A motor vibration control method, device, equipment and storage medium

Abstract

Embodiments of the present application disclose a motor vibration control method, device, equipment and storage medium, wherein the motor vibration control method comprises: obtaining a preset vibration description file; mapping vibration parameters in the preset vibration description file into target vibration parameters based on a vibration reference curve of a motor and a safe vibration reference straight line; wherein the vibration reference curve is used to represent the corresponding relationship between the frequency and the amplitude of the motor in a working frequency range under a preset driving limit voltage; the safe vibration reference straight line is used to represent the corresponding relationship between the frequency and the safe amplitude of the motor in the working frequency range under the condition that the motor can realize safe vibration; the target vibration parameters comprise the frequency and the amplitude; and the motor vibration is controlled based on the target vibration parameters.

Description

Technical Field

[0001] This application relates to the field of electronic technology applications, and in particular to a vibration control method, device, equipment and storage medium for a motor. Background Technology

[0002] In related technologies, the distance between the motor vibrator and the motor housing is usually fixed, and the vibration parameters in the vibration description file that controls the motor to vibrate are also pre-designed. Therefore, in the process of mapping the vibration parameters in the vibration description file to the motor to control the motor to vibrate, it is impossible to completely guarantee that there will be no collision between the motor vibrator and the housing, which will affect the service life of the motor. Summary of the Invention

[0003] This application provides a vibration control technology solution for a motor.

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

[0005] This application provides a vibration control method for a motor, the method comprising:

[0006] Obtain the preset vibration description file;

[0007] Based on the motor's vibration reference curve and safe vibration reference line, the vibration parameters in the preset vibration description file are mapped to target vibration parameters; wherein, the vibration reference curve is used to characterize the correspondence between frequency and amplitude of the motor within the operating frequency range under a preset drive limiting voltage; the safe vibration reference line is used to characterize the correspondence between frequency and safe amplitude within the operating frequency range when the motor can achieve safe vibration; the target vibration parameters include frequency and amplitude;

[0008] The motor vibration is controlled based on the target vibration parameters.

[0009] This application provides a vibration control device for a motor, the device comprising:

[0010] The acquisition module is used to acquire a preset vibration description file;

[0011] A mapping module is used to map vibration parameters in a preset vibration description file to target vibration parameters based on the motor's vibration reference curve and a safe vibration reference line. The vibration reference curve characterizes the frequency-amplitude relationship of the motor within its operating frequency range under a preset drive limiting voltage. The safe vibration reference line characterizes the frequency-amplitude relationship within the operating frequency range when the motor can achieve safe vibration. The target vibration parameters include both frequency and amplitude.

[0012] A control module is used to control the vibration of the motor based on the target vibration parameters.

[0013] This application provides a computer device, which includes a memory and a processor. The memory stores computer-executable instructions, and when the processor executes the computer-executable instructions in the memory, it can implement the above-described motor vibration control method.

[0014] This application provides a computer-readable storage medium storing computer-executable instructions, which, when executed, enable the aforementioned motor vibration control method.

[0015] This application provides a vibration control method, apparatus, device, and storage medium for a motor. The vibration control method includes: first, obtaining a preset vibration description file; then, mapping the vibration parameters in the preset vibration description file to target vibration parameters based on a vibration reference curve and a safe vibration reference line; wherein the vibration reference curve characterizes the frequency-amplitude relationship of the motor within its operating frequency range under a preset drive limiting voltage; the safe vibration reference line characterizes the frequency-amplitude relationship within the operating frequency range when the motor can achieve safe vibration; the target vibration parameters include frequency and amplitude; thus, by using the vibration reference curve and the safe vibration reference line as mapping references, the vibration parameters in the preset vibration description file are adjusted during the mapping process to ensure that the obtained target vibration parameters are within the safe vibration range corresponding to the motor's safe vibration; finally, the motor vibration is controlled using the target vibration parameters; this ensures that the motor vibrates within the safe vibration range using the vibration parameters in the preset vibration description file, i.e., it ensures the motor vibrates safely and its service life is guaranteed while also allowing the motor to vibrate according to the instructions of the preset vibration description file.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the technical solutions provided in the embodiments of this application. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0018] Figure 1A schematic flowchart illustrating the vibration control method for a first motor provided in this application embodiment;

[0019] Figure 2 A schematic flowchart illustrating the second vibration control method for a motor provided in this application embodiment;

[0020] Figure 3 A schematic flowchart illustrating the third vibration control method for a motor provided in this application embodiment;

[0021] Figure 4 A schematic diagram for determining the maximum strength line of a motor using the vibration control method for a motor provided in the embodiments of this application;

[0022] Figure 5 A schematic diagram illustrating the reduction of relevant vibration displacement curves in the vibration control method for motors provided in the embodiments of this application. Figure 1 ;

[0023] Figure 6 A schematic diagram illustrating the reduction of relevant vibration displacement curves in the vibration control method for motors provided in the embodiments of this application. Figure 2 ;

[0024] Figure 7 A schematic diagram illustrating the process of protecting a motor from safe vibration using the vibration control method provided in the embodiments of this application;

[0025] Figure 8 A schematic diagram of the composition structure of a vibration control device for a motor provided in an embodiment of this application;

[0026] Figure 9 This is a schematic diagram of the composition structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate the embodiments of this application, but are not intended to limit the scope of the embodiments of this application.

[0028] 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.

[0029] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering 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 this application described herein can be implemented in an order other than that illustrated or described herein.

[0030] 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 embodiments of this application belong. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of embodiments of this application.

[0031] Before providing a further detailed description of the embodiments of this application, the nouns and terms involved in the embodiments of this application will be explained, and the nouns and terms involved in the embodiments of this application shall be interpreted as follows.

[0032] 1) Vibration measurement parameters: amplitude, vibration velocity, and vibration acceleration. The corresponding units are: mm, mm / s, mm / s. Amplitude is a visual phenomenon, defined as the maximum displacement from the equilibrium or rest position during a wave or vibration. Numerically, amplitude is equal to the magnitude of the maximum displacement. Amplitude is a scalar quantity, expressed in meters or centimeters. It describes the magnitude and intensity of an object's vibration. The maximum dynamic displacement in a system's vibration is called amplitude. Here, vibration displacement, vibration velocity, and vibration acceleration are all measurement parameters used in vibration measurement.

[0033] 2) Amplitude: refers to the maximum value that a physical quantity of vibration can reach, usually represented by A. It represents the range and intensity of the vibration. Here, in mechanical vibration, amplitude refers to the absolute value of the maximum displacement of an object from its equilibrium position when it vibrates. The amplitude is numerically equal to the magnitude of the maximum displacement, and it is a scalar quantity, expressed in meters or centimeters.

