Actuator control method, system, electronic device, and storage medium

Abstract

The embodiment of the application relates to the technical field of microelectronics, in particular to an actuator control method and system, an electronic device and a storage medium. The actuator control method comprises the following steps: obtaining a capacitance value of the actuator; obtaining position information of the actuator based on a preset position algorithm and the capacitance value; and controlling a working parameter of the actuator according to the position information when the position information does not satisfy a preset position condition. The working parameter of the actuator can be controlled according to the capacitance value of the actuator, so that the position of the actuator can be quickly and accurately detected based on capacitance detection, and the working parameter of the actuator is controlled according to the position of the actuator to quickly realize gain adjustment of the actuator.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of microelectronics technology, in particular to an actuator control method and system, an electronic device and a storage medium. BACKGROUND

[0002] The working state control technology of the actuator is divided into two ways of conventional control and closed-loop control based on the degree of technology popularization. The maturity of the closed-loop control technology is not high and is not popular. The existing actuator closed-loop control technology adopts back electromotive force detection or detects the change of magnetic flux by using a Hall sensor to determine the position of the actuator mover.

[0003] However, since the current actuator is not all driven by a magnetic coil (such as a piezoelectric ceramic actuator / linear resonant actuator), not all actuators can detect the back electromotive force or the magnetic flux, and thus the position of the actuator mover cannot be quickly and accurately detected. SUMMARY

[0004] The main purpose of the embodiments of the present application is to provide an actuator control method and system, an electronic device and a storage medium. The purpose is to quickly and accurately detect the position of the actuator and quickly realize the gain adjustment of the actuator.

[0005] To achieve the above purpose, the embodiments of the present application provide an actuator control method applied in an actuator control system, comprising: when the actuator is in an actuated state, obtaining a capacitance value of the actuator; obtaining position information of the actuator based on a preset position algorithm and the capacitance value; and when the position information does not satisfy a preset position condition, controlling a working parameter of the actuator according to the position information.

[0006] To achieve the above purpose, the embodiments of the present application also provide an actuator control system, which comprises: a master control module, a detection module, a driving module and an actuator; the detection module is configured to obtain a capacitance value of the actuator when the actuator is in an actuated state, and send the capacitance value to the master control module; the master control module is configured to obtain position information of the actuator based on a preset position algorithm and the capacitance value; and the master control module is further configured to control a working parameter of the actuator according to the position information and through the driving module when the position information does not satisfy a preset position condition.

[0007] To achieve the above purpose, the embodiments of the present application also provide an electronic device, comprising: at least one processor; and a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the above-mentioned actuator control method.

[0008] To achieve the above object, the embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the actuator control method.

[0009] The actuator control method provided by the present application, in the control process of the actuator, when the actuator is in the actuating state, the capacitance value of the actuator is obtained; the position information of the actuator is obtained based on the preset position algorithm and the capacitance value; when the position information does not satisfy the preset position condition, the working parameter of the actuator is controlled according to the position information; the working parameter of the actuator can be controlled according to the capacitance value of the actuator, so that the position of the actuator can be quickly and accurately detected based on the capacitance detection, and the working parameter of the actuator is controlled according to the position of the actuator to quickly realize the gain adjustment of the actuator. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 is a flowchart of the actuator control method provided by the embodiment of the present application Figure One ;

[0011] Figure 2 is a flowchart of the actuator control method provided by the embodiment of the present application Figure Two ;

[0012] Figure 3 is a structural schematic of the actuator control system provided by the embodiment of the present application Figure One ;

[0013] Figure 4 is a structural schematic of the actuator control system provided by the embodiment of the present application Figure Two ;

[0014] Figure 5 is a structural schematic of the actuator control system provided by the embodiment of the present application Figure Three ;

[0015] Figure 6 is a structural schematic of the electronic device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0016] For the purpose, technical solutions and advantages of the embodiments of the present application to be clearer, the embodiments of the present application will be described in detail below with reference to the drawings. However, those skilled in the art can understand that in the embodiments of the present application, many technical details are proposed in order to make the readers better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed by the present application can be implemented. The division of the following embodiments is for the convenience of description, and should not constitute any limitation on the specific embodiments of the present application, and the embodiments can be combined with each other and quoted to each other without contradiction.

