceeding the preset temperature threshold (first difference) and the magnitude of the over-temperature duration exceeding the preset time threshold (second difference), as well as the frequency response characteristics of the linear motor. k4∈(0,1). For the time interval (T... start T end The waveform adjustment is shown in formula (7):

[0118] f out =k4·f in (7)

[0119] Among them, f out f represents the adjusted target driving waveform frequency within the time interval. in This represents the initial drive waveform frequency before adjustment within the time interval. The overall drive waveform frequency is linearly reduced so that the adjusted temperature no longer exceeds the threshold.

[0120] Coordinated adjustment method: The adjustment device can keep K4 constant and increase K3 by gradient. The driving parameters corresponding to the time interval in the initial driving waveform are adjusted by using K4 and K3 after each gradient increase until the determined temperature change curve just fails to meet the over-temperature protection condition, and then the target driving waveform is obtained.

[0121] In this embodiment of the invention, if the regulating device detects that the temperature change curve data meets the over-temperature protection condition, it performs feedforward adjustment on the initial drive waveform based on the first difference between the maximum temperature and the preset temperature threshold, and the second difference between the over-temperature duration and the preset duration threshold, so that the corresponding temperature change curve does not meet the over-temperature protection condition. This scheme provides more accurate compensation for the drive waveform, effectively reduces vibration distortion and motor damage caused by temperature changes, and extends the motor's service life.

[0122] Please see Figure 7 This is a schematic diagram of an optional process for adjusting the waveform of a linear motor drive provided in an embodiment of the present invention. Figure 5 S110 shown can also be implemented by S114 to S115, which will be explained in conjunction with the steps.

[0123] S114. If the over-temperature detection result characterizes the temperature change curve data to meet the over-temperature protection conditions, then at least one of the initial amplitude and initial frequency in the initial driving waveform is iteratively adjusted until the final temperature change curve data no longer meets the over-temperature protection conditions, and then at least one of the target amplitude and target frequency is obtained.

[0124] In this embodiment of the invention, if the over-temperature detection result characterizes the temperature change curve data to meet the over-temperature protection conditions, the adjustment device iteratively adjusts at least one of the initial amplitude and initial frequency in the initial driving waveform until the final temperature change curve data no longer meets the over-temperature protection conditions, thereby obtaining at least one of the target amplitude and target frequency.

[0125] In this embodiment of the invention, the adjustment device can iteratively adjust the initial amplitude in the initial driving waveform. For example, the first initial coefficient is set to 1, and the step size is n, where n is less than 1. The new k1 = k1 - n. The adjustment device uses the new K1 to determine the new amplitude, and then determines the temperature change curve data. It then determines whether the temperature change curve meets the over-temperature protection condition. If the over-temperature protection condition is not met, the current k1 is determined to be the final k1. If the over-temperature protection condition is met, k1 is recalculated using n.

[0126] S115. Adjust the initial driving waveform using at least one of the target amplitude and the target frequency to obtain the target driving waveform.

[0127] In this embodiment of the invention, the adjustment device uses at least one of the target amplitude and the target frequency to adjust the initial driving waveform to obtain the target driving waveform.

[0128] In this embodiment of the invention, the adjustment device iteratively adjusts at least one of the initial amplitude and initial frequency in the initial drive waveform until the final temperature change curve data does not meet the over-temperature protection condition, thereby obtaining at least one of the target amplitude and target frequency. Since this scheme iteratively adjusts the initial amplitude and initial frequency, the adjusted temperature change curve does not meet the over-temperature protection condition, thus effectively protecting the linear motor.

[0129] Please see Figure 8 This is a schematic diagram of an optional process for adjusting the waveform of a linear motor drive provided in an embodiment of the present invention. Figure 7 S114 to S115 shown can also be implemented by S116 to S117, which will be explained in conjunction with the steps.

[0130] S116. If the temperature change curve data represented by the over-temperature detection result meets the over-temperature protection conditions, the initial amplitude will be iteratively reduced and adjusted until the final amplitude temperature change curve data corresponding to the Nth amplitude after the Nth reduction and adjustment no longer meets the over-temperature protection conditions, and the first target amplitude will be obtained.

[0131] In this embodiment of the invention, if the over-temperature detection result characterizes the temperature change curve data that meets the over-temperature protection conditions, the adjustment device iteratively reduces the initial amplitude until the final amplitude temperature change curve data corresponding to the Nth amplitude after the Nth reduction adjustment no longer meets the over-temperature protection conditions, thus obtaining the first target amplitude. N is an integer greater than 1.

[0132] In this embodiment of the invention, the adjustment device subtracts the amplitude step size from the initial amplitude to determine the first amplitude.

[0133] Based on the first amplitude, the first amplitude driving voltage when the linear motor is working is determined. The acquired temperature parameters, acquired coil resistance parameters and the first amplitude driving voltage are processed by a preset program to form the first amplitude temperature change curve data, so as to obtain the first amplitude over-temperature detection result.

[0134] If the first amplitude over-temperature detection result indicates that the first amplitude temperature change curve data meets the over-temperature protection conditions, then the second amplitude is obtained by subtracting the amplitude step size from the first amplitude. This process continues until the Nth amplitude over-temperature detection result indicates that the over-temperature protection conditions are not met, at which point the first target amplitude is obtained. The Nth amplitude over-temperature detection result is the over-temperature detection result using the final amplitude temperature change curve data corresponding to the Nth amplitude coefficient.

[0135] S117. Adjust the amplitude of the initial driving waveform using the first target amplitude to obtain the first target driving waveform.

[0136] In this embodiment of the invention, the adjustment device uses a first target amplitude to adjust the amplitude of the initial driving waveform to obtain the first target driving waveform.

[0137] In this embodiment of the invention, the adjustment device uses a first target amplitude to change the initial amplitude of the initial driving waveform to obtain the first target driving waveform.

[0138] In this embodiment of the invention, the adjustment device iteratively adjusts the initial amplitude in the initial drive waveform until the final amplitude temperature change curve data does not meet the over-temperature protection condition, and then stops to obtain the first target amplitude. Since this scheme iteratively adjusts the initial amplitude, the adjusted final amplitude temperature change curve does not meet the over-temperature protection condition, thereby effectively protecting the linear motor.

[0139] Please see Figure 9 This is a schematic diagram of an optional process for adjusting the waveform of a linear motor drive provided in an embodiment of the present invention. Figure 7 S114 to S115 shown can also be implemented by S118 to S122, which will be explained in conjunction with the steps.