[0034] The vibration control method for a motor provided in this application embodiment can be applied to a computer device. The function implemented by this method can be achieved by the processor in the computer device calling program code. Of course, the program code can be stored in the computer storage medium. It can be seen that the computer device includes at least a processor and a storage medium.

[0035] This application provides a vibration control method for a motor, such as... Figure 1 The diagram shown is a flowchart illustrating the first vibration control method for a motor provided in this application embodiment; combined with... Figure 1 The steps S101 to S103 described herein are explained as follows:

[0036] Step S101: Obtain a preset vibration description file.

[0037] In some embodiments, the preset vibration description file can be any file formed by code, and the file can be stored in any document format.

[0038] Here, the number of preset vibration description files can be one, two, or more.

[0039] In some embodiments, a preset vibration description file is the vibration description file; wherein, the vibration description file is used to describe the vibration waveform of the linear motor, and the vibration waveform indicates various vibration parameters during the motor vibration process, such as amplitude and frequency.

[0040] It should be noted that the preset vibration description file is a file used to instruct the motor to vibrate.

[0041] Step S102: Based on the motor's vibration reference curve and safe vibration reference line, map the vibration parameters in the preset vibration description file to the target vibration parameters.

[0042] The vibration reference curve is used to characterize the relationship between frequency and amplitude of the motor within the operating frequency range under a preset drive limit voltage; the safe vibration reference line is used to characterize the relationship between frequency and safe amplitude within the operating frequency range when the motor can achieve safe vibration; the target vibration parameters include frequency and amplitude.

[0043] In some embodiments, based on the motor's vibration reference curve and safe vibration reference line, vibration parameters in a preset vibration description file are mapped to target vibration parameters. That is, based on the motor's vibration reference curve and safe vibration reference line, the preset vibration description file is used to instruct the motor to vibrate in order to map to the target vibration parameters. The target vibration parameters can be represented by vibration waveforms or vibration curves, wherein the target vibration parameters include frequency and amplitude.

[0044] Here, the vibration parameters in the preset vibration description file are only numerical values ​​and do not represent the actual parameters (frequency and intensity parameters). The target vibration parameters in this solution represent the actual parameters of the motor vibration. That is, the vibration parameters in the preset vibration description file can be mapped to the actual parameters (the actual frequency and intensity parameters of the motor vibration) using the motor's vibration reference curve and safe vibration reference line. Specifically, the motor's vibration reference curve and safe vibration reference line only represent the intensity and frequency ranges of the motor's actual vibration, as well as the maximum intensity value at each frequency point.

[0045] Different motors can all use the same vibration description file. However, since the vibration reference curve and safe vibration reference line of each motor may be different (the intensity range and frequency range of the actual vibration of the motor are different, and the maximum intensity value of the vibration of different motors at each frequency point is also different), the vibration parameters in the preset vibration description file can be mapped to the frequency range and intensity range that the current motor is suitable for by using the motor's vibration reference curve and safe vibration reference line.

[0046] It should be noted that the vibration reference curve of a motor is determined by the motor's own physical characteristics. That is, under the same driving voltage (prerequisite), the amplitude that the motor can achieve will be different depending on the vibration frequency applied to it; the vibration amplitude of the motor is maximum when the resonant frequency is reached. Therefore, due to the differences in the physical parameters (such as resistance, electromagnetic coefficient, etc.) of different motors, the frequency range and intensity range of vibration that the motor itself can achieve will also be different.

[0047] In some embodiments, the safe vibration reference line corresponding to the motor's operating frequency range can be obtained by fusing the vibration reference line corresponding to the motor's operating frequency range with a safety reduction factor. This vibration reference line refers to the straight line representing the relationship between the motor's frequency and its maximum displacement, maximum velocity, or maximum acceleration within the operating frequency range, provided that the motor oscillator can vibrate safely without colliding or rubbing against the motor's housing. Here, the safety reduction factor can be a positive number less than 1 and greater than 0; thus, the amplitude in the vibration reference line is reduced using this safety reduction factor to obtain a safety vibration reference line with reduced amplitude.

[0048] Here, the motor's vibration reference curve and the safe vibration reference line can be used simultaneously as reference curves to map the vibration parameters in the preset vibration description file to obtain the corresponding target vibration parameters.

[0049] Step S103: Control the motor vibration based on the target vibration parameters.

[0050] In some embodiments, the motor is vibrated using a drive signal associated with the target vibration parameters; that is, the motor can vibrate based on the drive signal composed of the target vibration parameters.

[0051] In some embodiments, the obtained preset vibration description file can be mapped using the motor's vibration reference curve and safe vibration reference line as mapping references to obtain target vibration parameters. This ensures that the obtained target vibration parameters are within the safe vibration range corresponding to the motor's safe vibration. Consequently, it ensures that the motor vibrates within the safe vibration range based on the preset vibration description file, that is, it ensures that the motor vibrates according to the instructions of the preset vibration description file while ensuring its safe vibration and service life.

[0052] The vibration control method for a motor provided in this application first obtains a preset vibration description file; then, based on the motor's vibration reference curve and safe vibration reference line, the vibration parameters in the preset vibration description file are mapped to target vibration parameters. The vibration reference curve characterizes the frequency-amplitude relationship of the motor within its operating frequency range under a preset drive limiting voltage; the safe vibration reference line characterizes the frequency-amplitude relationship within the operating frequency range when the motor can achieve safe vibration; the target vibration parameters include frequency and amplitude. Thus, by using the motor's vibration reference curve and safe vibration reference line as mapping references, the vibration parameters in the preset vibration description file are adjusted during the mapping process, ensuring that the obtained target vibration parameters are within the safe vibration range corresponding to safe motor vibration. Finally, the motor vibration is controlled using the target vibration parameters. This ensures that the motor vibrates within the safe vibration range using the vibration parameters in the preset vibration description file, thereby ensuring the motor vibrates according to the instructions of the preset vibration description file while guaranteeing its service life.

[0053] In some embodiments, a preset mapping rule associated with the vibration parameters in a preset vibration description file can be determined first based on a vibration reference curve. Then, using this preset mapping rule and a safe vibration reference line, the vibration parameters in the preset vibration description file are mapped to target vibration parameters. This makes the target vibration parameters obtained by mapping the vibration parameters in the preset vibration description file more consistent with the actual vibration of the motor. That is, step S102 provided in the above embodiment can be implemented by the following steps S201 and S202, such as... Figure 2 The diagram shown is a schematic flowchart of a second motor vibration control method provided in an embodiment of this application. (Refer to...) Figure 1 and Figure 2 The steps shown are explained below:

[0054] Step S201: Based on the vibration reference curve, determine the preset mapping rules associated with the vibration parameters in the preset vibration description file.