[0017] One embodiment of the present application relates to an actuator control method applied in an actuator control system, as shown in the figure, comprising: Figure 1

[0018] Step 101, when the actuator is in the actuated state, the capacitance value of the actuator is obtained.

[0019] In an example implementation, when it is detected that the actuator is in the actuated state, the capacitance value between each electrode plate of the actuator changes due to the vibration of the actuator, at this time, the capacitance value between each electrode plate of the actuator needs to be detected to obtain the capacitance value at the vibration time of the actuator.

[0020] Step 102, based on the preset position algorithm and the capacitance value, the position information of the actuator is obtained.

[0021] In an example implementation, after the capacitance value at the vibration time of the actuator is obtained, the position information of the actuator can be obtained according to the capacitance value.

[0022] In an example implementation, the preset static capacitance value of the actuator is preset in the actuator control system, when the position information of the actuator is obtained according to the capacitance value, first, the capacitance change amount is obtained according to the capacitance value and the preset static capacitance value of the actuator; then the area change amount is obtained according to the capacitance change amount and the preset distance between the electrode plates of the actuator; and then the position information is obtained according to the area change amount.

[0023] In an example implementation, the capacitance change amount ΔC = Co-Cm, Co is the preset static capacitance value of the actuator, and Cm is the capacitance value at the vibration time of the actuator; the area change amount ΔS = ((4πkd) / ε)ΔC, d is the preset distance between each electrode plate of the actuator, ε is the relative dielectric constant of the medium, and k is the electrostatic force constant; the position information L = ΔS / W, W is the relative area width of the moving block in the actuator, and L can also be regarded as the relative moving distance of the moving block in the actuator.

[0024] Step 103, when the position information does not satisfy the preset position condition, the working parameters of the actuator are controlled according to the position information.​

[0025] In an example implementation, since the resonant frequency of the actuator is affected by external factors such as working environment and working temperature, not all resonant frequencies of the actuator are consistent with the factory. When the resonant frequency of the actuator is inconsistent with the factory, the position information of the actuator is inconsistent with the expected position condition, and the resonant frequency of the actuator needs to be adjusted to ensure that the resonant frequency of the actuator is consistent with the factory. Therefore, after obtaining the position information of the actuator, the current position information of the actuator can be compared with the preset position condition to determine whether the vibration of the actuator is consistent with the expected vibration condition. When the current position information of the actuator does not satisfy the preset position condition, it means that the vibration of the actuator is inconsistent with the expected vibration condition, and the working state of the actuator needs to be adjusted. At this time, the adjustment parameter can be generated according to the current position information of the actuator and the expected position condition, and the working parameter (i.e. resonant frequency) of the actuator is controlled according to the adjustment parameter, so that the vibration of the actuator is consistent with the expected vibration condition.

[0026] In an example implementation, when the current position information of the actuator satisfies the preset position condition, it means that the vibration of the actuator is consistent with the expected vibration condition, and the working parameter of the actuator does not need to be controlled. The capacitance value of the actuator can be detected again based on the preset detection to ensure that the vibration of the actuator is always consistent with the expected vibration condition.

[0027] In an example implementation, when the vibration condition of the actuator is consistent with the expected vibration condition, the resonant frequency of the actuator can be determined by the frequency of the driving signal for driving vibration.

[0028] In the control process of the actuator, when the actuator is in the actuation state, the capacitance value of the actuator is obtained. The position information of the actuator is obtained based on the preset position algorithm and the capacitance value. When the position information does not satisfy the preset position condition, the working parameter of the actuator is controlled according to the position information. The working parameter of the actuator can be controlled according to the capacitance value of the actuator, so that the position of the actuator can be quickly and accurately detected based on the capacitance detection, and the working parameter of the actuator is controlled according to the position of the actuator to quickly realize the gain adjustment of the actuator.