[0140] S118. If the temperature change curve data characterized by the over-temperature detection result meets the over-temperature protection conditions, the initial frequency is adjusted in the first iteration until the temperature change curve data determined by the adjusted driving voltage no longer meets the over-temperature protection conditions, and the first iteration frequency is obtained.

[0141] In this embodiment of the invention, if the temperature change curve data characterized by the over-temperature detection result meets the over-temperature protection conditions, the adjustment device performs the first iterative adjustment of the initial frequency until the first iterative temperature change curve data determined by the adjusted driving voltage no longer meets the over-temperature protection conditions, thus obtaining the first iterative frequency.

[0142] In this embodiment of the invention, the adjustment device obtains the first reduced frequency by subtracting the frequency step size from the initial frequency.

[0143] Based on the first reduced frequency, the first reduced frequency drive voltage when the linear motor is working is determined. The acquired temperature parameters, acquired coil impedance parameters and the first frequency drive voltage are processed by a preset program to form the first reduced frequency temperature change curve data, so as to obtain the first reduced frequency over-temperature detection result.

[0144] If the over-temperature detection result of the first reduced frequency indicates that the temperature change curve data of the first reduced frequency meets the over-temperature protection condition, then the second reduced frequency is obtained by subtracting the frequency step size from the first reduced frequency. This process continues until the over-temperature detection result of the Nth reduced frequency indicates that the over-temperature protection condition is no longer met, thus obtaining the first iteration frequency. The over-temperature detection result of the Nth reduced frequency is the over-temperature detection result using the temperature change curve data of the first iteration corresponding to the Nth reduced frequency.

[0145] The regulating device can find the first reduced frequency driving voltage in a preset frequency-voltage relationship table by using the first reduced frequency. Alternatively, the regulating device can calculate the first reduced frequency driving voltage by combining the first reduced frequency with a preset algorithm.

[0146] S119. Perform a second iteration adjustment on the initial frequency until the data of the second iteration temperature change curve determined by the adjusted driving voltage no longer meets the over-temperature protection condition, and then stop to obtain the second iteration frequency.

[0147] In this embodiment of the invention, the adjustment device performs a second iteration adjustment on the initial frequency until the second iteration temperature change curve data determined using the adjusted driving voltage no longer meets the over-temperature protection condition, thus obtaining the second iteration frequency.

[0148] In this embodiment of the invention, the adjustment device adds a frequency step size to the initial frequency to determine the first increase frequency.

[0149] Based on the first increased frequency, the first increased frequency driving voltage when the linear motor is working is determined. The acquired temperature parameters, acquired coil impedance parameters and the first intermediate frequency driving voltage are processed by a preset program to form the first increased frequency temperature change curve data, so as to obtain the first increased frequency over-temperature detection result.

[0150] If the over-temperature detection result of the first increasing frequency indicates that the temperature change curve data of the first increasing frequency meets the over-temperature protection condition, then the second increasing frequency is obtained by adding the frequency step size to the first increasing frequency. This process continues until the over-temperature detection result of the Nth increasing frequency indicates that the over-temperature protection condition is no longer met, at which point the process stops, resulting in the second iteration frequency. The over-temperature detection result of the Nth increasing frequency is the over-temperature detection result obtained using the second iteration temperature change curve data corresponding to the Nth increasing frequency.

[0151] The regulating device can find the first increased frequency driving voltage in a preset frequency-voltage relationship table by using the first increased frequency. Alternatively, the regulating device can calculate the first increased frequency driving voltage by combining the first increased frequency with a preset algorithm.

[0152] In this embodiment of the invention, the reason why the adjusting device calculates the first iteration frequency and the second iteration frequency is that, according to the characteristics of the frequency response curve of the linear motor, the vibration energy when the corresponding temperature change curve does not meet the over-temperature protection condition can correspond to two driving frequencies. The adjusting device needs to determine the first target frequency that causes the least change to the initial frequency among the two driving frequencies.

[0153] S120. Find the absolute value of the first difference between the first iteration frequency and the initial frequency, and find the absolute value of the second difference between the second iteration frequency and the initial frequency.

[0154] In this embodiment of the invention, the absolute value of the first difference between the first iteration frequency and the initial frequency of the adjustment device is used to calculate the absolute value of the second difference between the second iteration frequency and the initial frequency.

[0155] For example, the absolute value of the first difference can be |fout_1-fin|, where fout_1 is the first iteration frequency and fin is the initial frequency; the absolute value of the second difference can be |fout_2-fin|, where fout_2 is the second iteration frequency.

[0156] S121. Determine the minimum absolute value among the first and second absolute differences, and determine the first target frequency corresponding to the minimum absolute value.

[0157] In this embodiment of the invention, the adjustment device determines the minimum absolute value among the first absolute value and the second absolute value of the difference, and determines the first target frequency corresponding to the minimum absolute value.

[0158] S122. Adjust the frequency of the initial driving waveform using the first target frequency to obtain the first target driving waveform.

[0159] In this embodiment of the invention, the adjustment device uses a first target frequency to adjust the frequency of the initial driving waveform to obtain the first target driving waveform.

[0160] In this embodiment of the invention, the adjustment device uses a first target frequency to change the initial frequency of the initial driving waveform to obtain the first target driving waveform.

[0161] In this embodiment of the invention, the adjustment device iteratively reduces and increases the initial frequency in the initial drive waveform until the corresponding final temperature change curve data no longer meets the over-temperature protection condition, thus obtaining two iterative frequencies. Then, the first target frequency with the smallest modification range is determined from the two iterative frequencies. Since this scheme iteratively adjusts the initial frequency, the adjusted temperature change curve does not meet the over-temperature protection condition, thereby effectively protecting the linear motor.

[0162] Please see Figure 10This is a schematic diagram of an optional process for adjusting the waveform of a linear motor drive provided in an embodiment of the present invention. Figure 9 S122 shown can also be implemented by S123 to S124, which will be explained in conjunction with the steps.

[0163] S123. Iteratively reduce and adjust the initial amplitude until the temperature change curve data of the final coordinated amplitude corresponding to the Nth coordinated amplitude after the Nth reduction and adjustment does not meet the over-temperature protection condition, and then stop to obtain the first target coordinated amplitude.

[0164] In this embodiment of the invention, the adjustment device iteratively reduces the initial amplitude until the temperature change curve data of the final cooperative amplitude corresponding to the Nth cooperative amplitude after the Nth reduction adjustment does not meet the over-temperature protection condition, and then stops, thus obtaining the first target cooperative amplitude.

