Motor driving method and device, electronic equipment and storage medium
By determining the driving heat of the target memory metal according to the position to be moved in the motor drive and outputting the driving current within the target driving cycle, the problem of delay in the driving cycle is solved, and the control efficiency of the motor is improved.
Patent Information
- Application Number
- CN202411117500.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-14
- Publication Date
- 2024-12-27
AI Technical Summary
In motor driving, when the memory metal wire is driven by the pulse width modulation signal, the insertion of the measurement cycle causes the driving cycle to be delayed, affecting the time when the mover reaches a predetermined position, and reducing the motor control efficiency.
By obtaining the position of the mover in the motor, the driving heat of the target memory metal in the target driving cycle is determined, and the driving current is output to the target memory metal during the target driving cycle, and the driving signal is output to other memory metals except the target memory metals , avoid delaying the driving cycle of the driving signal and ensure that the actuator reaches the predetermined position on time.
The measurement is achieved during the driving period without delaying the driving signal, so that the driving signal power applied to the memory metal is equal to the expectations, and the control efficiency of the motor is improved.
Smart Images
Figure CN119195998A_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the present application relate to the field of motor drive technology, and in particular, to a motor drive method, device, electronic device and storage medium. Background Art
[0002] Shape memory alloys (SMA) are a special type of metal. Objects made of this metal can restore their original shape after being changed in shape at low temperatures and then heated to a certain temperature. SMA is made into a wire and pre-stretched at low temperatures. When the SMA wire is heated, the SMA wire will shrink. Using this principle, one end of the SMA wire is fixed to a fixed point and the other end is connected to a movable part. The movable part can be driven to move by the principle of the SMA wire shrinking when heated.
[0003] Currently, a pulse-width modulation (PWM) signal is used to drive the SMA wire to contract and drive the mover to move. A measurement cycle is included between two driving cycles of the PWM signal to measure the resistance of the SMA wire to determine the length of the SMA wire and thus determine the position of the mover.
[0004] However, inserting a measurement cycle between driving cycles will delay the driving cycle, causing a deviation between the PWM driving signal applied to the SMA wire and the expected set power, thereby delaying the time for the actuator to reach the predetermined position, affecting the efficiency of motor control. Summary of the invention
[0005] In view of this, embodiments of the present application provide a motor driving method, device, electronic device, and computer storage medium to at least partially solve the above problems.
[0006] According to a first aspect of an embodiment of the present application, a motor driving method is provided, comprising: obtaining a position to be moved of a mover in a motor, wherein the motor comprises at least two memory metals; determining a driving heat of a target memory metal among the at least two memory metals according to the position to be moved, wherein the driving heat is used to indicate the heat generated on the target memory metal by a driving signal in a target driving cycle among multiple driving cycles; outputting a driving current to the target memory metal according to the driving heat in the target driving cycle, and outputting a driving signal to memory metals other than the target memory metal, and in a driving cycle other than the target driving cycle, outputting a driving signal to the at least two memory metals so that the at least two memory metals drive the mover to move to the position to be moved.
[0007] In a possible implementation, determining the driving heat of a target memory metal among at least two memory metals according to the position to be moved includes: determining a first voltage and a first driving time of the driving signal applied to the target memory metal within the target driving cycle according to the position to be moved; obtaining a rated resistance of the target memory metal; and determining the driving heat according to the first voltage, the first driving time, and the rated resistance.
[0008] In a possible implementation, the outputting of the driving current to the target memory metal according to the driving heat during the target driving cycle includes: obtaining the preset driving current during the target driving cycle; determining a second driving time for a current source to output the driving current according to the driving current, the driving heat and the rated resistance; and controlling the current source to output the driving current with a duration of the second driving time.
[0009] In a possible implementation, the outputting of a driving current to the target memory metal according to the driving heat during the target driving cycle includes: obtaining a preset driving time during the target driving cycle; determining the driving current according to the preset driving time, the driving heat and the rated resistance; and controlling the current source to output the driving current with a duration of the preset driving time.
[0010] In a possible implementation, outputting a driving current to the target memory metal according to the driving heat during the target driving cycle includes: during the target driving cycle, outputting a supplementary voltage to the target memory metal according to the driving heat, wherein the supplementary heat generated by the supplementary voltage on the target memory metal is less than the driving heat; and outputting a driving current to the target memory metal according to the driving heat and the supplementary heat, wherein the heat generated by the driving current on the memory metal is equal to the difference between the driving heat and the supplementary heat.
