Method and device for calibrating driving frequency, electronic device, and linear motor

Abstract

The present application relates to the field of linear motor control technology, and discloses a method and device for calibrating a driving frequency, an electronic device, and a linear motor. The method for calibrating a driving frequency is used to calibrate the driving frequency of a short-duration driving signal of a linear motor, and the calibration method includes: taking the resonant frequency of the linear motor as the center, selecting multiple target frequencies within a set frequency range; playing a short-duration driving signal at multiple target frequencies, and measuring the tailing value at each target frequency; performing polynomial fitting on multiple tailing values ​​and multiple target frequencies to obtain a polynomial analytical function; solving the extreme value of the polynomial analytical function, and using the frequency corresponding to the extreme value as the driving frequency of the short-duration driving signal. When calibrating the driving frequency of a short-duration driving signal of a linear motor, the present application can take into account both calibration efficiency and calibration accuracy.

Description

Technical Field

[0001] The present application relates to the technical field of linear motor control, for example, to a method and device for calibrating a driving frequency, an electronic device, and a linear motor. Background Art

[0002] At present, in the process of controlling the vibration of a linear motor, it is usually driven based on a short-duration drive signal (an independent drive signal with a duration less than 5 cycles corresponding to the resonant frequency of the linear motor and complete vibration start and stop). Since the structure of the short-duration drive signal is complete, the vibration effect of the short-duration drive signal driving the linear motor to vibrate is affected by its drive frequency. Therefore, it is necessary to calibrate the drive frequency of the short-duration drive signal.

[0003] In the related art, a sweeping frequency method is usually used to solve the optimal driving frequency of a short-duration driving signal, that is, resampling from left to right near the resonant frequency of the linear motor to determine the tailing value of the short-duration driving signal driving the linear motor at different driving frequencies, so as to obtain the frequency with the optimal tailing as the optimal driving frequency of the short-duration driving signal.

[0004] In the process of implementing the embodiments of the present disclosure, it is found that the solutions of the related technologies have at least the following problems:

[0005] The solutions of the related art cannot take into account both the calibration efficiency and the calibration accuracy of the driving frequency at the same time, that is, when a higher calibration efficiency is required, the calibration accuracy of the driving frequency is low; when a higher calibration accuracy is required, the calibration efficiency of the driving frequency is low.

[0006] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0007] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical elements or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0008] The embodiments of the present disclosure provide a method and device for calibrating a driving frequency, an electronic device, and a linear motor, which can take into account both calibration efficiency and calibration accuracy when calibrating the driving frequency of a short-duration driving signal.

[0009] In some embodiments, a calibration method for driving frequency is used to calibrate the driving frequency of a short-duration driving signal of a linear motor, and the calibration method includes: taking the resonant frequency of the linear motor as the center, selecting multiple target frequencies within a set frequency range; playing the short-duration driving signal at multiple target frequencies, and measuring the tail value at each target frequency; performing polynomial fitting on the multiple tail values ​​and the multiple target frequencies to obtain a polynomial analytical function; solving the extreme value of the polynomial analytical function, and using the frequency corresponding to the extreme value as the driving frequency of the short-duration driving signal.

[0010] Optionally, measuring the tail value of each target frequency includes: collecting the first back electromotive force of the linear motor at each target frequency after the short-duration driving signal ends; and using the first back electromotive force of the linear motor at each target frequency as the tail value at each target frequency.

[0011] Optionally, solving the extreme value of the polynomial analytical function includes: fitting a change curve corresponding to the polynomial analytical function; and determining the extreme value of the polynomial analytical function according to the change curve.

[0012] Optionally, selecting a plurality of target frequencies within a set frequency range includes: randomly selecting a plurality of target frequencies within the set frequency range; or selecting a plurality of target frequencies within the set frequency range according to a preset selection strategy.

[0013] Optionally, before selecting a plurality of target frequencies within a set frequency range with the resonant frequency of the linear motor as the center, the calibration method further includes: measuring the resonant frequency of the linear motor.