[0029] One embodiment of the present application relates to an actuator control method applied in an actuator control system, as shown in Figure 2 , comprising:

[0030] Step 201: When the driving waveform of the actuator ends, the first capacitance value of the actuator is obtained based on the preset detection frequency.

[0031] In one example implementation, the drive waveform is used to drive the actuator to a vibration state. When the actuator's drive waveform ends, it indicates that the actuator's vibration state has ended, and the actuator can be controlled to stop vibrating. When the actuator's drive waveform has not ended, it indicates that the actuator's vibration state has not ended, and the actuator cannot be controlled to stop vibrating at this time. It is necessary to continuously detect whether the actuator's drive waveform has finished playing.

[0032] In one example implementation, the drive waveform is sent by the main control module or drive module in the actuator control system. When the main control or drive module stops sending the drive waveform, it can be considered that the actuator's drive waveform has ended.

[0033] In one example implementation, when the actuator's drive waveform playback ends, the first capacitance values ​​of the actuator are obtained based on a preset detection frequency, and the first capacitance values ​​are stored locally for later use.

[0034] Step 202: Obtain the change in each first capacitor based on each first capacitor value and the preset static capacitor value of the actuator.

[0035] In one example implementation, after obtaining each first capacitance value, it is necessary to obtain the change in each first capacitance value and the preset static capacitance value of the actuator. The change in each first capacitance is ΔC1 = Co - Cn, where Co is the preset static capacitance value of the actuator and Cn is each first capacitance value of the actuator.

[0036] Step 203: Check whether the changes in each first capacitor meet the preset stopping conditions.

[0037] In one example implementation, the preset stopping condition is: whether the change in the first capacitance is less than the preset change in capacitance; when all changes in the first capacitance meet the preset stopping condition, it indicates that the actuator can be controlled to stop vibrating, and steps 204 to 205 are executed; when any change in the first capacitance does not meet the preset stopping condition, it indicates that the actuator cannot be controlled to stop vibrating, and the first capacitance value of the actuator needs to be detected again, and step 201 is executed.

[0038] Step 204: Obtain the motion direction of the actuator based on the change in each first capacitor.

[0039] In one example implementation, after obtaining the change in each first capacitor, since each first capacitor has a corresponding acquisition time, the change in each first capacitor needs to be sorted according to the acquisition time of each first capacitor to determine the trend of the change in each sorted first capacitor. If the change in each first capacitor shows an increasing trend, the actuator moves to the left; if the change in each first capacitor shows a decreasing trend, the actuator moves to the right.

[0040] Step 205: Control the operating parameters of the actuator according to the direction of motion.

[0041] In one example implementation, after obtaining the direction of motion, since it is necessary to control the actuator to stop vibrating, it is necessary to generate a vibration pulse opposite to the direction of motion; the operating parameters of the actuator are controlled according to the vibration pulse to stop the actuator from vibrating, and step 201 is executed again to continuously detect the state of the actuator.

[0042] In this implementation, based on other implementation methods, capacitance detection can also be used to achieve rapid braking of the actuator.

[0043] The steps of the various methods described above are only for clarity. In practice, they can be combined into one step or some steps can be split into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this patent.

[0044] Another embodiment of this application relates to an actuator control system. The details of the actuator control system of this embodiment are described below. The following implementation details are provided for ease of understanding and are not essential for implementing this example. Figure 3 This is a schematic diagram of the actuator control system described in this embodiment, including: a main control module 301, a drive module 303, a detection module 304, and an actuator 305.

[0045] The drive module 503 and the detection module 504 constitute the actuator closed-loop control subsystem 502. The piezoelectric ceramic closed-loop control subsystem 502 is connected to the main control module 501 via I2C, USB, SPI or other buses. The main control module 501 can be any device, including mobile phones, computers, headphones, car interfaces and other devices that can be used as the main controller. The closed-loop control system 502 can be a single chip or an integrated system of chips. The actuator 305 includes any actuated device such as piezoelectric actuators, electromagnetic actuators, voice coil motors, shape memory alloys, electroactive polymers, solenoids, eccentric rotating mass motors (ERM) or linear resonance actuators (LRA).