[0165] In this embodiment of the invention, the adjustment device subtracts the amplitude step size from the initial amplitude to determine the first cooperative amplitude.

[0166] Based on the first coordinated amplitude and the first target frequency, the first coordinated amplitude driving voltage when the linear motor is working is determined. The acquired temperature parameters, acquired coil impedance parameters and the first coordinated amplitude driving voltage are processed by a preset program to form the first coordinated amplitude temperature change curve data, so as to obtain the first coordinated amplitude over-temperature detection result.

[0167] If the over-temperature detection result of the first coordinated amplitude indicates that the temperature change curve data of the first coordinated amplitude meets the over-temperature protection condition, then the second coordinated amplitude is obtained by subtracting the amplitude step size from the first coordinated amplitude. This process continues until the over-temperature detection result of the Nth coordinated amplitude indicates that the over-temperature protection condition is not met, at which point the first target amplitude is obtained. The over-temperature detection result of the Nth coordinated amplitude is the over-temperature detection result using the temperature change curve data of the final coordinated amplitude corresponding to the Nth coefficient.

[0168] In this embodiment of the invention, determining the first cooperative amplitude driving voltage when the linear motor is operating based on the first cooperative amplitude and the first target frequency may include: finding the corresponding driving voltage (or calculating the corresponding driving voltage) in a preset frequency-voltage relationship table using the first target frequency; averaging the driving voltage with the driving voltage corresponding to the first cooperative amplitude to obtain the final first cooperative amplitude driving voltage. Determining the first cooperative amplitude driving voltage when the linear motor is operating based on the first cooperative amplitude and the first target frequency may further include: finding the first cooperative amplitude driving voltage in a preset correspondence table using the first cooperative amplitude and the first target frequency.

[0169] S124. The initial driving waveform is adjusted in a coordinated manner using the first target coordinated amplitude and the first target frequency to obtain the first target driving waveform.

[0170] In this embodiment of the invention, the adjustment device uses a first target coordinated amplitude and a first target frequency to coordinately adjust the initial driving waveform to obtain the first target driving waveform.

[0171] In this embodiment of the invention, the adjustment device uses the first target coordinated amplitude and the first target frequency to change the initial amplitude and the initial frequency to obtain the first target driving waveform.

[0172] In this embodiment of the invention, during the coordinated adjustment, the adjusting device iteratively adjusts both the initial amplitude and the initial frequency in the initial drive waveform until the final temperature change curve data does not meet the over-temperature protection condition, thereby obtaining the first target coordinated amplitude and the first target frequency. Since this scheme iteratively adjusts both the initial amplitude and the initial frequency, the adjusted temperature change curve does not meet the over-temperature protection condition, thus effectively protecting the linear motor.

[0173] Please see Figure 11 This is a schematic diagram of an optional process for adjusting the waveform of a linear motor drive provided in an embodiment of the present invention. Figure 7 S114 to S115 shown can also be implemented by S125 to S126, which will be explained in conjunction with the steps.

[0174] S125. If the temperature change curve data represented by the over-temperature detection result meets the over-temperature protection conditions, the initial amplitude of the waveform in the predetermined time period is iteratively reduced and adjusted until the temperature change curve data of the final interval amplitude corresponding to the Mth interval amplitude after the Mth reduction and adjustment no longer meets the over-temperature protection conditions, and the second target amplitude is obtained.

[0175] In this embodiment of the invention, if the over-temperature detection result characterizes the temperature change curve data that meets the over-temperature protection conditions, the adjustment device iteratively reduces the initial amplitude of the waveform over a predetermined time period until the temperature change curve data of the final interval amplitude corresponding to the Mth interval amplitude after the Mth reduction adjustment no longer meets the over-temperature protection conditions, thus obtaining the second target amplitude. M is an integer greater than 1.

[0176] In this embodiment of the invention, the adjustment device subtracts the amplitude step size from the initial amplitude of the waveform during a predetermined time period to determine the amplitude of the first interval.

[0177] Based on the first interval amplitude, the first interval amplitude driving voltage when the linear motor is working is determined. The acquired temperature parameters, acquired coil impedance parameters and the first interval amplitude driving voltage are processed by a preset program to form the first interval amplitude temperature change curve data, so as to obtain the first interval amplitude over-temperature detection result.

[0178] If the over-temperature detection result of the first interval amplitude indicates that the temperature change curve data of the first interval amplitude meets the over-temperature protection condition, then the second interval amplitude is obtained by subtracting the amplitude step size from the first interval amplitude. This process continues until the over-temperature detection result of the Mth interval amplitude indicates that the over-temperature protection condition is not met, at which point the second target amplitude is obtained. The over-temperature detection result of the Mth interval amplitude is the over-temperature detection result using the final interval amplitude temperature change curve data corresponding to the Mth interval amplitude coefficient.

[0179] Determining the first interval amplitude drive voltage when the linear motor is operating based on the first interval amplitude may include: calculating the average value between the first interval amplitude and the initial amplitude, and then dividing this average value by the square root of 2 to obtain the first interval amplitude drive voltage. Alternatively, the first interval amplitude drive voltage can be calculated based on the time proportion corresponding to the waveform during a predetermined time period.

[0180] S126. Using the second target amplitude, adjust the amplitude of the waveform during a predetermined time period in the initial driving waveform to obtain the second target driving waveform. The waveform during the predetermined time period is the band in the initial driving waveform corresponding to the overtemperature duration.

[0181] In this embodiment of the invention, the adjustment device uses a second target amplitude to adjust the amplitude of a waveform within a predetermined time period in the initial driving waveform to obtain a second target driving waveform. The predetermined time period waveform is the band in the initial driving waveform corresponding to the overtemperature duration.

[0182] In this embodiment of the invention, the adjustment device uses a second target amplitude to change the initial amplitude of the waveform during a predetermined time period in the initial driving waveform, thereby obtaining the second target driving waveform.

[0183] In this embodiment of the invention, the adjustment device iteratively adjusts the initial amplitude of the waveform during a predetermined time period in the initial drive waveform until the final temperature change curve data does not meet the over-temperature protection condition, and then stops to obtain the second target amplitude. Since this scheme iteratively adjusts the initial amplitude, the adjusted temperature change curve does not meet the over-temperature protection condition, thereby effectively protecting the linear motor.