[0011] According to a second aspect of an embodiment of the present application, a motor driving device is provided, wherein the motor comprises at least two memory metals, and the device comprises: a power supply, a current source, a first switch group, a second switch group and a control unit; the output end of the power supply is respectively connected to the input end of the current source and one end of the first switch group, the output end of the current source is connected to the first end of the second switch group, the second end of the first switch group and the second end of the second switch group are connected to one end of the memory metal, and the other end of the memory metal is connected to the power supply, wherein the first switch group comprises at least two first switches, the second switch group comprises at least two second switches, and different memory metals are respectively connected to different first switches and second switches; the second switch is used to close under the control of the control unit so that the current source outputs a driving current to the memory metal; the first switch is used to close under the control of the control unit so that the power supply outputs a driving signal to the memory metal.
[0012] In a possible implementation manner, the first switch and the second switch connected to the same memory metal are not closed at the same time.
[0013] In a possible implementation, the first switch and the second switch connected to the same memory metal are closed simultaneously, so that the power supply outputs a supplementary voltage to the target memory metal, and the current source outputs a driving current to the target memory metal.
[0014] According to a third aspect of an embodiment of the present application, there is provided an electronic device, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to the method described in the first aspect.
[0015] According to a fourth aspect of an embodiment of the present application, a computer storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the method described in the first aspect is implemented.
[0016] According to the motor driving scheme provided in the embodiment of the present application, the position to be moved of the mover in the motor is obtained, and the driving heat of the target memory metal in the target driving cycle is determined according to the position to be moved of the mover, thereby outputting a driving current to the target memory metal in the target driving cycle, and the length of the target memory metal can be determined by the driving current, so that the position of the mover in the motor can be determined. Since a driving signal is output to other memory metals except the target memory metal in the target driving cycle, when measuring the length of the target memory metal, the driving cycle of the driving signal is not delayed, but detection is performed within the driving cycle. Therefore, compared with the prior art, the time for the mover to reach the predetermined position will not be delayed, thereby making the driving signal applied to the memory metal equal to the expected set power, thereby improving the efficiency of motor control. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.
[0018] Figure 1 is a flow chart of a motor driving method provided in an embodiment of the present application;
[0019] Figure 2 is a schematic diagram of a motor provided in an embodiment of the present application;
[0020] Figure 3 is a schematic diagram of a driving cycle of a driving signal provided in an embodiment of the present application;
[0021] Figure 4 is a schematic diagram of a motor drive device provided in an embodiment of the present application;
[0022] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0023] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.
[0024] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.
[0025] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".
[0026] As mentioned above, memory alloy SMA is a special type of metal. After an object is changed in shape at low temperature and then heated to a certain temperature, it can restore its original shape. SMA is made into a wire and pre-stretched at low temperature. After the SMA wire is heated, the SMA wire will shrink. Using this principle, one end of the SMA wire is fixed to a fixed point and the other end is connected to a movable part. The movable part can be driven to move by the principle of the SMA wire shrinking when heated. At present, the SMA wire is driven to shrink by a PWM signal to drive the mover to move. A measurement cycle is included between the two driving cycles of the PWM signal to measure the resistance of the SMA wire to determine the length of the SMA wire and determine the position of the mover. However, inserting a measurement cycle between the driving cycles will delay the driving cycle, resulting in a delay in the time for the mover to reach the predetermined position, affecting the efficiency of the motor control.
[0027] The embodiment of the present application provides a motor driving method, which obtains the position to be moved of a mover in a motor, and determines the driving heat of a target memory metal in a target driving cycle according to the position to be moved of the mover, thereby outputting a driving current to the target memory metal in the target driving cycle, and determining the length of the target memory metal by the driving current, thereby determining the position of the mover in the motor. Since a driving signal is output to other memory metals except the target memory metal in the target driving cycle, when measuring the length of the target memory metal, the driving cycle of the driving signal is not delayed, but detection is performed within the driving cycle. Therefore, compared with the prior art, the time for the mover to reach a predetermined position will not be delayed, thereby making the driving signal applied to the memory metal equal to the expected set power, thereby improving the efficiency of motor control.