[0014] Optionally, measuring the resonant frequency of the linear motor includes: collecting a second back electromotive force of the linear motor during the aftershock stage after the linear motor finishes playing a standard drive signal; determining zero-crossing information of the linear motor based on the second back electromotive force; and calculating the resonant frequency of the linear motor based on the zero-crossing information.

[0015] Optionally, the resonant frequency of the linear motor is calculated according to the following formula:

[0016] ;

[0017] in, is the resonant frequency of the linear motor, is the preset sampling frequency, is the nth zero-crossing moment, is the mth zero-crossing moment.

[0018] In some embodiments, a calibration device for driving frequency is used to calibrate the driving frequency of a short-duration driving signal of a linear motor, and the calibration device includes: a selection module, configured to select multiple target frequencies within a set frequency range with the resonant frequency of the linear motor as the center; a measurement module, configured to play the short-duration driving signal at multiple target frequencies and measure the tail value at each target frequency; a processing module, configured to perform polynomial fitting on the multiple tail values ​​and multiple target frequencies to obtain a polynomial analytical function; the processing module is also configured to solve the extreme value of the polynomial analytical function, and use the frequency corresponding to the extreme value as the driving frequency of the short-duration driving signal.

[0019] In some embodiments, an electronic device includes a processor and a memory storing program instructions, wherein the processor is configured to execute the above-mentioned calibration method for driving frequency when running the program instructions.

[0020] In some embodiments, a linear motor includes: a motor body; a calibration device for driving frequency as described above, or an electronic device as described above, installed on the motor body.

[0021] The drive frequency calibration method and device, electronic device, and linear motor provided by the embodiments of the present disclosure can achieve the following technical effects:

[0022] In the disclosed embodiment, multiple target frequencies are selected within a set frequency range with the resonant frequency of the linear motor as the center, and short-duration drive signals are played at the multiple target frequencies respectively, and the tail value at each target frequency is measured. Compared with the frequency sweep method used in the related art, the number of times the short-duration drive signal is played can be reduced, and the efficiency of calibrating the drive frequency can be improved.

[0023] In the embodiment of the present disclosure, a polynomial analytical function is obtained by performing polynomial fitting on multiple tailing values ​​and multiple target frequencies, and the frequency corresponding to the extreme value of the polynomial analytical function is used as the driving frequency of the short-duration driving signal. Compared with the frequency sweeping method used in the related art, the problem of reduced calibration accuracy due to a smaller number of selected target frequencies can be avoided, and by performing polynomial fitting on multiple tailing values ​​and multiple target frequencies, the interference and jitter between the multiple tailing values ​​can be smoothed, thereby improving the accuracy of calibrating the driving frequency.

[0024] Therefore, when calibrating the driving frequency of the short-duration driving signal of the linear motor, the embodiment of the present disclosure can take into account both the calibration efficiency and the calibration accuracy.

[0025] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] One or more embodiments are exemplarily described by corresponding drawings, which do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements, and the drawings do not constitute a scale limitation, and wherein:

[0027] Figure 1 is a schematic diagram of a linear motor provided by an embodiment of the present disclosure;

[0028] Figure 2 is a schematic diagram of a method for calibrating a driving frequency provided by an embodiment of the present disclosure;

[0029] Figure 3 is a schematic diagram of another method for calibrating a driving frequency provided by an embodiment of the present disclosure;

[0030] Figure 4 is a schematic diagram of a flow chart of measuring the resonant frequency of a linear motor provided by an embodiment of the present disclosure;

[0031] Figure 5 is a schematic diagram of zero-crossing point information of a linear motor in a residual vibration stage provided by an embodiment of the present disclosure;

[0032] Figure 6 is a schematic diagram of a calibration device for driving frequency provided by an embodiment of the present disclosure;

[0033] Figure 7 It is a schematic diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0034] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0035] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0036] Unless otherwise stated, the term "plurality" of a feature means two or more.