[0184] Please see Figure 12 This is a schematic diagram of an optional process for adjusting the waveform of a linear motor drive provided in an embodiment of the present invention. Figure 7 S114 to S115 shown can also be implemented by S127 to S131, which will be explained in conjunction with the steps.

[0185] S127. If the temperature change curve data characterized by the over-temperature detection result meets the over-temperature protection conditions, the initial frequency of the waveform in the predetermined time period is adjusted for the first interval iteration until the temperature change curve data of the first interval determined by the adjusted driving voltage no longer meets the over-temperature protection conditions, and the first interval iteration frequency is obtained.

[0186] In this embodiment of the invention, if the temperature change curve data characterized by the over-temperature detection result meets the over-temperature protection conditions, the adjustment device performs the first interval iteration adjustment on the initial frequency of the waveform for a predetermined time period until the temperature change curve data of the first interval determined by the adjusted driving voltage no longer meets the over-temperature protection conditions, thus obtaining the first interval iteration frequency.

[0187] In this embodiment of the invention, the adjustment device subtracts the frequency step size from the initial frequency of the waveform during a predetermined time period to determine the frequency reduction of the first interval.

[0188] Based on the first interval reduction frequency, the first interval reduction frequency driving voltage when the linear motor is working is determined. The acquired temperature parameters, acquired coil impedance parameters and first interval frequency driving voltage are processed by a preset program to form the first interval reduction frequency temperature change curve data, so as to obtain the first interval reduction frequency over-temperature detection result.

[0189] If the over-temperature detection result of the first interval decreases the frequency and the temperature change curve data of the first interval decreases the frequency meets the over-temperature protection condition, then the frequency decrease of the second interval is obtained by subtracting the frequency step size from the frequency decrease of the first interval. This process continues until the over-temperature detection result of the Mth interval decreases the frequency and the over-temperature protection condition is no longer met, thus obtaining the iteration frequency of the first interval.

[0190] Determining the first interval reduced frequency drive voltage when the linear motor is operating based on the first interval reduced frequency may include: finding the drive voltages corresponding to the first interval reduced frequency and the initial frequency, calculating the average value, and then obtaining the first interval reduced frequency drive voltage. Alternatively, the first interval reduced frequency drive voltage can be calculated based on the time proportion corresponding to the waveform during a predetermined time period.

[0191] S128. Perform a second interval iteration adjustment on the initial frequency of the waveform during the predetermined time period until the temperature change curve data of the second interval determined by the adjusted driving voltage no longer meets the over-temperature protection condition, and then stop to obtain the second interval iteration frequency.

[0192] In this embodiment of the invention, the adjustment device performs a second interval iterative adjustment on the initial frequency of the waveform during a predetermined time period until the temperature change curve data of the second interval determined by the adjusted driving voltage no longer meets the over-temperature protection condition, thus obtaining the second interval iterative frequency.

[0193] In this embodiment of the invention, the adjustment device adds a frequency step size to the initial frequency of the waveform during a predetermined time period to determine the frequency increase in the first interval.

[0194] Based on the first interval increase frequency, the first interval increase frequency drive voltage when the linear motor is working is determined. The acquired temperature parameters, acquired coil impedance parameters and first interval frequency drive voltage are processed by a preset program to form the first interval increase frequency temperature change curve data, so as to obtain the first interval increase frequency over-temperature detection result.

[0195] If the over-temperature detection result of the first interval increases the frequency and indicates that the temperature change curve data of the first interval increases the frequency meets the over-temperature protection condition, then the frequency of the second interval increases by adding the frequency step size to the frequency of the first interval increases, until the over-temperature detection result of the frequency of the Mth interval increases does not meet the over-temperature protection condition, and the iteration frequency of the second interval is obtained.

[0196] S129. Find the absolute value of the first interval difference between the first interval iteration frequency and the initial frequency, and find the absolute value of the second interval difference between the second interval iteration frequency and the initial frequency.

[0197] In this embodiment of the invention, the adjustment device calculates the absolute value of the first interval difference between the first interval iteration frequency and the initial frequency, and calculates the absolute value of the second interval difference between the second interval iteration frequency and the initial frequency.

[0198] S130. Determine the minimum absolute value of the interval between the absolute values ​​of the first interval difference and the absolute values ​​of the second interval difference, and determine the second target frequency corresponding to the minimum absolute value of the interval difference.

[0199] In this embodiment of the invention, the adjustment device determines the minimum absolute value of the interval between the absolute values ​​of the first interval difference and the absolute values ​​of the second interval difference, and determines that the minimum absolute value of the interval corresponds to the second target frequency.

[0200] S131. Using the second target frequency, adjust the frequency of the waveform in the predetermined time period of the initial driving waveform to obtain the second target driving waveform.

[0201] In this embodiment of the invention, the adjustment device uses a second target frequency to adjust the frequency of a predetermined time period waveform in the initial driving waveform to obtain a second target driving waveform.

[0202] In this embodiment of the invention, the adjustment device uses a second target frequency to change the initial frequency of the waveform during a predetermined time period in the initial driving waveform, thereby obtaining the second target driving waveform.

[0203] In this embodiment of the invention, the adjustment device iteratively reduces and increases the initial frequency of the waveform in the predetermined time period of the initial drive waveform until the corresponding final temperature change curve data no longer meets the over-temperature protection condition, thus obtaining two iterative frequencies. Then, the first target frequency with the smallest modification range is determined from the two iterative frequencies. Since this scheme iteratively adjusts the initial frequency, the adjusted temperature change curve does not meet the over-temperature protection condition, thereby effectively protecting the linear motor.

[0204] Please see Figure 13 This is a schematic diagram of an optional process for adjusting the waveform of a linear motor drive provided in an embodiment of the present invention. Figure 12 S131 shown can also be implemented by S132 to S133, which will be explained in conjunction with the steps.

[0205] S132. Iteratively reduce and adjust the initial amplitude of the waveform during the predetermined time period until the temperature change curve data of the final interval coordinated amplitude corresponding to the Mth interval coordinated amplitude after the Mth reduction and adjustment does not meet the over-temperature protection condition, and then stop to obtain the second target interval coordinated amplitude.

[0206] In this embodiment of the invention, the adjustment device iteratively reduces the initial amplitude of the waveform over a predetermined time period until the temperature change curve data of the final interval coordinated amplitude corresponding to the Mth interval coordinated amplitude after the Mth reduction adjustment does not meet the over-temperature protection condition, and then stops to obtain the second target interval coordinated amplitude.