[0055] In some embodiments, the preset mapping rules associated with the vibration parameters in the preset vibration description file may vary based on different vibration parameters; for example, the frequency mapping may be a continuous mapping or a discontinuous mapping; the gain mapping may be a whole-segment mapping or a segmented mapping, etc.

[0056] Here, the preset mapping rules for vibration parameter association can also be restricted and determined based on the corresponding parameters in the vibration reference curves of different motors.

[0057] Step S202: Based on the preset mapping rules and the safe vibration reference line, map the vibration parameters in the preset vibration description file to the target vibration parameters.

[0058] In some embodiments, a preset mapping rule is used to map the vibration parameters in a preset vibration description file under the constraint of a safe vibration reference line to obtain the corresponding target vibration parameters.

[0059] In some feasible implementations, a preset mapping rule can be used first to map the vibration parameters in the preset vibration description file to intermediate vibration parameters. Then, the intermediate vibration parameters can be adjusted based on the safe vibration reference line to obtain the target vibration parameters. In this way, parameter mapping is performed first, and then the intermediate vibration parameters obtained after parameter mapping are adjusted through the safe vibration reference line of the motor, thereby making the determined target vibration parameters more accurate. That is, the above step S202 can be implemented by the following steps S2021 and S2022 (not shown in the figure):

[0060] Step S2021: Using the preset mapping rule, the vibration parameters in the preset vibration description file are mapped to intermediate vibration parameters.

[0061] Step S2022: Based on the safe vibration reference line and the intermediate vibration parameters, obtain the target vibration parameters.

[0062] In some embodiments, vibration parameters characterizing the vibration amount in the safety vibration reference line can be used to limit the vibration parameters characterizing the vibration amount in the intermediate vibration parameters in order to obtain the relevant target vibration parameters.

[0063] Here, the second amplitude corresponding to each frequency within the vibration frequency range (intermediate frequency range) corresponding to the intermediate vibration parameter can be obtained, as well as the second amplitude corresponding to the safe vibration reference line; then, based on the first amplitude and the second amplitude, the smaller amplitude corresponding to each frequency within the intermediate frequency range can be determined, and based on the smaller amplitude corresponding to each frequency within the intermediate frequency range, the corresponding target vibration parameter can be obtained; thus, through a more intuitive and convenient numerical comparison, the target vibration parameter can be obtained more accurately and conveniently. That is, the above step S2022 can be achieved through the following process:

[0064] The first step is to obtain the first amplitude corresponding to each frequency in the intermediate frequency range in the safe vibration reference line, and the second amplitude corresponding to each frequency in the intermediate vibration parameters.

[0065] The intermediate frequency range is the vibration frequency range corresponding to the intermediate vibration parameter.

[0066] The second step is to determine the smaller amplitude corresponding to each frequency within the intermediate frequency range based on the first amplitude and the second amplitude.

[0067] The third step is to generate the target vibration parameters based on the smaller amplitude corresponding to each frequency within the intermediate frequency range.

[0068] In other feasible implementations, the preset mapping rules can be adjusted first based on the motor's safe vibration reference line, and then the adjusted target mapping rules can be used to map the vibration parameters in the preset vibration description file to the target vibration parameters. In this way, by first adjusting the preset mapping rules based on the safe vibration reference line, and then mapping the vibration parameters in the preset vibration description file based on the adjusted target mapping rules, the determined target vibration parameters become more accurate. That is, step S202 can also be implemented through the following steps S2023 and S2024 (not shown in the figure):

[0069] Step S2023: Based on the safety vibration reference line, adjust the preset mapping rule to obtain the target mapping rule.

[0070] In some embodiments, the target mapping rule may be a change in the mapping rule corresponding to some vibration parameters or a change in the mapping rule corresponding to all vibration parameters, relative to the preset mapping rule. For example, in the preset mapping rule, the frequency mapping is a continuous mapping, while in the target mapping rule, the frequency mapping is a discontinuous mapping.

[0071] It should be noted that by adopting the target mapping rule, the vibration intensity value of the target vibration parameter at each frequency point after mapping the vibration parameters in the preset vibration description file is less than the vibration intensity value at each corresponding frequency point in the equalization line. Here, the equalization line is the curve obtained by fusing the motor's vibration reference curve and the safe vibration reference line. This fusion operation can refer to selecting the smaller vibration intensity value between the vibration reference curve and the safe vibration reference line at each frequency point as the candidate vibration intensity value, and then obtaining the equalization line based on the candidate vibration intensity value at each frequency point.

[0072] Step S2024: Using the target mapping rule, the vibration parameters in the preset vibration description file are mapped to the target vibration parameters.

[0073] It should be noted that the target mapping rule is used to map the vibration parameters in the preset vibration description file. The mapping method implemented is basically similar to step S2021 provided in the above embodiment.

[0074] In some embodiments, if the preset vibration description file includes at least two vibration description sub-files with overlapping vibration time ranges, firstly, based on preset mapping rules and a safe vibration reference line, the vibration parameters in each vibration description sub-file are mapped to obtain an intermediate vibration sub-curve set; then, according to the vibration time range of each intermediate vibration sub-curve in the intermediate vibration sub-curve set, the intermediate vibration sub-curves in the intermediate vibration sub-curve set are merged to generate the vibration curve to be processed; finally, based on the safe vibration reference line, the amplitude in the vibration curve to be processed is adjusted to obtain the target vibration curve; thus, when processing mixed data, i.e., using at least two vibration description sub-files with overlapping vibration time ranges as indicators... When vibration is applied, the vibration parameters in each vibration description sub-file must first be mapped based on the safe vibration reference line and preset mapping rules. Then, each intermediate vibration sub-curve in the corresponding mapped intermediate vibration sub-curve set is fused to obtain the vibration curve to be processed. Finally, the vibration curve to be processed is adjusted again based on the safe vibration reference line to obtain the target vibration curve. In this way, when using mixed-frequency data to control the motor vibration, not only can the motor's safe vibration be ensured, but the motor vibration can also be made closer to the relevant indications of multiple vibration description sub-files. That is, step S202 provided in the above embodiment can be implemented by the following steps S301 to S303. Figure 3 The diagram shown is a flowchart illustrating the third type of motor vibration control method provided in this application embodiment. Figures 1 to 3 The steps described are explained below:

[0075] Step S301: Based on the preset mapping rules and the safe vibration reference line, map the vibration parameters in each vibration description sub-file to obtain an intermediate vibration sub-curve set.

