Piezoelectric motor driving calibration method, system, device and equipment and storage medium

Abstract

The embodiment of the invention discloses a piezoelectric motor driving calibration method, system and device, equipment and a storage medium. According to the technical scheme provided by the embodiment of the invention, the plurality of pulse signals with different frequencies are sent to the driving module based on the set frequency range, so that the driving module drives the piezoelectric block based on the pulse signals; acquiring position state information and voltage information corresponding to the piezoelectric block under the driving of each pulse signal; and determining the frequency of the corresponding pulse signal as the driving frequency based on the position state information and the voltage information. By adopting the technical means, the problem of poor efficiency of the piezoelectric motor caused by the change of the resonant frequency of the system can be avoided through driving frequency calibration, the efficiency of the piezoelectric motor is improved, the operation effect of the piezoelectric motor is optimized, and the energy consumption of the piezoelectric motor is reduced.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of electric motor technology, and in particular, to a drive calibration method, system, device, equipment and storage medium for a piezoelectric motor. Background Art

[0002] The piezoelectric motor outputs positive and negative signals through the positive and negative power supplies of the driving circuit, causing the polarized piezoelectric block to stretch and contract under the inverse piezoelectric effect, thereby amplifying the micro-deformation of the material through resonance, and realizing motor drive by the friction between the vibrating part and the moving part. Based on this feature, the miniaturization design of the piezoelectric motor can be realized, making it widely used in some small-volume application scenarios.

[0003] However, during the assembly process of the piezoelectric motor, there are more or less errors in its assembly accuracy. This error may cause the resonant frequency of the system to change, thereby causing the piezoelectric motor to have poor efficiency. Summary of the invention

[0004] The embodiments of the present application provide a piezoelectric motor drive calibration method, system, device, equipment and storage medium, which can dynamically adjust and calibrate the piezoelectric motor drive signal, improve the efficiency of the piezoelectric motor, and solve the technical problem that the change of the piezoelectric motor resonant frequency affects the motor efficiency.

[0005] In a first aspect, an embodiment of the present application provides a piezoelectric motor drive calibration method, comprising:

[0006] Sending a plurality of pulse signals of different frequencies to the driving module based on a set frequency range, so that the driving module drives the piezoelectric block based on the pulse signal;

[0007] Acquire position state information and voltage information corresponding to the piezoelectric block driven by each of the pulse signals;

[0008] The frequency of the corresponding pulse signal is determined as the driving frequency based on the position state information and the voltage information.

[0009] Further, sending a plurality of pulse signals of different frequencies to the driving module based on the set frequency range includes:

[0010] According to the set first frequency step, pulse signals corresponding to the first target frequency are selected one by one from the set frequency range and sent to the driving module.

[0011] Furthermore, after selecting pulse signals corresponding to the first target frequency from the set frequency range one by one according to the set first frequency step and sending them to the driving module, it also includes:

[0012] Determining a target frequency range according to a driving result of the pulse signal corresponding to the first target frequency;

[0013] Pulse signals corresponding to the second target frequency are selected one by one from the target frequency range according to the set second frequency step.

[0014] Further, the determining the frequency of the corresponding pulse signal as the driving frequency based on the position state information and the voltage information includes:

[0015] It is determined that the frequency of the pulse signal when the position state information is within a set position state range and the voltage information is within a set voltage range is the driving frequency.

[0016] Further, the determining the frequency of the corresponding pulse signal as the driving frequency based on the position state information and the voltage information includes:

[0017] A weighted score calculation is performed based on the position state information and the voltage information using a set weighted formula to determine the weighted score corresponding to each of the pulse signals, and the frequency of the pulse signal whose weighted score reaches a set threshold is determined as the driving frequency.

[0018] Further, after determining the frequency of the corresponding pulse signal as the driving frequency based on the position state information and the voltage information, the method further includes:

[0019] In the case that there are multiple driving frequencies, driving power consumption corresponding to each driving frequency is determined, and the driving frequency is selected based on the driving power consumption.