[0207] In this embodiment of the invention, the adjustment device subtracts the amplitude step size from the initial amplitude of the waveform during a predetermined time period to determine the first interval coordinated amplitude.

[0208] Based on the first interval coordinated amplitude and the target frequency, the first interval coordinated amplitude driving voltage when the linear motor is working is determined. The acquired temperature parameters, acquired coil impedance parameters and the first interval coordinated amplitude driving voltage are processed by a preset program to form the first coordinated amplitude temperature change curve data, so as to obtain the first interval coordinated amplitude over-temperature detection result.

[0209] If the over-temperature detection result of the first interval coordinated amplitude indicates that the temperature change curve data of the first interval coordinated amplitude meets the over-temperature protection condition, then the second interval coordinated amplitude is obtained by subtracting the amplitude step size from the first interval coordinated amplitude. This process continues until the over-temperature detection result of the Mth interval coordinated amplitude indicates that the over-temperature protection condition is not met, thus obtaining the second target interval coordinated amplitude. The over-temperature detection result of the Mth interval coordinated amplitude is the over-temperature detection result using the temperature change curve data of the final interval coordinated amplitude corresponding to the Mth interval coordinated amplitude coefficient.

[0210] S133. The waveform of the predetermined time period in the initial driving waveform is adjusted by using the second target interval coordinated amplitude and the second target frequency to obtain the second target driving waveform.

[0211] In this embodiment of the invention, the adjustment device uses the second target interval coordinated amplitude and the second target frequency to coordinately adjust the waveform of a predetermined time period in the initial driving waveform to obtain the second target driving waveform.

[0212] In this embodiment of the invention, the adjustment device uses the second target interval coordinated amplitude and the second target frequency to change the initial amplitude and initial frequency of the waveform in the predetermined time period of the initial driving waveform to obtain the second target driving waveform.

[0213] In this embodiment of the invention, the adjustment device iteratively reduces the initial amplitude of the waveform in the predetermined time period of the initial drive waveform until the final temperature change curve data does not meet the over-temperature protection condition, and then stops to obtain the second target interval coordinated amplitude. Since this scheme iteratively adjusts the initial frequency, the adjusted temperature change curve does not meet the over-temperature protection condition, thereby effectively protecting the linear motor.

[0214] Please see Figure 14 This is a schematic diagram of the structure of the linear motor drive waveform adjustment device provided in an embodiment of the present invention.

[0215] This invention also provides a linear motor drive waveform adjustment device 800, including: a data acquisition unit 803, a determination unit 804, and an adjustment unit 805.

[0216] The data acquisition unit 803 is used to acquire the initial drive waveform and use the initial drive waveform to provide a drive signal to the linear motor for operation.

[0217] The data acquisition unit 803 is also used to acquire temperature-related parameters when the linear motor is working, and to determine the temperature change curve data of the linear motor based on the temperature-related parameters and the initial drive waveform.

[0218] The determining unit 804 is used to determine the over-temperature detection result based on the over-temperature duration in the temperature change curve data;

[0219] The adjustment unit 805 is used to adjust the driving parameters in the initial driving waveform if the over-temperature detection result indicates that the temperature change curve data meets the over-temperature protection conditions, until the final temperature change curve data determined based on the adjusted initial driving waveform does not meet the over-temperature protection conditions, and then stop to obtain the target driving waveform.

[0220] In this embodiment of the invention, the determining unit 804 in the linear motor drive waveform adjustment device 800 is used to determine the over-temperature duration corresponding to the curve that is greater than a preset temperature threshold in the temperature change curve data. If the over-temperature duration is greater than the preset duration threshold, the over-temperature detection result that the temperature change curve data meets the over-temperature protection condition is determined.

[0221] If the over-temperature duration is not greater than the preset duration threshold, then the over-temperature detection result is determined to be that the temperature change curve data does not meet the over-temperature protection conditions.

[0222] In this embodiment of the invention, the adjustment unit 805 in the linear motor drive waveform adjustment device 800 is used to adjust the drive parameters based on the energy data obtained from the over-temperature duration, until the final temperature change curve data determined based on the adjusted initial drive waveform does not meet the over-temperature protection condition, and then stops, thus obtaining the target drive waveform.

[0223] Alternatively, the driving parameters can be adjusted based on the initial driving waveform until the final temperature change curve data no longer meets the over-temperature protection condition, thus obtaining the target driving waveform.

[0224] In this embodiment of the invention, the adjustment unit 805 in the linear motor drive waveform adjustment device 800 is used to calculate the corresponding energy data based on the over-temperature duration;

[0225] The adjustment coefficient was determined based on the energy data;

[0226] The driving parameters in the initial driving waveform are adjusted using the adjustment coefficient until the final temperature change curve data no longer meets the over-temperature protection condition, thus obtaining the target driving waveform.

[0227] In this embodiment of the invention, the driving parameters include: initial amplitude and initial frequency; the adjustment unit 805 in the linear motor drive waveform adjustment device 800 is used to iteratively adjust at least one of the initial amplitude and the initial frequency in the initial drive waveform until the final temperature change curve data does not meet the over-temperature protection condition, thereby obtaining at least one of the target amplitude and target frequency; the final temperature change curve data is determined based on the drive voltage of the adjusted drive waveform;

[0228] The initial driving waveform is adjusted using at least one of the target amplitude and the target frequency to obtain the target driving waveform.

[0229] In this embodiment of the invention, the target amplitude includes: a first target amplitude and a first target coordinated amplitude; the target frequency includes: a first target frequency; and the target driving waveform includes: a first target driving waveform.

[0230] The adjustment unit 805 in the linear motor drive waveform adjustment device 800 is used to adjust the amplitude of the initial drive waveform using the first target amplitude to obtain the first target drive waveform.

[0231] The initial driving waveform is frequency-adjusted using the first target frequency to obtain the first target driving waveform;

[0232] The initial driving waveform is adjusted in a coordinated manner using the first target coordinated amplitude and the first target frequency to obtain the first target driving waveform.

[0233] In this embodiment of the invention, the target amplitude includes: a second target amplitude and a second target interval coordinated amplitude; the target frequency includes: a second target frequency; and the target driving waveform includes: a second target driving waveform.