[0037] In the embodiment of the present disclosure, the character " / " feature indicates that the preceding and following objects are in an "or" relationship. For example, the A / B feature indicates: A or B.

[0038] The term "and / or" is a description of the association relationship between objects, and the characteristic indicates that there can be three relationships. For example, A and / or B, the characteristic indicates: A or B, or, A and B.

[0039] The term "correspondence" may refer to an association relationship or a binding relationship. The correspondence between A and B means that there is an association relationship or a binding relationship between A and B.

[0040] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

[0041] The linear motor 100 provided in the embodiment of the present disclosure is as follows Figure 1 As shown, the linear motor 100 includes a motor body 110 and an electronic device 700 .

[0042] Specifically, the electronic device 700 is mounted on the motor body 110 .

[0043] Optionally, the electronic device 700 includes a processor, which can select multiple target frequencies within a set frequency range with the resonant frequency of the linear motor as the center, and play short-duration drive signals at the multiple target frequencies respectively, and measure the tail value at each target frequency. The processor can perform polynomial fitting on the measured multiple tail values ​​and the multiple target frequencies to obtain a polynomial analytical function, so as to calibrate the drive frequency of the short-duration drive signal through the extreme value of the polynomial analytical function.

[0044] In combination with the above-mentioned linear motor, the embodiment of the present disclosure provides a method for calibrating the driving frequency, which is used to calibrate the driving frequency of the short-duration driving signal of the linear motor, such as Figure 2 As shown, the calibration method includes:

[0045] S201, the processor selects a plurality of target frequencies within a set frequency range, with the resonant frequency of the linear motor as the center.

[0046] Specifically, the resonant frequency (also called natural frequency or inherent frequency) of a linear motor refers to the frequency at which the linear motor vibrates with the maximum amplitude when it is in free vibration. At this frequency, the vibration of the linear motor is most stable and has the largest amplitude.

[0047] Specifically, since the optimal driving frequency of the short-duration driving signal is usually randomly distributed near the resonant frequency of the linear motor, the processor can select the target frequency within the set frequency range with the resonant frequency of the linear motor as the center. Among them, the short-duration driving signal is an independent driving signal with a duration less than 5 cycles corresponding to the resonant frequency of the linear motor and complete vibration start and stop.

[0048] Optionally, selecting a plurality of target frequencies within a set frequency range includes: randomly selecting a plurality of target frequencies within the set frequency range.

[0049] Specifically, by randomly selecting multiple target frequencies within a set frequency range, complicated calculation and analysis are not required, the influence of human factors on the target frequency selection can be reduced, and the efficiency of selecting multiple target frequencies is improved.

[0050] Optionally, selecting a plurality of target frequencies within a set frequency range includes: selecting a plurality of target frequencies within the set frequency range according to a preset selection strategy.

[0051] Specifically, the preset selection strategy is set in advance according to the model and application scenario of the linear motor. When the model and application scenario of the linear motor are different, the preset selection strategy adopted is also different. For example, for a certain model of linear motor used in a mobile phone terminal, the preset selection strategy can be to select a frequency point as the target frequency at every interval of a set time within a set frequency range centered on the resonant frequency of the linear motor.

[0052] Specifically, by selecting multiple target frequencies within a set frequency range according to a preset selection strategy, the selected multiple target frequencies can be matched with the model and application scenario of the linear motor, which is conducive to improving the accuracy of subsequent calibration of the driving frequency based on the multiple target frequencies.

[0053] S202: The processor plays a short-duration driving signal at multiple target frequencies and measures a tail value at each target frequency.

[0054] Specifically, the tail value is a parameter that can reflect the vibration attenuation process of the linear motor after the linear motor executes a short-duration driving signal, such as the amplitude and back electromotive force of the linear motor.

[0055] Specifically, by playing the short-duration drive signal at each target frequency and measuring the tail value at each target frequency, the performance of the linear motor executing the short-duration drive signal at different drive frequencies can be clearly determined. This makes it easier to determine at which drive frequency the linear motor has the best performance in executing the short-duration drive signal. Therefore, the processor needs to play the short-duration drive signal at multiple target frequencies and measure the tail value at each target frequency.