[0076] In this set of intermediate oscillator curves, each intermediate oscillator curve is used to characterize the correspondence between time and amplitude.

[0077] It should be noted that the intermediate oscillator curve set is waveform data, used to characterize the amplitude at each time point.

[0078] In some embodiments, each vibration description sub-file is mapped to obtain the corresponding target vibration parameters, which are represented by the corresponding intermediate vibration sub-curves. The vibration parameters in each vibration description sub-file are mapped to the corresponding intermediate vibration sub-curves under the constraint of the safe vibration reference line, using a preset mapping rule. The implementation process can be referred to steps S2021 and S2022, or steps S2023 and S2024 in the above embodiments, and will not be repeated here.

[0079] Step S302: According to the vibration time range of each intermediate vibration sub-curve in the intermediate vibration sub-curve set, merge the intermediate vibration sub-curves in the intermediate vibration sub-curve set to generate the vibration curve to be processed.

[0080] In some embodiments, firstly, the vibration time range corresponding to each intermediate vibration sub-curve in the intermediate vibration sub-curve set is obtained; then, based on the obtained multiple vibration time ranges, all intermediate vibration sub-curves in the intermediate vibration sub-curve set are merged to generate the vibration curve to be processed.

[0081] Here, in the process of fusing all intermediate vibration sub-curves in the intermediate vibration sub-curve set based on the multiple vibration time ranges obtained, the vibration sub-curves can be directly superimposed based on the amplitude corresponding to each time within the corresponding vibration time range (each intermediate vibration sub-curve corresponds to one amplitude), or they can be weighted separately and then fused to obtain the vibration curve to be processed.

[0082] Step S303: Based on the safety vibration reference line, adjust the amplitude in the vibration curve to be processed to obtain the target vibration curve.

[0083] In some embodiments, the amplitude in the vibration curve to be processed can be further adjusted based on a safety vibration reference line to obtain the target vibration curve.

[0084] Accordingly, once the target vibration curve is obtained, the target vibration parameter can be replaced by the target vibration curve to control the motor vibration. That is, step S103 provided in the above embodiment can be implemented by the following step S304:

[0085] Step S304: Control the motor vibration based on the target vibration curve.

[0086] In some feasible implementations, when the processing time range corresponding to the vibration curve to be processed is determined, firstly, the third amplitude corresponding to each time within the processing time range in the vibration curve to be processed and the fourth amplitude corresponding to each time within the processing time range are obtained; then, based on the ratio between the third amplitude and the fourth amplitude corresponding to each time within the processing time range, the third amplitude in the vibration curve to be processed is adjusted to obtain the target vibration curve; thus, by adjusting the amplitude in the vibration curve to be processed only through relevant numerical comparisons and comparison results, a target vibration curve that can ensure the safe vibration of the motor is obtained. That is, step S303 provided in the above embodiment can be implemented by the following steps S3031 and S3032 (not shown in the figure):

[0087] Step S3031: Obtain the third amplitude corresponding to each time within the time range to be processed in the vibration curve to be processed, and the fourth amplitude corresponding to the safe vibration reference line.

[0088] Wherein, the time range to be processed is the vibration time range corresponding to the vibration curve to be processed.

[0089] In some embodiments, the vibration time range corresponding to the vibration curve to be processed is obtained, namely, the third amplitude corresponding to each time within the time range to be processed, and the fourth amplitude corresponding to each time within the time range to be processed of the safety vibration reference line.

[0090] The third amplitude corresponding to each time within the time range to be processed may be equal to or unequal to the corresponding fourth amplitude; no restrictions are imposed here.

[0091] Step S3032: Based on the ratio between the third amplitude and the fourth amplitude corresponding to each time within the time range to be processed, adjust the third amplitude in the vibration curve to be processed to obtain the target vibration curve.

[0092] In some embodiments, the amplitude of the vibration curve to be processed, i.e. the third amplitude, is adjusted according to the ratio between the third amplitude and the fourth amplitude corresponding to each time within the processing time range to obtain the target vibration curve; here, based on the relevant ratio, each third amplitude of the vibration curve to be processed is reduced or expanded to obtain the target vibration curve; or, based on the relevant ratio, a portion of the third amplitude in the initial vibration curve can be reduced or expanded to obtain the target vibration curve.

[0093] In some feasible implementations, if the third amplitude corresponding to any time within the processing time range is greater than its corresponding fourth amplitude, the third amplitude in the vibration curve to be processed needs to be reduced to obtain the target vibration curve. That is, the above step S3032 can be achieved through the following process:

[0094] If there is a third intermediate amplitude in the vibration curve to be processed that is greater than the fourth intermediate amplitude, the third amplitude in the vibration curve to be processed is reduced to obtain the target vibration curve.

[0095] Wherein, the fourth intermediate amplitude is the fourth amplitude in the safety vibration reference line that corresponds to the third intermediate amplitude at the same time within the time range to be processed, and the third intermediate amplitude is the third amplitude within the time period corresponding to when the amplitude is greater than the fourth amplitude.

[0096] In some embodiments, when the third intermediate amplitude is greater than the fourth intermediate amplitude, that is, the amplitude in the vibration curve to be processed is greater than the amplitude in the safe vibration reference line at the same time; that is, if the motor is driven to vibrate using the drive signal associated with the vibration curve to be processed, there may be a time when the amplitude of the motor exceeds its corresponding vibration limit, which will cause the oscillator inside the motor to collide with its outer casing during vibration. In this case, it is necessary to reduce the relevant amplitude in the vibration curve to be processed.

[0097] Similarly, when the third intermediate amplitude is less than or equal to the fourth intermediate amplitude, it means that if the motor is driven by the drive signal associated with the vibration curve to be processed, the amplitude of the motor will not exceed its corresponding vibration limit at a certain time. In this case, there is no need to adjust (reduce) the amplitude in the vibration curve to be processed, and the motor can be driven by the drive signal associated with the vibration curve to be processed directly.

[0098] In some possible implementations, the "reduction of the third amplitude in the vibration curve to be processed" mentioned above can be achieved by any of the following three methods. This not only enriches the reduction methods, but also ensures that the drive signal associated with the target vibration curve obtained by the reduction operation can ensure that the oscillator inside the motor will not collide with its housing when driving or controlling the motor vibration, thereby ensuring the motor vibrates safely and ensuring its service life.

[0099] Method 1: Reduce each of the third amplitudes in the vibration curve to be processed until it is less than or equal to the fourth amplitude in the safe vibration reference line corresponding to the same time within the time range to be processed.