[0028] The motor driving method provided by the present application is described below by way of embodiments.
[0029] Figure 1 is a flow chart of a motor driving method provided in an embodiment of the present application, such as Figure 1 As shown, the motor driving method includes the following steps 101 to 103:
[0030] Step 101: Obtain the position to be moved of the mover in the motor.
[0031] The position to be moved of the mover 201 in the motor is obtained, that is, where the mover 201 needs to move, for example: the mover 201 needs to move upward, to the left, to the upper right, etc. Figure 2 is a schematic diagram of a motor provided in an embodiment of the present application, such as Figure 2 As shown, Figure 2 (a) shows that the mover 201 is connected to the motor housing 202 through two memory metals (SMA1 and SMA2). At this time, the mover 201 can move to Figure 2 Left or right movement in Figure 2 (b) in FIG. 2 shows that the mover 201 is connected to the motor housing 202 through four memory metals (SMA3, SMA4, SMA5 and SMA6). At this time, the mover 201 can move in multiple directions, for example, upward, leftward, upper right, etc. It should be understood that the mover 201 can move in the contraction direction of the memory metal, such as Figure 2 In (a), if the memory metal SMA1 contracts, the mover 201 moves to the left, as shown in FIG. Figure 2 In (b), when only the memory metal SMA3 contracts, the mover 201 moves to the left, and when the memory metal SMA3 and the memory metal SMA4 contract at the same time, the mover 201 moves to the upper left. It should be understood that Figure 2 This is only an example and should not be construed as limiting the motor in this application.
[0032] Step 102: Determine the driving heat of a target memory metal among at least two memory metals according to the position to be moved.
[0033] The driving heat can indicate the heat generated by the driving signal on the target memory metal within a target driving cycle in multiple driving cycles. The driving signal can be a continuous PWM signal. When driving the memory metal, it can include multiple driving cycles. For example, the driving cycle of a PWM signal with a frequency of 10 Hz is 0.1 s. The heat generated by the PWM signal on the target memory metal within the target driving cycle is determined. It should be understood that the target driving cycle can be any driving cycle within the multiple driving cycles, and the target memory metal can be the memory metal whose length needs to be measured.
[0034] Step 103: output a driving current to the target memory metal according to the driving heat in the target driving cycle, and output a driving signal to the memory metal other than the target memory metal; in a driving cycle other than the target driving cycle, output a driving signal to at least two memory metals, so that at least two memory metals drive the mover to move to the position to be moved.
[0035] During a target driving cycle, a driving current is output to a target memory metal according to the driving heat. The heat generated by the driving current in the target memory metal is equal to the driving heat. During the target driving cycle, a driving signal is output to other memory metals except the target memory metal. Except for the target driving cycle, a driving signal is output to all memory metals. Thus, the memory metal can drive the mover in the motor to move to the position to be moved under the drive of the driving signal. The driving current can be used to determine the resistance of the memory metal, thereby determining the length of the memory metal according to the resistance of the memory metal, and thus determining the position of the mover in the motor according to the lengths of multiple memory metals.
[0036] It should be understood that there are multiple driving cycles when driving the memory metal, and different memory metals can be used as target memory metals in different driving cycles, for example: Figure 2 In the structure shown, in the first driving cycle, it is necessary to detect the length of the memory metal SMA3, then the first driving cycle is the target driving cycle with the memory metal SMA3 as the target memory metal, in which the driving current is output to the memory metal SMA3, and the driving signal is output to other memory metals, and in the second driving cycle, it is necessary to detect the length of the memory metal SMA4, then the second driving cycle is the target driving cycle with the memory metal SMA4 as the target memory metal, in which the driving current is output to the memory metal SMA4, and the driving signal is output to other memory metals, and so on, in the driving cycle where the length of the memory metal does not need to be detected, the driving signal is output to all memory metals.
[0037] It should be noted that when the memory metal does not need to contract, a driving signal or a driving current will also be output to the memory metal. At this time, the heat generated by the driving signal or the driving current on the memory metal can be used as preheating heat. The preheating heat is less than the heat that causes the memory metal to contract. The memory metal will not contract after receiving the preheating heat. Since the preheating heat is generated on the memory metal, the heat required for the memory metal to contract is smaller, which can make the memory metal contract faster.