[0020] In a second aspect, an embodiment of the present application provides a driving calibration system for a piezoelectric motor, including a controller, a driving module, a piezoelectric block, and a detection module;

[0021] The driving module is used to drive the piezoelectric block to vibrate based on the received pulse signal, so as to drive the motor rotor to rotate;

[0022] The detection module is used to detect the position state information and voltage information corresponding to the piezoelectric block under the driving of each pulse signal;

[0023] The controller is used to execute the driving calibration method of the piezoelectric motor as described in the first aspect.

[0024] In a third aspect, an embodiment of the present application provides a driving calibration device for a piezoelectric motor, comprising:

[0025] A sending module, used for sending a plurality of pulse signals of different frequencies to a driving module based on a set frequency range, so that the driving module drives the piezoelectric block based on the pulse signal;

[0026] An acquisition module, used for acquiring position state information and voltage information corresponding to the piezoelectric block driven by each of the pulse signals;

[0027] A determination module is used to determine the frequency of the corresponding pulse signal as the driving frequency based on the position state information and the voltage information.

[0028] In a fourth aspect, an embodiment of the present application provides an electronic device, including:

[0029] memory and one or more processors;

[0030] The memory is used to store one or more programs;

[0031] When the one or more programs are executed by the one or more processors, the one or more processors implement the piezoelectric motor drive calibration method as described in the first aspect.

[0032] In a fifth aspect, an embodiment of the present application provides a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to perform the drive calibration method for the piezoelectric motor as described in the first aspect.

[0033] The embodiment of the present application sends a plurality of pulse signals of different frequencies to the driving module based on a set frequency range, so that the driving module drives the piezoelectric block based on the pulse signal; obtains the position state information and voltage information corresponding to the piezoelectric block driven by each pulse signal; and determines the frequency of the corresponding pulse signal as the driving frequency based on the position state information and voltage information. The above-mentioned technical means are adopted to drive the piezoelectric block by a plurality of pulse signals of different frequencies, and obtain the position state information and voltage information of the piezoelectric block driven by the corresponding frequency pulse signal, so as to determine the optimal driving frequency of the piezoelectric motor according to the position state information and voltage information of the piezoelectric block. In this way, the problem of poor efficiency of the piezoelectric motor caused by changes in the resonant frequency of the system can be avoided through the driving frequency calibration, the efficiency of the piezoelectric motor can be improved, the operation effect of the piezoelectric motor can be optimized, and the energy consumption of the piezoelectric motor can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a flow chart of a piezoelectric motor drive calibration method provided in an embodiment of the present application;

[0035] Figure 2 It is a structural schematic diagram of a piezoelectric motor drive calibration system provided in an embodiment of the present application;

[0036] Figure 3 is a flow chart for selecting pulse signals of different frequencies in an embodiment of the present application;

[0037] Figure 4It is a structural schematic diagram of a driving calibration device for a piezoelectric motor provided in an embodiment of the present application;

[0038] Figure 5 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0040] Embodiment 1:

[0041] Figure 1 A flow chart of a piezoelectric motor drive calibration method provided in the first embodiment of the present application is given. The piezoelectric motor drive calibration method provided in this embodiment can be executed by a piezoelectric motor drive calibration device, which can be implemented by software and / or hardware. The piezoelectric motor drive calibration device can be composed of two or more physical entities, or can be composed of one physical entity. Generally speaking, the piezoelectric motor drive calibration device can be various types of electronic devices equipped with a piezoelectric motor.

[0042] The following description will be made by taking the driving calibration device of the piezoelectric motor as an example of the main body for executing the driving calibration method of the piezoelectric motor. Figure 1 , the driving calibration method of the piezoelectric motor specifically includes:

[0043] S110, sending a plurality of pulse signals with different frequencies to a driving module based on a set frequency range, so that the driving module drives the piezoelectric block based on the pulse signals;

[0044] S120, acquiring position state information and voltage information corresponding to the piezoelectric block driven by each of the pulse signals;

[0045] S130. Determine the frequency of the corresponding pulse signal as a driving frequency based on the position state information and the voltage information.

[0046] When performing drive calibration of the piezoelectric motor, the embodiment of the present application selects pulse signals of different frequencies from a set frequency range to drive the piezoelectric block, and then selects the frequency corresponding to the pulse signal with the best driving efficiency as the driving frequency based on the driving result of the piezoelectric block, thereby achieving accurate calibration of the driving frequency of the piezoelectric motor and improving the efficiency of the piezoelectric motor.