[0100] Method 2: Reduce the third intermediate amplitude in the vibration curve to be processed until it is less than or equal to the fourth intermediate amplitude in the safe vibration reference line corresponding to the same time within the time range to be processed.

[0101] Method 3: Reduce the amplitude of each intermediate vibration sub-curve in the fusion-formed vibration curve to be processed until the amplitude of each time corresponding to the vibration curve obtained after fusing each intermediate vibration sub-curve is less than or equal to the fourth amplitude at the same time corresponding to the time range to be processed in the safe vibration reference line, and then fuse the reduced intermediate vibration sub-curve.

[0102] In some embodiments, any of the above methods are used to reduce the relevant amplitude in the vibration curve to be processed until it is less than or equal to the fourth amplitude that belongs to the same time and is on the safe vibration reference line.

[0103] It should be noted that, in the case where the preset vibration description file includes at least two vibration description sub-files with overlapping vibration time ranges, the amplitude in each intermediate vibration sub-curve of the fused vibration curve to be processed can be reduced until the amplitude corresponding to each time in the vibration curve obtained after fusing each vibration sub-curve is less than or equal to the fourth amplitude corresponding to the same time in the safety vibration reference line, and each reduced intermediate vibration sub-curve is then fused.

[0104] Correspondingly, when the preset vibration description file includes at least two vibration description sub-files with overlapping vibration time ranges, and the third amplitude of the vibration curve to be processed at each time within the processing time range exceeds the fourth amplitude corresponding to the safe vibration reference line, the intermediate vibration sub-curves generated during the process of instructing the motor to vibrate using at least two vibration description sub-files (i.e., the set of intermediate vibration sub-curves obtained by mapping the vibration parameters in each vibration description sub-file using preset mapping rules and the safe vibration reference line, where it is assumed that the corresponding vibration frequency range has been adjusted based on the motor's operating frequency range) obtained by fusing the vibration curve to be processed can be directly reduced in terms of relevant amplitude, or the intermediate vibration sub-curves before fusion can be reduced first and then fused (here, the reduced amplitude includes all or part of the amplitude in the relevant intermediate vibration sub-curves).

[0105] The vibration control method of the motor described above will be described below with reference to a specific embodiment. However, it should be noted that this specific embodiment is only for better illustrating the embodiments of this application and does not constitute an improper limitation on the embodiments of this application.

[0106] In related technologies, since the space inside the motor vibrator and the motor housing is usually fixed, the vibration displacement generated by the motor during vibration needs to be within a safe range to ensure that the motor vibrator does not collide with its housing, otherwise it will affect the service life of the motor. Therefore, a method is needed to control the motor amplitude, i.e. the maximum vibration displacement, so that it vibrates within a safe range.

[0107] In related technologies, vibration parameters from a vibration description file are typically used to instruct the motor to vibrate, and the maximum displacement at each frequency point within the vibration frequency range included in the vibration description file can be controlled in advance. Based on this, this application provides a method for protecting motor amplitude by using a motor vibration reference curve and a safe vibration reference line as mapping references. This method ensures that the motor amplitude at different frequency points remains within the safe travel range through the motor vibration reference curve and the safe vibration reference line.

[0108] This application provides a method for determining the amplitude, i.e., maximum displacement, velocity, or acceleration, reached by a motor at each frequency point using a motor vibration reference curve and a safe vibration reference line. This method then protects the motor's vibration safety during vibration based on different vibration requirements. The motor vibration reference curve and safe vibration reference line can be obtained through the following methods:

[0109] The first step is to obtain the maximum safe vibration line of the motor within its corresponding operating frequency range, i.e., the safe vibration reference line. The maximum safe vibration line can be obtained by multiplying the maximum vibration line of the motor by a safety factor that is less than 1 and greater than 0, in order to further ensure the safety of motor vibration.

[0110] Here, the maximum vibration line refers to the vibration equilibrium line formed by the maximum vibration displacement, maximum vibration velocity, or maximum vibration acceleration when the motor oscillator can vibrate safely without colliding or rubbing against the outer casing. The maximum vibration line can be obtained by directly measuring the internal structure of the motor or by calculating the parameters in the specification sheet.

[0111] The second step is to obtain the motor's vibration reference curve, which is the relationship between the frequency and amplitude of the motor under the driving limiting voltage. This curve consists of the horizontal axis representing the frequency points within the operating frequency range of the motor vibration, and the vertical axis representing the maximum vibration displacement, maximum vibration velocity, or maximum vibration acceleration that can be achieved at each frequency point within the operating frequency range under the driving limiting voltage. It can be obtained through calculation.

[0112] The third step is to determine the amplitude reached by the motor at each frequency point within its operating frequency range based on the maximum safe vibration line and the vibration curve under the drive limiting voltage; this amplitude is the motor's maximum strength line. For example, Figure 4The diagram shown illustrates the determination of the maximum strength line of a motor using the vibration control method provided in this application embodiment; wherein, as... Figure 4 The diagram illustrates the relationship between frequency points and amplitudes within the target frequency range where the motor can operate, using the vertical axis as an example of vibration displacement.

[0113] Among them, the maximum strength line is used to protect the motor. The vertical coordinate of the maximum strength line is used as the amplitude corresponding to each frequency point as the limiting condition. In this way, when the motor is working, the vibration intensity, such as the amplitude, of all frequency points does not exceed the amplitude corresponding to the maximum strength line.

[0114] The fourth step involves controlling the motor to vibrate based on the previously determined maximum strength line (corresponding to the safe vibration reference curve in the embodiment) and the relevant vibration description files (i.e., different vibration requirements).

[0115] If the vibration description file describes a single-frequency vibration data, a preset mapping rule for the vibration parameters in the vibration description file can be determined first, based on the vibration reference curve. Then, based on the preset mapping rule and the safe vibration reference line, the vibration parameters in the vibration description file are mapped to the target vibration parameters. Here, if the vibration parameters are represented by a curve, the amplitude in the vibration curve (which is used to characterize the correspondence between frequency and amplitude) generated during the vibration of the motor indicated by the vibration description file is mapped and adjusted to obtain the target vibration curve. For example, the maximum displacement of the target vibration displacement at the relevant frequency point is less than the maximum displacement corresponding to the maximum intensity line, thereby obtaining the corresponding vibration equilibrium line, and using its associated drive signal to control the motor vibration.