[0056] Optionally, according to measuring the tail value of each target frequency, it includes: after the short-duration driving signal is played, collecting the first back electromotive force of the linear motor at each target frequency; using the first back electromotive force of the linear motor at each target frequency as the tail value at each target frequency.

[0057] Specifically, since the reverse electromotive force after the linear motor executes a short-duration driving signal can reflect the vibration attenuation process of the linear motor, and the reverse electromotive force is easier to detect and collect than other parameters, in the embodiment of the present disclosure, the first reverse electromotive force of the linear motor at each target frequency after the linear motor executes a short-duration driving signal is used as the tail value at each target frequency.

[0058] S203: The processor performs polynomial fitting on the multiple tailing values ​​and the multiple target frequencies to obtain a polynomial analytical function.

[0059] Specifically, by fitting multiple tailing values ​​and multiple target frequencies to obtain a polynomial analytical function, the performance of the linear motor in executing a short-duration drive signal at different drive frequencies can be clarified, wherein the drive frequency with the best performance is the optimal drive frequency corresponding to the short-duration drive signal. Therefore, the processor needs to fit multiple tailing values ​​and multiple target frequencies to obtain a polynomial analytical function.

[0060] S204: The processor solves the extreme value of the polynomial analytical function, and uses the frequency corresponding to the extreme value as the driving frequency of the short-duration driving signal.

[0061] Specifically, the extreme value of the polynomial analytical function is the minimum value of the analytical function. By using the frequency corresponding to the minimum value as the driving frequency of the short-duration driving signal, the operating frequency of the linear motor can be reduced and the performance of the linear motor can be optimized. Therefore, the processor can use the frequency corresponding to the extreme value of the polynomial analytical function as the driving frequency of the short-duration driving signal.

[0062] In the disclosed embodiment, multiple target frequencies are selected within a set frequency range with the resonant frequency of the linear motor as the center, and short-duration drive signals are played at the multiple target frequencies respectively, and the tail value at each target frequency is measured. Compared with the frequency sweep method used in the related art, the number of times the short-duration drive signal is played can be reduced, and the efficiency of calibrating the drive frequency can be improved.

[0063] In the embodiment of the present disclosure, a polynomial analytical function is obtained by performing polynomial fitting on multiple tailing values ​​and multiple target frequencies, and the frequency corresponding to the extreme value of the polynomial analytical function is used as the driving frequency of the short-duration driving signal. Compared with the frequency sweeping method used in the related art, the problem of reduced calibration accuracy due to a smaller number of selected target frequencies can be avoided, and by performing polynomial fitting on multiple tailing values ​​and multiple target frequencies, the interference and jitter between the multiple tailing values ​​can be smoothed, thereby improving the accuracy of calibrating the driving frequency.

[0064] Therefore, when calibrating the driving frequency of the short-duration driving signal of the linear motor, the embodiment of the present disclosure can take into account both the calibration efficiency and the calibration accuracy.

[0065] It should be noted that the number n of target frequencies selected in the embodiment of the present disclosure is greater than or equal to 5.

[0066] Specifically, if the number of selected target frequencies is too small, the results of the short-duration drive signal performance of the linear motor at different drive frequencies determined based on the measured tailing values ​​at each target frequency are not accurate enough. Therefore, in the embodiment of the present disclosure, the number of selected target frequencies is at least 5.

[0067] The present disclosure provides another method for calibrating the driving frequency. Figure 3 As shown, the calibration method includes:

[0068] S301, the processor selects a plurality of target frequencies within a set frequency range, with the resonant frequency of the linear motor as the center.

[0069] S302: The processor plays a short-duration driving signal at multiple target frequencies and measures a tail value at each target frequency.

[0070] S303: The processor performs polynomial fitting on the multiple tailing values ​​and the multiple target frequencies to obtain a polynomial analytical function.