[0047] It is understandable that the resonant frequency of the motor system will not remain unchanged. In the event of a change, the corresponding motor drive frequency needs to be set according to the new resonant frequency to obtain a drive frequency that adapts to the current system resonant frequency, so as to avoid the piezoelectric motor being unable to perform at its best due to changes in the resonant frequency. Based on this, the present application determines the drive frequency of a piezoelectric motor and performs drive calibration on the piezoelectric motor, so that the drive efficiency of the piezoelectric motor is adapted to the real-time resonant frequency to achieve the best drive effect.

[0048] The piezoelectric block of the piezoelectric motor is driven according to driving signals of different frequencies, and then the position state information and voltage information of the piezoelectric block driven by the pulse signal are collected. The driving effect of the piezoelectric motor is characterized by the position state information and voltage information. In this way, the frequency with the best driving effect can be selected from multiple frequencies according to the position state information and voltage information as the driving frequency for subsequent piezoelectric motor driving.

[0049] Exemplarily, before the device is shipped, the drive calibration method of steps S110-S130 is used to calibrate the piezoelectric motor to obtain the most suitable drive frequency. In addition, after the product has been used for a period of time (such as 3 months, etc.), the resonant frequency of the piezoelectric module system may change due to changes in temperature, usage time, humidity, etc. At this time, the drive calibration method of steps S110-S130 can also be used to self-calibrate the drive frequency and adjust it to the optimal drive frequency to ensure the drive efficiency of the piezoelectric motor. It should be noted that the drive calibration of the piezoelectric motor can be performed periodically (such as once every few months), or it can be based on the relevant parameters of the device and the relevant drive parameters of the piezoelectric motor. When the parameters meet the corresponding threshold, the drive calibration method of steps S110-S130 is triggered to calibrate the piezoelectric motor and re-determine a new drive frequency to improve the drive effect of the piezoelectric motor.

[0050] Furthermore, a driving calibration system for a piezoelectric motor is provided in an embodiment of the present application, comprising a controller 11, a driving module 12, a piezoelectric block 13 and a detection module 14; the driving module 12 is used to drive the piezoelectric block 13 to vibrate based on the received pulse signal to drive the motor rotor to rotate; the detection module 14 is used to detect the position state information and voltage information corresponding to the piezoelectric block 13 driven by each of the pulse signals; the controller 11 is used to execute the driving calibration method for the piezoelectric motor as described above.

[0051] The detection module can obtain the position state information and voltage information of the piezoelectric block by optically combining voltage detection. According to the actual setting of the detection module, a magnet can also be used in combination with a magnetic angle sensor to detect the position state information (i.e., arc motion) of the piezoelectric block. The embodiment of the present application does not impose fixed restrictions on the way in which the detection module detects the position state information of the piezoelectric block, and is subject to the specific settings of the piezoelectric block and the detection module, which will not be elaborated here. Generally speaking, the position state information is the limit coordinates of the left and right turns of the piezoelectric block. When performing drive calibration, the controller selects a pulse signal of the corresponding frequency from a set frequency range and sends it to the drive module, so that the drive module drives the piezoelectric block to drive the motor rotor to rotate based on the pulse signal. In this process, the detection module will synchronously detect the position state information and voltage information of the piezoelectric block, and feed back the collected position state information and voltage information to the controller, so as to complete the position state information and voltage information detection of a drive signal. After completing the position state information and voltage information detection of a frequency pulse signal, the controller again selects a pulse signal of the corresponding frequency from the set frequency range and sends it to the drive module for driving effect detection. Similarly, according to the number of frequencies that need to be detected, the pulse signal of the corresponding frequency is adaptively selected from the set frequency range for testing. In this way, the position state information and voltage information corresponding to multiple pulse signals of different frequencies are obtained. Based on these position state information and voltage information, the pulse signal with the best driving effect can be analyzed, and the corresponding frequency can be set as the driving frequency.

[0052] It should be noted that the set frequency range of the embodiment of the present application can be set according to the adaptability of the frequency band with better driving effect of the piezoelectric motor. The initial driving frequency can also be used as the center, and the set length frequency band can be expanded as the set frequency range. For the selection of the set frequency range, a random selection method can be adopted, or the frequency can be selected according to a fixed selection rule. The embodiment of the present application does not impose fixed restrictions on the specific frequency selection method and the setting method of the set frequency range, which will not be elaborated here.