[0116] If the vibration description file includes multiple mixed vibration description sub-files with conflicting vibration time ranges, firstly, based on the vibration parameters in the multiple vibration description sub-files with conflicting vibration time ranges, and using a preset mapping rule determined by the motor's vibration reference curve and associated with the vibration parameters in the vibration description sub-files, the vibration parameters in each vibration description sub-file are mapped to obtain multiple corresponding vibration displacement waveform data or vibration curves (it should be noted that the maximum displacement corresponds to each time in the vibration displacement waveform data, while the amplitude corresponds to each time in the vibration curve). Then, the multiple vibration displacement waveform data are fused according to their corresponding vibration time ranges to obtain the vibration waveform data to be compared. Finally, based on the motor's corresponding safe vibration reference line, the amplitude in the vibration curve to be processed is adjusted to obtain the target vibration curve.

[0117] Here, if the vibration displacement parameter in the vibration waveform data to be compared exceeds the vibration displacement parameter corresponding to the same time on any safe vibration reference line, the value of the vibration displacement parameter in the vibration waveform data to be compared is reduced until the value of the reduced vibration displacement parameter is less than the value of the vibration displacement parameter corresponding to the safe vibration reference line. The processing method is as follows: Figure 5 The diagram illustrates the reduction of relevant vibration displacement curves in the motor vibration control method provided in this application embodiment. Figure 1 ; where 501 and 502 are vibration displacement waveform data corresponding to two vibration description files that conflict in vibration time. The vibration waveform data to be compared after superimposing 501 and 502 is compared with the vibration displacement parameters corresponding to the safe vibration reference line, such as... Figure 5 In step 503, if the value of the vibration displacement parameter in the vibration waveform data to be compared is greater than the value of the vibration displacement parameter in the safety vibration reference line at the same time, then the vibration displacement parameter in step 503 corresponding to the vibration waveform data to be compared is reduced until the values ​​of the vibration displacement parameters in the vibration waveform data to be compared in step 503 are all less than the values ​​of the vibration displacement parameters in the safety vibration reference line at the same time. Figure 5 As shown in 504.

[0118] Correspondingly, if the value of the vibration displacement parameter in the vibration waveform data to be compared does not exceed the value of the vibration displacement parameter corresponding to the same time in the safe vibration reference line, then no processing is performed on the vibration waveform data to be compared.

[0119] Furthermore, if the vibration displacement parameter in the vibration waveform data to be compared exceeds the vibration displacement parameter corresponding to the same time on any safe vibration reference line, another execution method can be performed. First, the data is split, then the value of the vibration displacement parameter is reduced until the value of the vibration displacement parameter obtained by fusing the reduced vibration displacement parameter again is less than the value of the vibration displacement parameter corresponding to the same time on the safe vibration reference line. (See reference...) Figure 6 The diagram illustrates the reduction of relevant vibration displacement curves in the motor vibration control method provided in this application embodiment. Figure 2 ; where 601 and 602 are vibration displacement waveform data corresponding to two vibration description sub-files that conflict in vibration time, respectively. Based on the safe vibration reference line, the values ​​of the vibration displacement parameters corresponding to the vibration displacement waveform data of 601 and 602 are reduced, as shown in 603 and 604, until the values ​​of the vibration displacement parameters in the superimposed vibration displacement waveform data after reducing the vibration displacement waveform data corresponding to 601 and 602 are all less than the values ​​of the vibration displacement parameters corresponding to the same time in the safe vibration reference line, as shown in 603 and 604. Figure 6As shown in 605.

[0120] Furthermore, if the vibration displacement parameter in the vibration waveform data to be compared exceeds the vibration displacement parameter corresponding to the same time in any safe vibration reference line, the mixed vibration waveform data to be compared can be split into a first part of vibration waveform data corresponding to the vibration displacement parameter value greater than or equal to the safe vibration reference line, and a second part of vibration waveform data corresponding to the vibration displacement parameter value not greater than or equal to the safe vibration reference line. Then, only the vibration displacement parameter value in the first part of the vibration waveform data is adaptively reduced, and the reduced vibration waveform data is fused with the second part of the vibration waveform data to obtain the final vibration waveform data. In this way, it is possible to ensure the motor vibrates safely and to ensure its service life while making the motor vibrate according to the vibration parameters in the preset vibration description file.

[0121] like Figure 7 The diagram shows a flowchart illustrating the process of protecting a motor from vibration using the vibration control method provided in this application embodiment. Step 701 involves obtaining the motor's vibration curve and maximum safe vibration line under the driving limiting voltage. Step 702 involves determining the motor's maximum strength line based on the two curves in step 701. Step 703 involves generating the motor's vibration equilibrium line (corresponding to the target vibration curve mentioned above) according to different requirements and the maximum strength line determined in step 702. Step 704 involves protecting the motor from vibration based on the determined vibration equilibrium line.

[0122] Based on the foregoing embodiments, this application also provides a vibration control device for a motor, such as... Figure 8 The diagram shown is a structural composition of a motor vibration control device according to an embodiment of this application. The motor vibration control device 800 includes:

[0123] Module 801 is used to acquire a preset vibration description file;

[0124] The mapping module 802 is used to map the vibration parameters in the preset vibration description file to target vibration parameters based on the motor's vibration reference curve and safe vibration reference line; wherein, the vibration reference curve is used to characterize the correspondence between frequency and amplitude of the motor within the operating frequency range under a preset drive limiting voltage; the safe vibration reference line is used to characterize the correspondence between frequency and safe amplitude within the operating frequency range when the motor can achieve safe vibration; the target vibration parameters include frequency and amplitude;

[0125] The control module 803 is used to control the vibration of the motor based on the target vibration parameters.

[0126] In some embodiments, the mapping module 802 includes: a determining submodule, configured to determine a preset mapping rule associated with vibration parameters in the preset vibration description file based on the vibration reference curve; and a mapping submodule, configured to map the vibration parameters in the preset vibration description file to the target vibration parameters based on the preset mapping rule and the safe vibration reference line.

[0127] In some embodiments, the mapping submodule is further configured to use the preset mapping rules to map the vibration parameters in the preset vibration description file to intermediate vibration parameters; and to obtain the target vibration parameters based on the safe vibration reference line and the intermediate vibration parameters.

[0128] In some embodiments, the mapping submodule is further configured to obtain a first amplitude corresponding to each frequency in the intermediate frequency range in the safe vibration reference line, and a second amplitude corresponding to each frequency in the intermediate vibration parameter; wherein, the intermediate frequency range is the vibration frequency range corresponding to the intermediate vibration parameter; based on the first amplitude and the second amplitude, determine the smaller amplitude corresponding to each frequency in the intermediate frequency range; and generate the target vibration parameter based on the smaller amplitude corresponding to each frequency in the intermediate frequency range.