[0071] S304: The processor fits a change curve corresponding to the polynomial analytical function.

[0072] Specifically, by fitting the change curve corresponding to the polynomial analytical function, the performance change trend of the short-duration drive signal of the linear motor at different drive frequencies can be determined, and the interference and jitter generated between multiple measured tail values ​​can be smoothed. In this way, only a small number of tail values ​​corresponding to the target frequency need to be measured to accurately judge the performance of the short-duration drive signal of the linear motor at different drive frequencies.

[0073] S305: The processor determines the extreme value of the polynomial analytical function according to the change curve, and uses the frequency corresponding to the extreme value as the driving frequency of the short-duration driving signal.

[0074] Specifically, by determining the point in the variation curve where the polynomial analytical function is equal to 0, the extreme value of the polynomial analytical function can be determined.

[0075] In the disclosed embodiment, by fitting the change curve corresponding to the polynomial analytical function, the extreme value of the polynomial analytical function is solved, and the interference and jitter generated between multiple measured tail values ​​are smoothed. Only a small number of tail values ​​corresponding to the target frequency need to be measured to accurately judge the performance of the short-duration driving signal of the linear motor under different driving frequencies. In this way, the efficiency of the driving frequency calibration is improved, and the accuracy of the driving frequency calibration is improved.

[0076] In some embodiments, before selecting a plurality of target frequencies within a set frequency range with the resonant frequency of the linear motor as the center, the calibration method further includes: measuring the resonant frequency of the linear motor.

[0077] Specifically, since the linear motor contains coil windings, the temperature of the linear motor cavity will increase after the linear motor works for a long time, which will cause the structural characteristics of the linear motor to change, thereby causing the resonant frequency of the linear motor to change. Therefore, if the resonant frequency marked on the linear motor when it leaves the factory is used to determine the set frequency range, and multiple target frequencies are selected within this frequency range, the optimal driving frequency of the short-duration driving signal obtained subsequently will be inaccurate. Therefore, in the embodiment of the present disclosure, the resonant frequency of the linear motor needs to be remeasured each time before multiple target frequencies are selected within the set frequency range with the resonant frequency of the linear motor as the center.

[0078] In some embodiments, the process of measuring the resonant frequency of the linear motor is as follows: Figure 4 As shown:

[0079] S401, the processor collects the second back electromotive force of the linear motor during the residual vibration stage after the linear motor finishes playing the standard driving signal.

[0080] Specifically, the standard driving signal is a driving signal that is pre-set based on the model and working scenario of the linear motor.

[0081] Specifically, the aftershock phase is the phase in which the linear motor continues to vibrate due to inertia after the standard drive signal is played. Since the vibration frequency of the aftershock phase is substantially the same as the resonant frequency of the linear motor, the processor needs to collect the second reverse electromotive force of the aftershock phase after the linear motor has played the standard drive signal, so as to indirectly measure the resonant frequency of the linear motor later.

[0082] S402: The processor determines zero-crossing information of the linear motor according to the second back electromotive force.

[0083] Specifically, the zero-crossing information of the back electromotive force of the linear motor is as follows: Figure 5 As shown, the zero-crossing information includes the zero-crossing time and the order of the zero-crossing time. Figure 5 The zero-crossing moments include C1, C2, C3, C4 and C5, and the order of the zero-crossing moments is C1, C2, C3, C4 and C5.

[0084] S403: The processor calculates the resonant frequency of the linear motor according to the zero-crossing point information.

[0085] Specifically, the vibration frequency of the linear motor in the residual vibration stage can be determined based on the zero-crossing information of the back electromotive force of the linear motor. Since the vibration frequency is basically the same as the resonant frequency of the linear motor, the processor can calculate the resonant frequency of the linear motor based on the zero-crossing information.

[0086] Optionally, the resonant frequency of the linear motor is calculated according to the following formula:

[0087] ;

[0088] in, is the resonant frequency of the linear motor, is the preset sampling frequency, is the nth zero-crossing moment, is the mth zero-crossing moment.