[0038] In an embodiment of the present application, the position to be moved of the mover in the motor is obtained, and the driving heat of the target memory metal in the target driving cycle is determined according to the position to be moved of the mover, thereby outputting a driving current to the target memory metal in the target driving cycle, and the length of the target memory metal can be determined by the driving current, thereby determining the position of the mover in the motor. Since a driving signal is output to other memory metals except the target memory metal in the target driving cycle, when measuring the length of the target memory metal, the driving cycle of the driving signal is not delayed, but detection is performed within the driving cycle. Therefore, compared with the prior art, the time for the mover to reach the predetermined position will not be delayed, thereby making the driving signal applied to the memory metal equal to the expected set power, thereby improving the efficiency of motor control.
[0039] In one possible implementation, when determining the driving heat of a target memory metal among at least two memory metals according to the position to be moved, the first voltage and the first driving time of a driving signal applied to the target memory metal during a target driving cycle can be determined according to the position to be moved, the rated resistance of the target memory metal can be obtained, and the driving heat can be determined according to the first voltage, the first driving time and the rated resistance.
[0040] In one example, the driving heat can be determined according to the following first formula:
[0041]
[0042] Among them, Q1 is used to characterize driving heat, U1 is used to characterize the first voltage, T1 is used to characterize the first driving time, and R is used to characterize the rated resistance.
[0043] The voltage and driving time of the driving signal of each memory metal in each driving cycle are determined according to the position to be moved. Different memory metals receive different driving signals. For example, when the position to be moved is to the left, the memory metal arranged on the left side of the mover needs to generate heat that can shrink. Therefore, the voltage of the driving signal applied to the memory metal arranged on the left side of the mover is larger or the time is longer.
[0044] After determining the voltage and driving time of the driving signal of each memory metal in each driving cycle according to the position to be moved, determine the first voltage and the first driving time that need to be applied to the target memory metal in the target driving cycle, and obtain the rated resistance of the target memory metal, thereby determining the driving heat through the first formula.
[0045] The following is an example to illustrate: Figure 3 is a schematic diagram of a driving cycle of a driving signal provided in an embodiment of the present application, such as Figure 3 As shown, for Figure 2In the structure of (b), the driving signal on the four memory metals is a PWM signal, where Figure 3 As shown, cycle 1 needs to measure the length of the memory metal SMA3, then cycle 1 is the target driving cycle corresponding to the memory metal SMA3 as the target memory metal, determine the first voltage and driving time acting on the memory metal SMA3 in cycle 1, determine the driving heat according to formula 1, and output the driving current to the memory metal SMA3 according to the driving heat, cycle 2 needs to measure the length of the memory metal SMA4, then cycle 2 is the target driving cycle corresponding to the memory metal SMA4 as the target memory metal, determine the first voltage and driving time acting on the memory metal SMA4 in cycle 2, determine the driving heat according to formula 1, and output the driving current to the memory metal SMA4 according to the driving heat, cycle 3 needs to measure the length of the memory metal SMA5, then cycle 3 is the target driving cycle corresponding to the memory metal SMA5 as the target memory metal, determine the first voltage and driving time acting on the memory metal SMA5 in cycle 3, determine the driving heat according to formula 1, and output the driving current to the memory metal SMA5 according to the driving heat, and so on.
[0046] In an embodiment of the present application, a first voltage and a first driving time of a driving signal applied to a target memory metal within a target driving cycle are determined according to a position to be moved, thereby allowing the driving heat required to be applied to the target memory metal within the target driving cycle to be determined according to the first voltage and the first driving time, thereby allowing a driving current to be output to the target memory metal through the driving heat, thereby allowing the target memory metal to be driven within the target driving cycle through the driving current while the length of the target memory metal can be measured.
[0047] In one possible implementation, when outputting a driving current to a target memory metal based on driving heat during a target driving cycle, a preset driving current can be obtained during the target driving cycle, and a second driving time for the current source to output the driving current can be determined based on the driving current, driving heat and rated resistance, and the current source can be controlled to output a driving current whose duration is the second driving time.