[0234] The adjustment unit 805 in the linear motor drive waveform adjustment device 800 is used to adjust the amplitude of the waveform during a predetermined time period in the initial drive waveform using the second target amplitude to obtain the second target drive waveform; wherein, the waveform during the predetermined time period is the band corresponding to the over-temperature duration in the initial drive waveform;

[0235] Using the second target frequency, the waveform of the predetermined time period in the initial driving waveform is frequency adjusted to obtain the second target driving waveform;

[0236] The second target driving waveform is obtained by coordinating the waveform of the predetermined time period in the initial driving waveform with the second target interval coordinated amplitude and the second target frequency.

[0237] In this embodiment of the invention, the adjustment unit 805 in the linear motor drive waveform adjustment device 800 is used to iteratively reduce the initial amplitude when the amplitude of the initial drive waveform is adjusted, until the final amplitude temperature change curve data corresponding to the Nth amplitude after the Nth reduction adjustment does not meet the over-temperature protection condition, and then stop to obtain the first target amplitude; N is an integer greater than 1.

[0238] In this embodiment of the invention, the adjustment unit 805 in the linear motor drive waveform adjustment device 800 is used to perform a first iterative adjustment on the initial frequency when the initial drive waveform is adjusted by the frequency and the coordinated adjustment is performed, until the first iterative temperature change curve data determined by the adjusted drive voltage does not meet the over-temperature protection condition, and then stop to obtain the first iterative frequency.

[0239] The initial frequency is adjusted in a second iteration until the second iteration temperature change curve data determined using the adjusted driving voltage no longer meets the over-temperature protection condition, thus obtaining the second iteration frequency.

[0240] Calculate the absolute value of the first difference between the first iteration frequency and the initial frequency, and calculate the absolute value of the second difference between the second iteration frequency and the initial frequency;

[0241] The minimum absolute value is determined between the first absolute value of the difference and the second absolute value of the difference, and the first target frequency corresponding to the minimum absolute value is determined.

[0242] In this embodiment of the invention, the adjustment unit 805 in the linear motor drive waveform adjustment device 800 is used to iteratively reduce the initial amplitude when the initial drive waveform is adjusted in a coordinated manner, until the temperature change curve data of the final coordinated amplitude corresponding to the Nth coordinated amplitude after the Nth reduction adjustment does not meet the over-temperature protection condition, and then stop to obtain the first target coordinated amplitude.

[0243] The final coordinated amplitude temperature change curve data is obtained by processing the acquired temperature parameters, acquired coil resistance parameters, and the driving voltage determined by the first target coordinated amplitude and the first target frequency using a preset program.

[0244] In this embodiment of the invention, the adjustment unit 805 in the linear motor drive waveform adjustment device 800 is used to iteratively reduce the initial amplitude of the predetermined time period waveform when the amplitude of the predetermined time period waveform in the initial drive waveform is adjusted, until the temperature change curve data of the final interval amplitude corresponding to the amplitude of the Mth interval after the Mth reduction adjustment does not meet the over-temperature protection condition, and then stop to obtain the second target amplitude; M is an integer greater than 1.

[0245] In this embodiment of the invention, the adjustment unit 805 in the linear motor drive waveform adjustment device 800 is used to perform a first interval iterative adjustment on the initial frequency of the predetermined time period waveform when the frequency adjustment and the coordinated adjustment are performed on the waveform of the predetermined time period in the initial drive waveform, until the first interval temperature change curve data determined by the adjusted drive voltage does not meet the over-temperature protection condition, and then stop to obtain the first interval iterative frequency.

[0246] The initial frequency of the waveform during the predetermined time period is adjusted in a second interval iteration until the temperature change curve data of the second interval determined by the adjusted driving voltage no longer meets the over-temperature protection condition, thus obtaining the second interval iteration frequency;

[0247] Find the absolute value of the first interval difference between the first interval iteration frequency and the initial frequency, and find the absolute value of the second interval difference between the second interval iteration frequency and the initial frequency.

[0248] The minimum absolute value of the interval difference is determined from the absolute values ​​of the first interval difference and the second interval difference, and the minimum absolute value of the interval difference is determined to correspond to the second target frequency.

[0249] In this embodiment of the invention, the adjustment unit 805 in the linear motor drive waveform adjustment device 800 is used to iteratively reduce the initial amplitude of the predetermined time period waveform when the initial drive waveform is adjusted in a coordinated manner, until the temperature change curve data of the final interval coordinated amplitude corresponding to the Mth interval coordinated amplitude after the Mth reduction adjustment does not meet the over-temperature protection condition, and then stop to obtain the second target interval coordinated amplitude.

[0250] The final interval coordinated amplitude temperature change curve data is obtained by processing the acquired temperature parameters, acquired coil resistance parameters, and the driving voltage determined by the second target interval coordinated amplitude and the second target frequency using a preset program.

[0251] In this embodiment of the invention, the data acquisition unit 803 in the linear motor drive waveform adjustment device 800 is used to acquire the temperature parameters and coil resistance parameters of the linear motor during operation;

[0252] The driving voltage of the linear motor during operation is determined based on the initial amplitude in the initial driving waveform.

[0253] The temperature parameters, coil resistance parameters, and driving voltage are processed using a preset program to generate the temperature change curve data;

[0254] The slope of the temperature change in the temperature change curve data is positively correlated with the temperature parameter, negatively correlated with the coil resistance parameter, and positively correlated with the driving voltage.

[0255] This invention provides a linear motor drive waveform adjustment device 800. An initial drive waveform is acquired by a data acquisition unit 803, which then provides a drive signal to the linear motor for operation. The data acquisition unit 803 also acquires temperature-related parameters of the linear motor during operation, and determines the temperature change curve data of the linear motor based on these parameters and the initial drive waveform. A determination unit 804 determines an over-temperature detection result based on the over-temperature duration in the temperature change curve data. An adjustment unit 805 adjusts the drive parameters in the initial drive waveform if the over-temperature detection result indicates that the temperature change curve data meets the over-temperature protection conditions, until the final temperature change curve data determined based on the adjusted initial drive waveform no longer meets the over-temperature protection conditions, thus obtaining the target drive waveform. Because this solution uses temperature change curve data for feedforward adjustment of the drive waveform, the compensation for the drive waveform is more accurate, effectively reducing vibration distortion and motor damage caused by temperature changes, and extending the motor's service life.

[0256] It should be noted that, in the embodiments of the present invention, if the above-described linear motor drive waveform adjustment method is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of the present invention, or the part that contributes to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a linear motor drive waveform adjustment device (which may be a personal computer, etc.) to execute all or part of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a magnetic disk, or an optical disk. Thus, the embodiments of the present invention are not limited to any specific hardware and software combination.