[0046] In one example implementation, the detection module 304 is used to acquire the capacitance value of the actuator 305 when the actuator 305 is in an actuated state, and send the capacitance value to the main control module 301; the main control module 301 is used to acquire the position information of the actuator 305 based on a preset position algorithm and the capacitance value; the main control module 301 is also used to control the operating parameters of the actuator 305 according to the position information and through the drive module 303 when the position information does not meet the preset position conditions.

[0047] In one example implementation, the detection module 304 is further configured to, when the drive waveform of the actuator 305 ends, acquire each first capacitance value of the actuator 305 based on a preset detection frequency, and send each first capacitance value to the main control module 301; the main control module 301 is further configured to acquire each first capacitance change based on each first capacitance value and a preset static capacitance value of the actuator 305; the main control module 301 is further configured to, when any first capacitance change does not meet a preset stop condition, acquire the motion direction of the actuator 305 based on each first capacitance change, generate a vibration pulse based on the motion direction, and send the drive pulse to the drive module 303; the drive module 303 is further configured to control the operating parameters of the actuator 305 based on the vibration pulse.

[0048] In one example implementation, the control system for the piezoelectric ceramic can also be as follows: Figure 4 As shown, actuator 305 is a linear resonant actuator (LRA). The linear resonant actuator (LRA) includes a housing 306, a spring 307, a spring 308, a moving block 309, an electrode plate 310, and an electrode plate 311. The electrode plate 310 is attached to the moving block 309, and the electrode plate 311 is attached to the housing 306. A capacitance C is formed between the electrode plates 310 and 311. The actuator control system stores the capacitance value Co of the moving block 309 when it is not vibrating and its maximum amplitude D.

[0049] In one example implementation, the control system for the piezoelectric ceramic can also be as follows: Figure 5 As shown, actuator 305 is a piezoelectric ceramic actuator (PIEZO). The piezoelectric ceramic actuator (PIEZO) includes a vibrating plate 406, a piezoelectric ceramic 407, a moving block 408, a stationary block 409, an electrode plate 410, and an electrode plate 411. The electrode plate 410 is attached to the moving block 409, and the electrode plate 411 is attached to the stationary block 409. A capacitance C is formed between the electrode plates 410 and 411. The actuator control system stores the capacitance value Co of the moving block 408 when it is not vibrating and its maximum amplitude D.

[0050] It is not difficult to see that this embodiment is a system implementation corresponding to the above-described method implementation, and this embodiment can be implemented in conjunction with the above-described method implementation. The relevant technical details and effects mentioned in the above embodiments remain valid in this embodiment, and will not be repeated here to reduce repetition. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied to the above embodiments.

[0051] It should be noted that the implementation method of this system mainly describes the actuator control method provided by the method implementation method at the software implementation level. Its implementation also requires hardware support. For example, the functions of the relevant modules can be deployed on the processor so that the processor can run and implement the corresponding functions. In particular, the relevant data generated during operation can be stored in the memory for subsequent inspection and use.

[0052] It is worth mentioning that all modules involved in this embodiment are logical modules. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. Furthermore, to highlight the innovative aspects of this application, this embodiment does not introduce units that are not closely related to solving the technical problem proposed in this application; however, this does not mean that other units are absent from this embodiment.

[0053] Another embodiment of this application relates to an electronic device, such as... Figure 6 As shown, it includes: at least one processor 601; and a memory 602 communicatively connected to the at least one processor 601; wherein the memory 602 stores instructions executable by the at least one processor 601, the instructions being executed by the at least one processor 601 to enable the at least one processor 601 to perform the actuator control methods in the above embodiments.