[0048] After determining the driving heat that needs to be applied to the target memory metal in the target driving cycle, a preset driving current can be obtained. The driving current is a driving current of a size preset artificially according to the electrical properties of the circuit. The second driving time can be determined based on the preset driving current and driving heat and the rated resistance of the target memory metal. The current source is controlled to output a driving current with a duration of the second driving time to the target memory metal, so that the heat generated by the driving current on the target memory metal is equal to the driving heat.
[0049] In one example, the driving current can be set according to the parameters of the signal processing circuit, which is a processing circuit that detects the resistance of the target memory metal according to the driving current. Some parameters of the signal processing circuit may refer to the range of the amplitude of the input signal of the signal processing circuit, thereby making full use of the input range of the signal processing circuit.
[0050] In another example, the driving current can be set according to the parameters of a current source, which is a current source that outputs a driving current to a target memory metal. The parameters of the current source may refer to an optimal output current of the current source, and the optimal output current means that when the current source outputs the current, the resistance measurement of the target memory metal has a higher accuracy.
[0051] In an embodiment of the present application, a preset driving current is obtained, and a second driving time is determined according to the driving heat, the rated resistance and the driving current, thereby outputting a driving current with a duration of the second driving time to the target memory metal, so that the heat generated by the driving current on the target memory metal is equal to the driving heat, thereby the target memory metal can be driven by the driving current, and the length of the target memory metal can be measured while the target memory metal is being driven, and since the preset driving current is output to the target memory metal, the optimal driving current can be set, so that the length measurement of the target memory metal can have a higher accuracy.
[0052] In one possible implementation, when outputting a driving current to a target memory metal based on driving heat during a target driving cycle, a preset driving time can be obtained during the target driving cycle, and the driving current can be determined based on the preset driving time, driving heat and rated resistance, and the current source can be controlled to output a driving current whose duration is the preset driving time.
[0053] After determining the driving heat that needs to be applied to the target memory metal in the target driving cycle, the preset driving time can be obtained. The preset driving time can be set manually. It should be noted that the preset driving time is generally less than the time of a driving cycle. The size of the driving current can be determined based on the preset driving time and the driving heat and the rated resistance of the target memory metal. The current source is controlled to output a driving current with a duration of the preset driving time to the target memory metal, so that the heat generated by the driving current on the target memory metal is equal to the driving heat.
[0054] In one example, the preset driving time can be set according to the parameters of the signal processing circuit, and some parameters of the signal processing circuit may refer to the minimum time required for the signal processing circuit to detect the resistance information of the target memory metal, thereby minimizing the time for applying the driving current.
[0055] In another example, the preset driving time can also be an optimal time required for the signal processing circuit to detect the resistance of the target memory metal based on the parameters of the signal processing circuit. Setting the preset driving time to the optimal time can make the resistance detection accuracy of the target memory metal higher than setting it to other times, and at the same time can reduce the power consumption of the signal processing circuit.
[0056] In one example, the driving current or the second driving time may be calculated by the following second formula:
[0057] Q=I 2 ×R×T2
[0058] Q is used to characterize driving heat, I is used to characterize driving current, T2 is used to characterize the second driving time or the preset driving time, and R is used to characterize the rated resistance.
[0059] In an embodiment of the present application, a preset driving time is obtained, and a driving current is determined according to the driving heat, the rated resistance and the preset driving time, thereby a driving current with a duration of the preset driving time can be output to the target memory metal, so that the heat generated by the driving current on the target memory metal is equal to the driving heat, thereby the target memory metal can be driven by the driving current, and the length of the target memory metal can be measured while the target memory metal is being driven, and since the driving current of the preset driving time is output, the length of the target memory metal can be measured with higher accuracy by setting the preset driving time.
[0060] In one possible implementation, when a driving current is output to a target memory metal according to driving heat during a target driving cycle, a supplementary voltage can be output to the target memory metal according to the driving heat during the target driving cycle, wherein the supplementary heat generated by the supplementary voltage on the target memory metal is less than the driving heat, and a driving current is output to the target memory metal according to the driving heat and the supplementary heat, wherein the heat generated by the driving current on the memory metal is equal to the difference between the driving heat and the supplementary heat.