[0257] Correspondingly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described method.

[0258] Correspondingly, this embodiment of the invention provides a linear motor drive waveform adjustment device 800, including a memory 802 and a processor 801. The memory 802 stores a computer program that can run on the processor 801. When the processor 801 executes the program, it implements the steps in the above method.

[0259] It should be noted that the descriptions of the storage medium and device embodiments above are similar to those of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium and device embodiments of the present invention, please refer to the descriptions of the method embodiments of the present invention for understanding.

[0260] It should be noted that, Figure 15 This is a schematic diagram of a hardware entity of a linear motor drive waveform adjustment device provided in an embodiment of the present invention, such as... Figure 15 As shown, the hardware entity of the linear motor driven waveform adjustment device 800 includes: a processor 801 and a memory 802, wherein;

[0261] The processor 801 typically controls the overall operation of the linear motor drive waveform adjustment device 800.

[0262] The memory 802 is configured to store instructions and applications executable by the processor 801, and can also cache data to be processed or already processed (e.g., image data, audio data, voice communication data and video communication data) in the processor 801 and the various modules in the linear motor drive waveform adjustment device 800. It can be implemented by flash memory or random access memory (RAM).

[0263] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of the invention, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the invention. The sequence numbers of the above-described embodiments of the invention are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0264] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0265] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the apparatus or units can be electrical, mechanical, or other forms.

[0266] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0267] In addition, in the various embodiments of the present invention, each functional unit can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0268] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0269] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0270] The above description is merely an embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for adjusting the waveform of a linear motor drive, characterized in that, This is applied to regulating devices, which are dedicated terminals with corresponding data acquisition and regulation functions for regulating various linear motors, including: Acquire the initial drive waveform, and use the initial drive waveform to provide a drive signal to the linear motor for operation; The temperature parameters and coil resistance parameters of the linear motor during operation are obtained. The driving voltage of the linear motor during operation is determined based on the initial amplitude in the initial driving waveform. The temperature parameters, coil resistance parameters, and driving voltage are processed using a preset program to form temperature change curve data. The temperature change curve data is the temperature change curve data over time. The over-temperature detection result is determined based on the over-temperature duration in the temperature change curve data. If the over-temperature detection result indicates that the temperature change curve data meets the over-temperature protection condition, then the driving parameters are adjusted forward based on the energy data obtained from the over-temperature duration until the final temperature change curve data no longer meets the over-temperature protection condition, thus obtaining the target driving waveform; or, the driving parameters are adjusted forward based on the initial driving waveform until the final temperature change curve data no longer meets the over-temperature protection condition, thus obtaining the target driving waveform.

2. The linear motor drive waveform adjustment method according to claim 1, characterized in that, The determination of the over-temperature detection result based on the over-temperature duration in the temperature change curve data includes one of the following: The over-temperature duration corresponding to the curve that is greater than the preset temperature threshold is determined from the temperature change curve data. If the over-temperature duration is greater than the preset duration threshold, the over-temperature detection result is determined to be that the temperature change curve data meets the over-temperature protection condition. If the over-temperature duration is not greater than the preset duration threshold, then the over-temperature detection result is determined to be that the temperature change curve data does not meet the over-temperature protection conditions.

3. The linear motor drive waveform adjustment method according to claim 2, characterized in that, The drive parameters are adjusted by feedforward based on the energy data obtained from the over-temperature duration until the final temperature change curve data no longer meets the over-temperature protection condition, thus obtaining the target drive waveform, including: The corresponding energy data is calculated based on the overtemperature duration. An adjustment coefficient is determined based on the energy data; The driving parameters in the initial driving waveform are adjusted using the adjustment coefficient until the final temperature change curve data no longer meets the over-temperature protection condition, thus obtaining the target driving waveform.

4. The linear motor drive waveform adjustment method according to claim 2, characterized in that, The driving parameters include: initial amplitude and initial frequency; The process of adjusting the drive parameters based on the initial drive waveform until the final temperature change curve data no longer meets the over-temperature protection condition, to obtain the target drive waveform, includes: At least one of the initial amplitude and the initial frequency in the initial driving waveform is iteratively adjusted until the final temperature change curve data does not meet the over-temperature protection condition, thereby obtaining at least one of the target amplitude and the target frequency. The initial driving waveform is adjusted using at least one of the target amplitude and the target frequency to obtain the target driving waveform.

5. The linear motor drive waveform adjustment method according to claim 4, characterized in that, The target amplitude includes: a first target amplitude and a first target coordinated amplitude; the target frequency includes: a first target frequency; the target driving waveform includes: a first target driving waveform; The method of adjusting the initial driving waveform using at least one of the target amplitude and the target frequency to obtain the target driving waveform includes one of the following: The initial driving waveform is adjusted using the first target amplitude to obtain the first target driving waveform; The initial driving waveform is frequency-adjusted using the first target frequency to obtain the first target driving waveform; The initial driving waveform is adjusted in a coordinated manner using the first target coordinated amplitude and the first target frequency to obtain the first target driving waveform.

6. The linear motor drive waveform adjustment method according to claim 4, characterized in that, The target amplitude includes: a second target amplitude and a second target interval coordinated amplitude; the target frequency includes: a second target frequency; the target driving waveform includes: a second target driving waveform; The step of adjusting the initial driving waveform using at least one of the target amplitude and the target frequency to obtain the target driving waveform further includes one of the following: Using the second target amplitude, the amplitude of the waveform during a predetermined time period in the initial driving waveform is adjusted to obtain the second target driving waveform; wherein, the waveform during the predetermined time period is the band corresponding to the overtemperature duration in the initial driving waveform; Using the second target frequency, the waveform of the predetermined time period in the initial driving waveform is frequency adjusted to obtain the second target driving waveform; The second target driving waveform is obtained by coordinating the waveform of the predetermined time period in the initial driving waveform with the second target interval coordinated amplitude and the second target frequency.

7. The linear motor drive waveform adjustment method according to claim 5, characterized in that, The iterative adjustment of at least one of the initial amplitude and the initial frequency in the initial driving waveform until the final temperature change curve data no longer meets the over-temperature protection condition, to obtain at least one of the target amplitude and target frequency, includes: When the initial driving waveform is adjusted in terms of amplitude, the initial amplitude is iteratively reduced until the final amplitude temperature change curve data corresponding to the Nth amplitude after the Nth reduction adjustment does not meet the over-temperature protection condition, and the first target amplitude is obtained; N is an integer greater than 1.