[0129] In some embodiments, the mapping submodule is further configured to adjust the preset mapping rule based on the safe vibration reference line to obtain a target mapping rule; and to map the vibration parameters in the preset vibration description file to the target vibration parameters using the target mapping rule.

[0130] In some embodiments, if the preset vibration description file includes at least two vibration description sub-files whose vibration time ranges overlap; the mapping submodule is further configured to map the vibration parameters in each vibration description sub-file based on the preset mapping rules and the safety vibration reference line to obtain an intermediate vibration sub-curve set; wherein, each intermediate vibration sub-curve in the intermediate vibration sub-curve set is used to characterize the correspondence between time and amplitude; according to the vibration time range of each intermediate vibration sub-curve in the intermediate vibration sub-curve set, the intermediate vibration sub-curves in the intermediate vibration sub-curve set are merged to generate a vibration curve to be processed; based on the safety vibration reference line, the amplitude in the vibration curve to be processed is adjusted to obtain a target vibration curve; the control module 803 is further configured to control the motor vibration based on the target vibration curve.

[0131] In some embodiments, the mapping submodule is further configured to obtain, for each time interval within the processing time, the third amplitude corresponding to the vibration curve to be processed, and the fourth amplitude corresponding to the safety vibration reference line; wherein, the processing time is the vibration time range corresponding to the vibration curve to be processed; and based on the ratio between the third amplitude and the fourth amplitude corresponding to each time interval within the processing time, the third amplitude in the vibration curve to be processed is adjusted to obtain the target vibration curve.

[0132] In some embodiments, the mapping submodule is further configured to reduce the third amplitude in the vibration curve to be processed to obtain the target vibration curve when there is a third intermediate amplitude greater than the fourth intermediate amplitude in the vibration curve to be processed; wherein, the fourth intermediate amplitude is the fourth amplitude in the safe vibration reference line that corresponds to the third intermediate amplitude at the same time in the time range to be processed, and the third intermediate amplitude is the third amplitude in the time period corresponding to when the amplitude is greater than the fourth amplitude.

[0133] In some embodiments, the mapping submodule is further configured to reduce each of the third amplitudes in the vibration curve to be processed until it is less than or equal to the fourth amplitude in the safety vibration reference line corresponding to the same time within the time range to be processed; or, reduce the third intermediate amplitude in the vibration curve to be processed until it is less than or equal to the fourth intermediate amplitude in the safety vibration reference line corresponding to the same time within the time range to be processed; or, reduce the amplitude in each intermediate vibration sub-curve that forms the vibration curve to be processed until the amplitude corresponding to each time in the vibration curve obtained after fusing each intermediate vibration sub-curve is less than or equal to the fourth amplitude in the safety vibration reference line corresponding to the same time within the time range to be processed, and fuse the reduced intermediate vibration sub-curve.

[0134] It should be noted that the descriptions of the above device embodiments are similar to those of the above method embodiments, and have similar beneficial effects. For technical details not disclosed in the device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0135] It should be noted that, in the embodiments of this application, if the above-mentioned motor vibration control 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 this application, or the part that contributes to the related technology, 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 an electronic device (which may be a smartphone, tablet computer, etc. with a camera) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0136] Based on the same technical concept, this application provides a computer device for implementing the motor vibration control method described in the above method embodiments. Figure 9 This is a schematic diagram of the composition structure of a computer device provided in an embodiment of this application, such as... Figure 9 As shown, the computer device 900 includes: a processor 901, at least one communication bus 904, a communication interface 902, at least one external communication interface, and a memory 903. The communication interface 902 is configured to enable communication between these components. The communication interface 902 may include a display screen, and the external communication interface may include standard wired and wireless interfaces. The processor 901 is configured to execute a program in the memory to implement the motor vibration control method provided in the above embodiments.

[0137] Correspondingly, embodiments of this application provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the vibration control method for a motor as described in any of the above embodiments.

[0138] Accordingly, in this application embodiment, a chip is also provided, the chip including programmable logic circuits and / or program instructions, which, when the chip is running, is used to implement the vibration control method of the motor described in any of the above embodiments.

[0139] Accordingly, in this application embodiment, a computer program product is also provided, which, when executed by the processor of an electronic device, is used to implement the vibration control method of the motor described in any of the above embodiments.

[0140] The descriptions of the above embodiments of the motor vibration control device, computer equipment, and storage medium are similar to those of the above method embodiments, and have similar technical descriptions and beneficial effects. Due to space limitations, the descriptions of the above method embodiments can be followed, and therefore will not be repeated here. For technical details not disclosed in the embodiments of the motor vibration control device, computer equipment, and storage medium in this application, please refer to the descriptions of the method embodiments in this application for understanding.

[0141] It should be understood that the phrase "an embodiment" or "one 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 present application. Therefore, "in one embodiment" or "one 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 present application, the sequence number of the above-described processes does not imply the 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 present application. The sequence numbers of the above-described embodiments are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. 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. Without further limitations, 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.

[0142] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device 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 between devices or units can be electrical, mechanical, or other forms.

[0143] 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.

[0144] Furthermore, in the embodiments of this application, all functional units 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 a combination of hardware and software functional units. 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 capable of storing program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0145] Alternatively, if the integrated units described above in this application embodiment 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 solution of this application embodiment, essentially or the part that contributes to the prior art, 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 application embodiment. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, magnetic disks, or optical disks. The above descriptions are merely specific implementations of the embodiments of this application, but the protection scope of the embodiments of this application 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 embodiments of this application should be included within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims.

Claims

1. A vibration control method for a motor, characterized in that, The method includes: Obtain the preset vibration description file; Based on the motor's vibration reference curve and safe vibration reference line, the vibration parameters in the preset vibration description file are mapped to target vibration parameters. The vibration reference curve characterizes the frequency-amplitude relationship of the motor within its operating frequency range under a preset drive limiting voltage. The safe vibration reference line characterizes the frequency-amplitude relationship within the operating frequency range when the motor can achieve safe vibration. The target vibration parameters include frequency and amplitude. The safe vibration reference line is obtained by reducing the amplitude in the vibration reference line using a safety reduction factor. The vibration reference line refers to the straight line representing the relationship between the motor's frequency and maximum displacement, maximum velocity, or maximum acceleration within its operating frequency range, provided the motor oscillator achieves safe vibration without collision or friction with the motor's housing. The vibration intensity values ​​of the target vibration parameters obtained using the target mapping rule at each frequency point are all less than the vibration intensity values ​​at the corresponding frequency points in the equilibrium line. The fusion operation selects the smaller vibration intensity value between the vibration reference curve and the safe vibration reference line as the candidate vibration intensity value at each frequency point. Based on the candidate vibration intensity values ​​at each frequency point, the equilibrium line is obtained. The motor vibration is controlled based on the target vibration parameters.