[0061] During the target driving cycle, the driving current and the supplementary voltage are output to the target memory metal at the same time, and the sum of the supplementary heat generated on the target memory metal by the supplementary voltage and the heat generated on the target memory metal by the driving current is equal to the driving heat. It should be understood that the size of the driving current to be output can be determined based on the driving heat and the supplementary heat. At this time, the size of the driving current or the time of outputting the driving current can be determined by the method in any of the above embodiments. For example, a fixed driving current can be output, and the time of outputting the driving current can be calculated according to the formula so that the heat generated on the target memory metal by the driving current is equal to the difference between the driving heat and the supplementary heat.
[0062] In one example, the driving current or the time of outputting the driving current may be calculated according to the following third formula:
[0063]
[0064] I is used to characterize the driving current, T4 is used to characterize the time of outputting the driving current, R is used to characterize the rated resistance of the target memory metal, U1 is used to characterize the first voltage, T1 is used to characterize the first driving time, U2 is used to characterize the supplementary voltage, and T3 is used to characterize the time of outputting the supplementary voltage. The calculated amount is the supplementary calories. The calculated value is the driving heat.
[0065] In an embodiment of the present application, in a target driving cycle, a supplementary voltage is output to the target memory metal according to the driving heat, and a driving current is output to the target memory metal according to the driving heat and the supplementary heat generated by the supplementary voltage. Therefore, the resistance of the target memory metal can be determined according to the driving current, and thus the length of the target memory metal can be determined, and the position of the actuator in the motor can be determined by the length of the target memory metal. Since the supplementary voltage and the driving current are output at the same time, the driving current can be prevented from failing to reach the driving heat on the target memory metal, or the driving time of the driving current can be shortened, which can prevent the target memory metal from failing to receive subsequent driving signals.
[0066] Figure 4 is a schematic diagram of a motor drive device provided in an embodiment of the present application, wherein the mover in the motor is connected by at least two memory metal SMAs, such as Figure 4 As shown, the motor driving device includes: a power supply V, a current source L, a first switch group, a second switch group and a control unit 401, the first end of the power supply V is respectively connected to the input end of the current source L and one end of the first switch group, the output end of the current source L is connected to the first end of the second switch group, the second end of the first switch group and the second end of the second switch group are connected to one end of the memory metal SMA, and the other end of the memory metal SMA is connected to the second end of the power supply V, wherein the first switch group includes at least two first switches K1, the second switch group includes at least two second switches K2, different memory metal SMAs are respectively connected to different first switches K1 and second switches K2, the second switch K2 can be closed under the control of the control unit 401, so that the current source L outputs a driving current to the memory metal SMA, and the first switch K1 can be closed under the control of the control unit 401, so that the power supply V outputs a driving signal to the memory metal SMA.
[0067] like Figure 4As shown, each memory metal SMA is connected to a first switch K1 in a first switch group and a second switch K2 in a second switch group. When the first switch K1 is closed, the power source V outputs a driving signal to the memory metal SMA. When the second switch K2 is closed, the current source L outputs a driving signal to the memory metal SMA. The first switch group and the second switch group can be closed under the control of the control unit 401, thereby realizing the method in any of the above embodiments, for example: outputting a driving current to the target memory metal SMA, outputting a driving signal to the memory metal SMA, and so on.
[0068] It should be understood that the switches in the first switch group or the second switch group are closed as needed, and the switches in the switch group are not opened or closed at the same time. For example, only one second switch K2 can be closed, and the first switch K1 connected to the memory metal SMA other than the second switch K2 can be closed at the same time. At this time, the memory metal SMA closed by the second switch K2 receives a driving current, and other memory metal SMAs receive a driving signal. The specific control logic can be seen in the method in any of the above embodiments and will not be repeated here.
[0069] In an embodiment of the present application, the motor driving device includes: a power supply V, a current source L, a first switch group, a second switch group and a control unit 401, each memory metal SMA is connected to the first switch K1 in the first switch group and the second switch K2 in the second switch group, and different memory metal SMAs are connected to different first switches K1 and second switches K2, so that the control unit 401 can output a driving signal and / or a driving current to the memory metal SMA by controlling the closing of the first switch K1 and the second switch K2, thereby outputting a driving current to the target memory metal within a target driving cycle, and the length of the target memory metal can be determined by the driving current, so that the position of the mover in the motor can be determined. Since the driving signal is output to other memory metal SMAs except the target memory metal SMA within the target driving cycle, when measuring the length of the target memory metal SMA, the driving cycle of the driving signal is not delayed, but detection is performed within the driving cycle. Therefore, compared with the prior art, it will not cause the time for the mover to reach the predetermined position to be delayed, thereby making the driving signal applied to the memory metal equal to the expected set power, and the efficiency of motor control can be improved.