8. The linear motor drive waveform adjustment method according to claim 5, characterized in that, The iterative adjustment of at least one of the initial amplitude and the initial frequency in the initial driving waveform until the final temperature change curve data does not meet the over-temperature protection condition, to obtain at least one of the target amplitude and target frequency, includes: While performing the frequency adjustment and the coordinated adjustment on the initial driving waveform, the initial frequency is adjusted in the first iteration until the data of the first iteration temperature change curve determined by the adjusted driving voltage does not meet the over-temperature protection condition, and the first iteration frequency is obtained. The initial frequency is adjusted in a second iteration until the second iteration temperature change curve data determined using the adjusted driving voltage no longer meets the over-temperature protection condition, thus obtaining the second iteration frequency. Calculate the absolute value of the first difference between the first iteration frequency and the initial frequency, and calculate the absolute value of the second difference between the second iteration frequency and the initial frequency; The minimum absolute value is determined between the first absolute value of the difference and the second absolute value of the difference, and the first target frequency corresponding to the minimum absolute value is determined.

9. The linear motor drive waveform adjustment method according to claim 8, characterized in that, After determining the minimum absolute value among the first absolute value of the difference and the second absolute value of the difference, and determining the first target frequency corresponding to the minimum absolute value, before coordinating the initial driving waveform with the first target coordinated amplitude and the first target frequency to obtain the first target driving waveform, the method further includes: When the initial driving waveform is adjusted in a coordinated manner, the initial amplitude is iteratively reduced until the temperature change curve data of the final coordinated amplitude corresponding to the Nth coordinated amplitude after the Nth reduction adjustment does not meet the over-temperature protection condition, and the first target coordinated amplitude is obtained. The final coordinated amplitude temperature change curve data is obtained by processing the acquired temperature parameters, acquired coil resistance parameters, and the driving voltage determined by the first target coordinated amplitude and the first target frequency using a preset program.

10. The linear motor drive waveform adjustment method according to claim 6, characterized in that, The iterative adjustment of at least one of the initial amplitude and the initial frequency in the initial driving waveform until the final temperature change curve data no longer meets the over-temperature protection condition, to obtain at least one of the target amplitude and target frequency, includes: When the amplitude of the waveform in the predetermined time period of the initial driving waveform is adjusted, the initial amplitude of the waveform in the predetermined time period is iteratively reduced and adjusted until the temperature change curve data of the final interval amplitude corresponding to the amplitude of the Mth interval after the Mth reduction adjustment does not meet the over-temperature protection condition, and the second target amplitude is obtained; M is an integer greater than 1.

11. The linear motor drive waveform adjustment method according to claim 6, characterized in that, The iterative adjustment of at least one of the initial amplitude and the initial frequency in the initial driving waveform until the final temperature change curve data does not meet the over-temperature protection condition, to obtain at least one of the target amplitude and target frequency, includes: When the frequency adjustment and the coordinated adjustment are performed on the predetermined time period waveform in the initial driving waveform, the initial frequency of the predetermined time period waveform is adjusted in the first interval iteration until the temperature change curve data of the first interval determined by the adjusted driving voltage does not meet the over-temperature protection condition, and the first interval iteration frequency is obtained. The initial frequency of the waveform during the predetermined time period is adjusted in a second interval iteration until the temperature change curve data of the second interval determined by the adjusted driving voltage no longer meets the over-temperature protection condition, thus obtaining the second interval iteration frequency; Find the absolute value of the first interval difference between the first interval iteration frequency and the initial frequency, and find the absolute value of the second interval difference between the second interval iteration frequency and the initial frequency. The minimum absolute value of the interval difference is determined from the absolute values ​​of the first interval difference and the second interval difference, and the minimum absolute value of the interval difference is determined to correspond to the second target frequency.

12. The linear motor drive waveform adjustment method according to claim 11, characterized in that, After determining the minimum interval adjustment absolute value from the absolute values ​​of the first interval difference and the second interval difference, and determining the second target frequency corresponding to the minimum interval absolute value, before coordinating the waveform of the predetermined time period in the initial driving waveform using the second target interval coordinated amplitude and the second target frequency to obtain the second target driving waveform, the method further includes: When the predetermined time period waveform in the initial driving waveform is adjusted in coordination, the initial amplitude of the predetermined time period waveform is iteratively reduced and adjusted until the temperature change curve data of the final interval coordinated amplitude corresponding to the Mth interval coordinated amplitude after the Mth reduction adjustment does not meet the over-temperature protection condition, and the second target interval coordinated amplitude is obtained. The final interval coordinated amplitude temperature change curve data is obtained by processing the acquired temperature parameters, acquired coil resistance parameters, and the driving voltage determined by the second target interval coordinated amplitude and the second target frequency using a preset program.

13. The linear motor drive waveform adjustment method according to claim 1, characterized in that, in, The slope of the temperature change in the temperature change curve data is positively correlated with the temperature parameter, negatively correlated with the coil resistance parameter, and positively correlated with the driving voltage.

14. A linear motor-driven waveform adjustment device, characterized in that, This is applied to regulating devices, which are dedicated terminals with corresponding data acquisition and regulation functions for regulating various linear motors, including: The data acquisition unit is used to acquire the initial drive waveform and use the initial drive waveform to provide a drive signal to the linear motor for operation. The data acquisition unit is further configured to acquire the temperature parameters and coil resistance parameters of the linear motor during operation, determine the driving voltage of the linear motor during operation based on the initial amplitude in the initial driving waveform, and process the temperature parameters, coil resistance parameters, and driving voltage using a preset program to form temperature change curve data; wherein, the temperature change curve data is temperature change curve data over time. The determining unit is used to determine the over-temperature detection result based on the over-temperature duration in the temperature change curve data; An adjustment unit is configured to, if the over-temperature detection result indicates that the temperature change curve data meets the over-temperature protection condition, adjust the driving parameters based on the energy data obtained from the over-temperature duration until the final temperature change curve data no longer meets the over-temperature protection condition, thereby obtaining the target driving waveform; or, adjust the driving parameters based on the initial driving waveform until the final temperature change curve data no longer meets the over-temperature protection condition, thereby obtaining the target driving waveform.

15. A linear motor-driven waveform adjustment device, characterized in that, It includes a memory and a processor, the memory storing a computer program that can run on the processor, the processor executing the program to implement the steps of the method according to any one of claims 1 to 13.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program performs the steps of the method according to any one of claims 1 to 13.

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