[0089] In the disclosed embodiment, the resonant frequency of the linear motor is indirectly measured by collecting the second reverse electromotive force of the linear motor during the residual vibration stage after the linear motor ends playing the standard driving signal, without installing other detection devices on the linear motor. This is conducive to the miniaturization of the linear motor.

[0090] Combination Figure 6As shown, a drive frequency calibration device 600 provided in an embodiment of the present disclosure is used to calibrate the drive frequency of a short-duration drive signal of a linear motor. The drive frequency calibration device 600 includes: a selection module 601, a measurement module 602, and a processing module 603. The selection module 601 is configured to select multiple target frequencies within a set frequency range with the resonant frequency of the linear motor as the center. The measurement module 602 is configured to play the short-duration drive signal at multiple target frequencies and measure the tail value at each target frequency. The processing module 603 is configured to perform polynomial fitting on the multiple tail values ​​and the multiple target frequencies to obtain a polynomial analytical function. The processing module 603 is also configured to solve the extreme value of the polynomial analytical function, and use the frequency corresponding to the extreme value as the driving frequency of the short-duration drive signal.

[0091] In some embodiments, the measurement module 602 is specifically configured to collect the first back electromotive force of the linear motor at each target frequency after the short-duration driving signal ends; and use the first back electromotive force of the linear motor at each target frequency as the tailing value at each target frequency.

[0092] In some embodiments, the processing module 603 is specifically configured to fit a change curve corresponding to the polynomial analytical function; and determine the extreme value of the polynomial analytical function according to the change curve.

[0093] In some embodiments, the selection module 601 is specifically configured to randomly select multiple target frequencies within a set frequency range; or, select multiple target frequencies within the set frequency range according to a preset selection strategy.

[0094] In some embodiments, the measurement module 602 is further configured to measure a resonant frequency of the linear motor.

[0095] In some embodiments, the measurement module 602 is specifically configured to collect the second back electromotive force of the linear motor during the aftershock stage after the linear motor ends playing the standard drive signal; determine the zero-crossing point information of the linear motor based on the second back electromotive force; and calculate the resonant frequency of the linear motor based on the zero-crossing point information.

[0096] In some embodiments, the measurement module 602 is specifically configured to calculate the resonant frequency of the linear motor according to the following formula:

[0097] ;

[0098] in, is the resonant frequency of the linear motor, is the preset sampling frequency, is the nth zero-crossing moment, is the mth zero-crossing moment.

[0099] Combination Figure 7 As shown, an embodiment of the present disclosure provides an electronic device 700, which includes: a processor (processor) 701 and a memory (memory) 702. Optionally, the device may also include a communication interface (Communication Interface) 703 and a bus 704. Among them, the processor 701, the communication interface 703, and the memory 702 can communicate with each other through the bus 704. The communication interface 703 can be used for information transmission. The processor 701 can call the logic instructions in the memory 702 to execute the calibration method for the driving frequency of the above embodiment.

[0100] In addition, the logic instructions in the memory 702 described above may be implemented in the form of software functional units and when sold or used as independent products, may be stored in a computer-readable storage medium.

[0101] The memory 702 is a computer-readable storage medium that can be used to store software programs and computer executable programs, such as program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor 701 executes the function application and data processing by running the program instructions / modules stored in the memory 702, that is, the calibration method for the driving frequency in the above embodiment is implemented.

[0102] The memory 702 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 702 may include a high-speed random access memory and may also include a non-volatile memory.

[0103] An embodiment of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to execute the above-mentioned calibration method for driving frequency.

[0104] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiment of the present disclosure. The aforementioned storage medium may be a non-transient storage medium, such as: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes.