[0053] Optionally, sending a plurality of pulse signals with different frequencies to the driving module based on a set frequency range includes:

[0054] According to the set first frequency step, pulse signals corresponding to the first target frequency are selected one by one from the set frequency range and sent to the driving module.

[0055] By setting a frequency step, defined as the first frequency step, starting from the beginning of the set frequency range, pulse signals of corresponding frequencies are selected one by one according to the first frequency step and sent to the driving module, so as to select the optimal driving frequency according to the detection result, and define the selected part of the frequency as the first target frequency. In this way, relative to random selection, the present application can achieve accurate and comprehensive traversal of the set frequency range by selecting the first target frequency according to the frequency step. Avoid the situation where the final determined driving frequency is inaccurate due to uneven frequency selection, and further improve the calibration accuracy of the driving frequency.

[0056] Preferably, if Figure 3 After selecting pulse signals corresponding to the first target frequency one by one from the set frequency range according to the set first frequency step and sending them to the driving module, it also includes:

[0057] S1101, determining a target frequency range according to a driving result of a pulse signal corresponding to the first target frequency;

[0058] S1102: Select pulse signals corresponding to the second target frequency one by one from the target frequency range according to the set second frequency step.

[0059] After selecting the pulse signal corresponding to the first target frequency according to the first frequency step to detect the driving effect, this solution selects a frequency band with better driving effect from the set frequency range as the target frequency range according to the driving result of the pulse signal of the first target frequency. The driving result can be optimized according to the position state information and voltage information of the pulse signal of each first target frequency, or other parameters can be used for optimization.

[0060] Based on the target frequency range, the embodiment of the present application further performs frequency selection according to the second frequency step, and defines the frequency selected at this time as the second target frequency. The second frequency step is smaller than the first frequency step, and its length is adaptively set according to the actual selection accuracy. In this way, by selecting pulse signals corresponding to the second target frequency from the target frequency range one by one according to the set second frequency step, testing is performed based on this part of the selected pulse signals, and the frequency with the best driving result is selected as the driving frequency, so that the selection accuracy of the driving frequency can be further improved, and the motor driving efficiency can be further improved.

[0061] Optionally, determining the frequency of the corresponding pulse signal as a driving frequency based on the position state information and the voltage information includes:

[0062] It is determined that the frequency of the pulse signal when the position state information is within a set position state range and the voltage information is within a set voltage range is the driving frequency.

[0063] When selecting the driving frequency based on the driving result, the embodiment of the present application pre-sets the position state range and voltage range, which are measured according to actual experiments, indicating that the driving efficiency of the motor is better. If the position state information and voltage information corresponding to the driving signal of a frequency fall into the above-mentioned set position state range and voltage range, respectively, it means that the driving effect of the piezoelectric block is better and the driving efficiency is better under the pulse signal drive of the frequency. Using this frequency as the motor driving efficiency, a better driving efficiency can be achieved, achieving the effect of precise calibration of the motor.

[0064] On the other hand, the determining the frequency of the corresponding pulse signal as the driving frequency based on the position state information and the voltage information includes:

[0065] A weighted score calculation is performed based on the position state information and the voltage information using a set weighted formula to determine the weighted score corresponding to each of the pulse signals, and the frequency of the pulse signal whose weighted score reaches a set threshold is determined as the driving frequency.

[0066] Different from the above-mentioned method of selecting the driving frequency according to the driving result, the embodiment of the present application can also pre-set a weighted formula such as h=a1L+a2U, where h represents the weighted score corresponding to the pulse signal, a1 and a2 represent the weighted coefficients corresponding to the position state information and the voltage information, and the weighted coefficients are adaptively set according to the influence of the position state information and the voltage information on the weighted score in the actual test, L represents the position state information, and U represents the voltage information. Referring to the above-mentioned weighted formula, the weighted scores of the driving signals corresponding to each frequency are finally determined, and the frequency corresponding to the pulse signal whose score reaches the set threshold is selected as the driving frequency. It can be understood that according to the actual test, for the frequency whose weighted score reaches the set threshold, it means that the driving effect of the piezoelectric block is better and the driving efficiency is better when driven by the pulse signal of this frequency. Using this frequency as the motor driving efficiency, a better driving efficiency can be achieved, and the effect of precise calibration of the motor can be achieved.