2. The method according to claim 1, characterized in that, The motor-based vibration reference curve and safe vibration reference line map the vibration parameters in the preset vibration description file to target vibration parameters, including: Based on the vibration reference curve, a preset mapping rule is determined to associate the vibration parameters in the preset vibration description file; Based on the preset mapping rules and the safe vibration reference line, the vibration parameters in the preset vibration description file are mapped to the target vibration parameters.

3. The method according to claim 2, characterized in that, The step of mapping the vibration parameters in the preset vibration description file to the target vibration parameters based on the preset mapping rules and the safe vibration reference line includes: Using the preset mapping rule, the vibration parameters in the preset vibration description file are mapped to intermediate vibration parameters; The target vibration parameters are obtained based on the safety vibration reference line and the intermediate vibration parameters.

4. The method according to claim 3, characterized in that, The process of obtaining the target vibration parameters based on the safe vibration reference line and the intermediate vibration parameters includes: For each frequency within the intermediate frequency range, obtain the first amplitude corresponding to the safe vibration reference line and the second amplitude corresponding to the intermediate vibration parameter; wherein, the intermediate frequency range is the vibration frequency range corresponding to the intermediate vibration parameter; Based on the first amplitude and the second amplitude, determine the smaller amplitude corresponding to each frequency within the intermediate frequency range; The target vibration parameters are generated based on the smaller amplitude corresponding to each frequency within the intermediate frequency range.

5. The method according to claim 2, characterized in that, The step of mapping the vibration parameters in the preset vibration description file to the target vibration parameters based on the preset mapping rules and the safe vibration reference line includes: Based on the safety vibration reference line, the preset mapping rule is adjusted to obtain the target mapping rule; The target mapping rule is used to map the vibration parameters in the preset vibration description file to the target vibration parameters.

6. The method according to claim 2, characterized in that, If the preset vibration description file includes at least two vibration description sub-files whose vibration time ranges overlap; the step of mapping the vibration parameters in the preset vibration description file to the target vibration parameters based on the preset mapping rule and the safe vibration reference line includes: Based on the preset mapping rules and the safe vibration reference line, the vibration parameters in each vibration description sub-file are mapped to obtain an intermediate vibration sub-curve set; wherein, each intermediate vibration sub-curve in the intermediate vibration sub-curve set is used to characterize the correspondence between time and amplitude. According to the vibration time range of each intermediate vibration sub-curve in the intermediate vibration sub-curve set, the intermediate vibration sub-curves in the intermediate vibration sub-curve set are merged to generate the vibration curve to be processed. Based on the safety vibration reference line, the amplitude in the vibration curve to be processed is adjusted to obtain the target vibration curve; The control of motor vibration based on the target vibration parameters includes: The motor vibration is controlled based on the target vibration curve.

7. The method according to claim 6, characterized in that, The step of adjusting the amplitude of the vibration curve to be processed based on the safety vibration reference line to obtain the target vibration curve includes: For each time within the time range to be processed, obtain the third amplitude corresponding to the vibration curve to be processed, and the fourth amplitude corresponding to the safety vibration reference line; wherein, the time range to be processed is the vibration time range corresponding to the vibration curve to be processed; Based on the ratio between the third amplitude and the fourth amplitude corresponding to each time within the time range to be processed, the third amplitude in the vibration curve to be processed is adjusted to obtain the target vibration curve.

8. The method according to claim 7, characterized in that, The method of adjusting the third amplitude in the vibration curve to be processed based on the ratio between the third amplitude and the fourth amplitude corresponding to each time within the time range to be processed, to obtain the target vibration curve, includes: If there is a third intermediate amplitude in the vibration curve to be processed that is greater than the fourth intermediate amplitude, reduce the third amplitude in the vibration curve to be processed to obtain the target vibration curve; Wherein, the fourth intermediate amplitude is the fourth amplitude in the safety vibration reference line that corresponds to the third intermediate amplitude at the same time within the time range to be processed, and the third intermediate amplitude is the third amplitude within the time period corresponding to when the amplitude is greater than the fourth amplitude.

9. The method according to claim 8, characterized in that, The reduction of the third amplitude in the vibration curve to be processed includes any of the following: Reduce each of the third amplitudes in the vibration curve to be processed until it is less than or equal to the fourth amplitude in the safe vibration reference line that corresponds to the same time within the time range to be processed; or, Reduce the third intermediate amplitude in the vibration curve to be processed until it is less than or equal to the fourth intermediate amplitude in the safe vibration reference line corresponding to the same time within the time range to be processed; or, The amplitudes in each intermediate vibration sub-curve that forms the vibration curve to be processed are reduced until the amplitudes at each time point in the vibration curve obtained after fusing each intermediate vibration sub-curve are all less than or equal to the fourth amplitude at the same time point in the safe vibration reference line within the time range to be processed, and the reduced intermediate vibration sub-curves are then fused together.

10. A vibration control device for a motor, characterized in that, The device includes: The acquisition module is used to acquire a preset vibration description file; A mapping module is used to map vibration parameters in a preset vibration description file to target vibration parameters based on a motor vibration reference curve and a safe vibration reference line. The vibration reference curve characterizes the frequency-amplitude relationship of the motor within its operating frequency range under a preset drive limiting voltage. The safe vibration reference line characterizes the frequency-amplitude relationship within the operating frequency range when the motor can achieve safe vibration. The target vibration parameters include frequency and amplitude. The safe vibration reference line is obtained by reducing the amplitude in the vibration reference line using a safety reduction factor. The vibration reference line refers to the straight line representing the relationship between frequency and maximum displacement, maximum velocity, or maximum acceleration within the operating frequency range when the motor oscillator achieves safe vibration without collision or friction with the motor housing. The vibration intensity values ​​of the target vibration parameters obtained using the target mapping rule at each frequency point are all less than the vibration intensity values ​​at the corresponding frequency points in the equilibrium line. The fusion operation selects the smaller vibration intensity value between the vibration reference curve and the safe vibration reference line as the candidate vibration intensity value at each frequency point. Based on the candidate vibration intensity values ​​at each frequency point, the equilibrium line is obtained. A control module is used to control the vibration of the motor based on the target vibration parameters.

11. A computer device, characterized in that, The computer device includes a memory and a processor. The memory stores computer-executable instructions, and when the processor executes the computer-executable instructions in the memory, it can implement the vibration control method of the motor according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed, enable the vibration control method of the motor as described in any one of claims 1 to 9.

Images