[0070] In a possible implementation, the first switch K1 and the second switch K2 connected to the same memory metal SMA are not closed at the same time.
[0071] The first switch K1 and the second switch K2 connected to the same memory metal SMA are not closed at the same time, that is, during the driving cycle, when the memory metal SMA is the target memory metal SMA, the second switch K2 is closed to output a driving current to the target memory metal SMA, and when the memory metal SMA is not the target memory metal SMA, the first switch K1 is closed to output a driving signal to the target memory metal SMA, so as to drive each memory metal SMA so that each memory metal SMA drives the mover to move.
[0072] In the embodiment of the present application, the first switch K1 and the second switch K2 connected to the same memory metal SMA are not closed at the same time, thereby outputting a driving current to the target memory metal SMA within the target driving cycle, and outputting a driving voltage to each memory metal SMA except the target memory metal SMA, so as to drive each memory metal SMA to drive the mover to move. Since the first switch K1 and the second switch K2 connected to the same memory metal SMA are not closed at the same time, the driving voltage can be prevented from interfering with the driving current, thereby making the mover position determined according to the driving current more accurate.
[0073] In a possible implementation, the first switch K1 and the second switch K2 connected to the same memory metal SMA are closed simultaneously, so that the power source V outputs a supplementary voltage to the target memory metal SMA, and the current source L outputs a driving current to the target memory metal SMA.
[0074] In the embodiment of the present application, the first switch K1 and the second switch K2 connected to the same memory metal SMA can be closed at the same time, and a supplementary voltage can be output to the target memory metal SMA while a driving current is output to the target memory metal SMA. Thus, the target memory metal SMA can be driven by the supplementary heat generated on the target memory metal SMA by the supplementary voltage and the heat generated on the target memory metal SMA by the driving current. Since the supplementary voltage and the driving current are output at the same time, the driving current can be prevented from failing to reach the driving heat on the target memory metal SMA, or the driving time of the driving current can be shortened, which can prevent the target memory metal SMA from failing to receive subsequent driving signals.
[0075] Reference Figure 5 , shows a schematic diagram of the structure of an electronic device according to an embodiment of the present application. The electronic device may be a control unit in a motor drive device. The specific embodiment of the present application does not limit the specific implementation of the electronic device.
[0076] like Figure 5 As shown, the electronic device may include: a processor (processor) 502 , a communication interface (Communications Interface) 504 , a memory (memory) 506 , and a communication bus 508 .
[0077] in:
[0078] The processor 502 , the communication interface 504 , and the memory 506 communicate with each other via a communication bus 508 .
[0079] The communication interface 504 is used to communicate with other electronic devices or servers.
[0080] The processor 502 is used to execute the program 510, and specifically can execute the relevant steps in the above motor driving method embodiment.
[0081] Specifically, the program 510 may include program codes, which include computer operation instructions.
[0082] The processor 502 may be a central processing unit (CPU), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; one or more GPUs; or different types of processors, such as one or more CPUs, one or more GPUs, and one or more ASICs.
[0083] The memory 506 is used to store the program 510. The memory 506 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
[0084] The program 510 can be specifically used to enable the processor 502 to execute the motor driving method in any of the aforementioned embodiments.
[0085] The specific implementation of each step in program 510 can refer to the corresponding description of the corresponding steps and units in any of the above motor driving method embodiments, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described devices and modules can refer to the corresponding process description in the above-mentioned method embodiments, which will not be repeated here.
[0086] In an embodiment of the present application, the position to be moved of the mover in the motor is obtained, and the driving heat of the target memory metal in the target driving cycle is determined according to the position to be moved of the mover, thereby outputting a driving current to the target memory metal in the target driving cycle, and the length of the target memory metal can be determined by the driving current, thereby determining the position of the mover in the motor. Since a driving signal is output to other memory metals except the target memory metal in the target driving cycle, when measuring the length of the target memory metal, the driving cycle of the driving signal is not delayed, but detection is performed within the driving cycle. Therefore, compared with the prior art, the time for the mover to reach the predetermined position will not be delayed, and the efficiency of motor control can be improved.