[0054] The memory and processor are connected via a bus, which can include any number of interconnecting buses and bridges, connecting various circuits of one or more processors and memories. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and will not be described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over the wireless medium via an antenna, which further receives data and transmits it to the processor.

[0055] The processor manages the bus and general processing, and also provides various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory is used to store data used by the processor during operation.

[0056] Another embodiment of this application relates to a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the above-described method embodiments.

[0057] That is, those skilled in the art will understand that all or part of the steps in the methods described above can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps 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 a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0058] Those skilled in the art will understand that the above embodiments are specific implementations of this application, and in practical applications, various changes can be made in form and detail without departing from the spirit and scope of this application.

Claims

1. An actuator control method, characterized in that, Applications in actuator control systems include: When the actuator is in the actuated state, the capacitance value of the actuator is obtained; The position information of the actuator is obtained based on a preset position algorithm and the capacitance value; When the position information does not meet the preset position conditions, the operating parameters of the actuator are controlled according to the position information. The preset position conditions refer to the expected position information when the actuator is actuated with the factory operating parameters, and the operating parameters of the actuator are the resonant frequency.

2. The actuator control method according to claim 1, characterized in that, The step of obtaining the actuator's position information based on a preset position algorithm and the capacitance value includes: The capacitance change is obtained based on the capacitance value and the preset static capacitance value of the actuator. The area change is obtained based on the capacitance change and the preset distance between the actuator plates. The location information is obtained based on the change in area.

3. The actuator control method according to claim 1, characterized in that, The method further includes: When the driving waveform of the actuator ends, the first capacitance values ​​of the actuator are obtained based on a preset detection frequency; The change in each first capacitor value is obtained based on each first capacitor value and the preset static capacitor value of the actuator; When any one of the first capacitor changes does not meet the preset stop condition, the motion direction of the actuator is obtained according to each first capacitor change. The operating parameters of the actuator are controlled according to the direction of motion.

4. The actuator control method according to claim 3, characterized in that, The step of controlling the operating parameters of the actuator according to the direction of motion includes: Vibration pulses are generated according to the direction of motion; The operating parameters of the actuator are controlled according to the vibration pulse, and the first capacitance values ​​of the actuator are obtained again based on the detection frequency.

5. The actuator control method according to claim 3, characterized in that, The method further includes: When the change in each of the first capacitors meets the stopping condition, the actuator is detected to determine whether it is in the actuation state based on a preset detection cycle.

6. The actuator control method according to any one of claims 1 to 5, characterized in that, The step of controlling the operating parameters of the actuator based on the position information includes: Adjustment parameters are generated based on the location information and the location conditions; The operating parameters of the actuator are controlled according to the adjustment parameters.

7. An actuator control system, characterized in that, The system includes: a main control module, a detection module, a drive module, and an actuator; The detection module is used to acquire the capacitance value of the actuator when the actuator is in an actuated state, and send the capacitance value to the main control module; The main control module is used to obtain the position information of the actuator based on a preset position algorithm and the capacitance value; The main control module is further configured to control the operating parameters of the actuator according to the position information and through the drive module when the position information does not meet the preset position conditions. The preset position conditions refer to the expected position information when the actuator is actuated with the factory operating parameters, and the operating parameters of the actuator are the resonant frequency.

8. The actuator control system according to claim 7, characterized in that, The detection module is further configured to acquire each first capacitance value of the actuator based on a preset detection frequency when the driving waveform of the actuator ends, and send each first capacitance value to the main control module; The main control module is also used to obtain the change in each first capacitor based on each first capacitor value and the preset static capacitor value of the actuator; The main control module is further configured to, when any one of the first capacitor changes does not meet the preset stop condition, obtain the motion direction of the actuator according to each first capacitor change, generate a vibration pulse according to the motion direction, and send the drive pulse to the drive module; The drive module is also used to control the operating parameters of the actuator according to the vibration pulse.

9. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the actuator control method as described in any one of claims 1 to 6.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the actuator control method according to any one of claims 1 to 6.

Images