[0067] In one embodiment, after determining the frequency of the corresponding pulse signal as the driving frequency based on the position state information and the voltage information, it also includes: in the case where there are multiple driving frequencies, determining the driving power consumption corresponding to each of the driving frequencies, and screening the driving frequencies based on the driving power consumption.

[0068] Since in the process of selecting the driving frequency, it may be determined based on the position state information and the voltage information that there are multiple driving frequencies that meet the selection rule, then at this time, the driving frequency with the lowest driving power consumption can be selected as the final driving frequency based on the driving power consumption of each driving frequency, thereby further improving the driving frequency calibration accuracy and achieving a better driving effect.

[0069] Exemplarily, during the drive calibration process, a series of pulses are sent to the drive module through the controller to enable the high level time of each pulse signal to be the same (i.e., the voltage is applied to the piezoelectric block for the same time). The detection module is used to detect the extreme position coordinates of the piezoelectric block turning left and right, and the voltage range detected by the detection module is obtained. In this process, the frequency of the pulse is from minimum to maximum, and the coarse adjustment step is set to 10Khz. For example, from a minimum of 80KHz to a maximum of 300KHz, a frequency range such as 100KHz-120KHz is found through coarse adjustment. Then fine-tune and set the step size to 500Hz to find the most suitable frequency as the driving frequency. In addition, if multiple driving frequencies are detected, their power consumption needs to be considered. The driving voltage and current are detected by the driving module to calculate the power consumption, and the driving frequency with low power consumption is selected as the final driving frequency. At this point, the entire drive calibration process is completed.

[0070] In the above, a plurality of pulse signals of different frequencies are sent to the driving module based on a set frequency range, so that the driving module drives the piezoelectric block based on the pulse signal; the position state information and voltage information corresponding to the piezoelectric block driven by each pulse signal are obtained; and the frequency of the corresponding pulse signal is determined as the driving frequency based on the position state information and voltage information. The above technical means are adopted to drive the piezoelectric block by a plurality of pulse signals of different frequencies, and the position state information and voltage information of the piezoelectric block driven by the corresponding frequency pulse signal are obtained, so as to determine the optimal driving frequency of the piezoelectric motor according to the position state information and voltage information of the piezoelectric block. In this way, the problem of poor efficiency of the piezoelectric motor caused by changes in the resonant frequency of the system can be avoided through the driving frequency calibration, the efficiency of the piezoelectric motor can be improved, the operation effect of the piezoelectric motor can be optimized, and the energy consumption of the piezoelectric motor can be reduced.

[0071] Based on the above embodiments, Figure 4 A schematic diagram of the structure of a piezoelectric motor drive calibration device provided in an embodiment of the present application. Figure 4 The driving calibration device for a piezoelectric motor provided in this embodiment specifically includes: a sending module 21 , an acquiring module 22 and a determining module 23 .

[0072] The sending module 21 is used to send a plurality of pulse signals of different frequencies to the driving module based on a set frequency range, so that the driving module drives the piezoelectric block based on the pulse signal;

[0073] The acquisition module 22 is used to acquire the position state information and voltage information corresponding to the piezoelectric block under the driving of each pulse signal;

[0074] The determination module 23 is used to determine the frequency of the corresponding pulse signal as the driving frequency based on the position state information and the voltage information.

[0075] Specifically, sending a plurality of pulse signals of different frequencies to the driving module based on the set frequency range includes:

[0076] According to the set first frequency step, pulse signals corresponding to the first target frequency are selected one by one from the set frequency range and sent to the driving module.

[0077] Specifically, after selecting pulse signals corresponding to the first target frequency from the set frequency range one by one according to the set first frequency step and sending them to the driving module, it also includes:

[0078] Determining a target frequency range according to a driving result of the pulse signal corresponding to the first target frequency;

[0079] Pulse signals corresponding to the second target frequency are selected one by one from the target frequency range according to the set second frequency step.