[0087] An embodiment of the present application also provides a computer program product, including computer instructions, which instruct a computing device to execute operations corresponding to any one of the above-mentioned multiple method embodiments.
[0088] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.
[0089] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or implemented as computer code originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a dedicated processor or programmable or dedicated hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the motor drive method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the motor drive method shown herein, the execution of the code converts the general-purpose computer into a dedicated computer for executing the motor drive method shown herein.
[0090] Those of ordinary skill in the art will appreciate that the units and method 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 depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present application.
[0091] The above implementation methods are only used to illustrate the embodiments of the present application, and are not limitations on the embodiments of the present application. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also belong to the scope of the embodiments of the present application. The scope of patent protection of the embodiments of the present application should be limited by the claims.
Claims
1. A motor driving method, characterized in that: include: Obtaining a position to be moved of a mover in a motor, wherein the motor includes at least two memory metals; Determining a driving heat of a target memory metal among at least two memory metals according to the position to be moved, wherein the driving heat is used to indicate the heat generated on the target memory metal by a driving signal in a target driving cycle among a plurality of driving cycles; In the target driving cycle, a driving current is output to the target memory metal according to the driving heat, and a driving signal is output to the memory metal other than the target memory metal. In a driving cycle other than the target driving cycle, a driving signal is output to the at least two memory metals so that the at least two memory metals drive the mover to move to the position to be moved.
2. The method according to claim 1, characterized in that The step of determining the driving heat of a target memory metal among at least two memory metals according to the position to be moved comprises: Determine a first voltage and a first driving time of the driving signal applied to the target memory metal within the target driving cycle according to the position to be moved; Obtaining the rated resistance of the target memory metal; The driving heat is determined according to the first voltage, the first driving time, and the rated resistance.
3. The method according to claim 2, characterized in that Outputting a driving current to the target memory metal according to the driving heat during the target driving cycle includes: In the target driving cycle, obtaining the preset driving current; Determining a second driving time for a current source to output the driving current according to the driving current, the driving heat and the rated resistance; The current source is controlled to output the driving current with a duration of the second driving time.
4. The method according to claim 2, characterized in that: Outputting a driving current to the target memory metal according to the driving heat during the target driving cycle includes: In the target driving cycle, obtaining a preset driving time; Determining the driving current according to the preset driving time, the driving heat and the rated resistance; The current source is controlled to output the driving current with a duration equal to the preset driving time.
5. The method according to claim 2, characterized in that: Outputting a driving current to the target memory metal according to the driving heat during the target driving cycle includes: In the target driving cycle, a supplementary voltage is output to the target memory metal according to the driving heat, wherein the supplementary heat generated by the supplementary voltage on the target memory metal is less than the driving heat; A driving current is output to the target memory metal according to the driving heat and the supplementary heat, wherein the heat generated by the driving current on the memory metal is equal to the difference between the driving heat and the supplementary heat.
6. A motor drive device, characterized in that: The motor includes at least two memory metals, and the device includes: [AW20240005ICN1][HS2410337CCN] power supply, current source, first switch group, second switch group and control unit; The first end of the power supply is connected to the input end of the current source and one end of the first switch group respectively, the output end of the current source is connected to the first end of the second switch group, the second end of the first switch group and the second end of the second switch group are connected to one end of the memory metal, and the other end of the memory metal is connected to the second end of the power supply, wherein the first switch group includes at least two first switches, the second switch group includes at least two second switches, and different memory metals are connected to different first switches and second switches respectively; The second switch is used to be closed under the control of the control unit so that the current source outputs a driving current to the memory metal; The first switch is used to be closed under the control of the control unit so that the power supply outputs a driving signal to the memory metal.
7. The device according to claim 6, characterized in that The first switch and the second switch connected to the same memory metal are not closed at the same time.
8. The device according to claim 6, characterized in that The first switch and the second switch connected to the same memory metal are closed simultaneously, so that the power supply outputs a supplementary voltage to the target memory metal, and the current source outputs a driving current to the target memory metal.
9. An electronic device, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the motor driving method as described in any one of claims 1-5.
10. A computer storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, the motor driving method as described in any one of claims 1 to 5 is implemented.