[0105] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent only possible changes. Unless explicitly required, separate components and functions are optional, and the order of operations may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of one or more associated listings. In addition, when used in this application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method or device including the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0106] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. The technicians may use different methods for each specific application to implement the described functions, but such implementations should not be considered to exceed the scope of the embodiments of the present disclosure. The technicians may clearly understand that, for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above may refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0107] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units can be only a logical function division. There may be other division methods in actual implementation, 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 or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit.

[0108] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and the block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A method for calibrating a driving frequency, for calibrating the driving frequency of a short-duration driving signal of a linear motor, characterized in that: Calibration methods include: Taking the resonant frequency of the linear motor as the center, multiple target frequencies are selected within the set frequency range; Play short-duration driving signals at multiple target frequencies and measure the tail value at each target frequency; Perform polynomial fitting on multiple tailing values ​​and multiple target frequencies to obtain a polynomial analytical function; Solve the extreme value of the polynomial analytical function, and use the frequency corresponding to the extreme value as the driving frequency of the short-duration driving signal; Selecting multiple target frequencies within a set frequency range includes: randomly selecting multiple target frequencies within the set frequency range; or selecting multiple target frequencies within the set frequency range according to a preset selection strategy; Measuring the tail value of each target frequency includes: collecting the first reverse electromotive force of the linear motor at each target frequency after the short-duration driving signal is played; using the first reverse electromotive force of the linear motor at each target frequency as the tail value at each target frequency; Solving the extreme value of the polynomial analytical function includes: fitting a change curve corresponding to the polynomial analytical function; determining the extreme value of the polynomial analytical function according to the change curve; wherein the extreme value of the polynomial analytical function is the minimum value of the analytical function.

2. The calibration method according to claim 1, characterized in that: Before selecting a plurality of target frequencies within a set frequency range with the resonant frequency of the linear motor as the center, the calibration method further includes: Measuring the resonant frequency of a linear motor.

3. The calibration method according to claim 2, characterized in that: Measuring the resonant frequency of linear motors, including: In the residual vibration stage after the linear motor finishes playing the standard driving signal, the second reverse electromotive force of the linear motor is collected; determining zero-crossing point information of the linear motor according to the second back electromotive force; The resonant frequency of the linear motor is calculated based on the zero-crossing information.

4. The calibration method according to claim 3, characterized in that: The resonant frequency of the linear motor is calculated as follows: ； in, is the resonant frequency of the linear motor, is the preset sampling frequency, is the nth zero-crossing moment, is the mth zero-crossing moment.

5. A drive frequency calibration device for calibrating the drive frequency of a short-duration drive signal of a linear motor, characterized in that: The calibration device consists of: A selection module is configured to select a plurality of target frequencies within a set frequency range with the resonant frequency of the linear motor as the center; A measurement module is configured to play a short-duration driving signal at a plurality of target frequencies and measure a tail value at each target frequency; A processing module is configured to perform polynomial fitting on the multiple tailing values ​​and the multiple target frequencies to obtain a polynomial analytical function; The processing module is also configured to solve the extreme value of the polynomial analytical function and use the frequency corresponding to the extreme value as the driving frequency of the short-duration driving signal; Selecting multiple target frequencies within a set frequency range includes: randomly selecting multiple target frequencies within the set frequency range; or selecting multiple target frequencies within the set frequency range according to a preset selection strategy; Measuring the tail value of each target frequency includes: collecting the first reverse electromotive force of the linear motor at each target frequency after the short-duration driving signal is played; using the first reverse electromotive force of the linear motor at each target frequency as the tail value at each target frequency; Solving the extreme value of the polynomial analytical function includes: fitting a change curve corresponding to the polynomial analytical function; determining the extreme value of the polynomial analytical function according to the change curve; wherein the extreme value of the polynomial analytical function is the minimum value of the analytical function.

6. A device for calibrating a driving frequency, comprising a processor and a memory storing program instructions, characterized in that: The processor is configured to perform the calibration method for driving frequency according to any one of claims 1 to 4 when running the program instructions.

7. A linear motor, characterized in that: include: Motor body; The drive frequency calibration device as claimed in claim 5 or 6 is mounted on the motor body.

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