[0080] Specifically, determining the frequency of the corresponding pulse signal as the driving frequency based on the position state information and the voltage information includes:

[0081] It is determined that the frequency of the pulse signal when the position state information is within a set position state range and the voltage information is within a set voltage range is the driving frequency.

[0082] Specifically, determining the frequency of the corresponding pulse signal as the driving frequency based on the position state information and the voltage information includes:

[0083] A weighted score calculation is performed based on the position state information and the voltage information using a set weighted formula to determine the weighted score corresponding to each of the pulse signals, and the frequency of the pulse signal whose weighted score reaches a set threshold is determined as the driving frequency.

[0084] Specifically, after determining the frequency of the corresponding pulse signal as the driving frequency based on the position state information and the voltage information, the method further includes:

[0085] In the case that there are multiple driving frequencies, driving power consumption corresponding to each driving frequency is determined, and the driving frequency is selected based on the driving power consumption.

[0086] In the above, a plurality of pulse signals of different frequencies are sent to the driving module based on a set frequency range, so that the driving module drives the piezoelectric block based on the pulse signal; the position state information and voltage information corresponding to the piezoelectric block driven by each pulse signal are obtained; and the frequency of the corresponding pulse signal is determined as the driving frequency based on the position state information and voltage information. The above technical means are adopted to drive the piezoelectric block by a plurality of pulse signals of different frequencies, and the position state information and voltage information of the piezoelectric block driven by the corresponding frequency pulse signal are obtained, so as to determine the optimal driving frequency of the piezoelectric motor according to the position state information and voltage information of the piezoelectric block. In this way, the problem of poor efficiency of the piezoelectric motor caused by changes in the resonant frequency of the system can be avoided through the driving frequency calibration, the efficiency of the piezoelectric motor can be improved, the operation effect of the piezoelectric motor can be optimized, and the energy consumption of the piezoelectric motor can be reduced.

[0087] The driving calibration device for a piezoelectric motor provided in the embodiment of the present application can be used to execute the driving calibration method for a piezoelectric motor provided in the above-mentioned embodiment 1, and has corresponding functions and beneficial effects.

[0088] The present application embodiment provides an electronic device, referring to Figure 5 The electronic device includes: a processor 31, a memory 32, a communication module 33, an input device 34 and an output device 35. The number of processors in the electronic device can be one or more, and the number of memories in the electronic device can be one or more. The processor, memory, communication module, input device and output device of the electronic device can be connected via a bus or other means.

[0089] As a computer-readable storage medium, the memory can be used to store software programs, computer executable programs and modules, such as the program instructions / modules corresponding to the driving calibration method of the piezoelectric motor described in any embodiment of the present application (for example, the sending module, the acquisition module and the determination module in the driving calibration device of the piezoelectric motor). The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the device, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0090] The communication module is used for data transmission.

[0091] The processor executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory, that is, realizes the above-mentioned piezoelectric motor drive calibration method.

[0092] The input device can be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device can include display devices such as display screens.

[0093] The electronic device provided above can be used to execute the driving calibration method of the piezoelectric motor provided in the above embodiment, and has corresponding functions and beneficial effects.

[0094] An embodiment of the present application also provides a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to execute a driving calibration method for a piezoelectric motor. The driving calibration method for a piezoelectric motor includes: sending a plurality of pulse signals of different frequencies to a driving module based on a set frequency range, so that the driving module drives the piezoelectric block based on the pulse signal; acquiring position state information and voltage information corresponding to the piezoelectric block driven by each of the pulse signals; and determining the frequency of the corresponding pulse signal as the driving frequency based on the position state information and the voltage information.

[0095] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0096] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present application, whose computer executable instructions are not limited to the driving calibration method of the piezoelectric motor as described above, can also execute related operations in the driving calibration method of the piezoelectric motor provided in any embodiment of the present application.

[0097] The driving calibration device, storage medium and electronic device of the piezoelectric motor provided in the above embodiments can execute the driving calibration method of the piezoelectric motor provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the driving calibration method of the piezoelectric motor provided in any embodiment of the present application.

[0098] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A piezoelectric motor drive calibration method, characterized in that: include: Sending a plurality of pulse signals of different frequencies to the driving module based on a set frequency range, so that the driving module drives the piezoelectric block based on the pulse signal; Acquire position state information and voltage information corresponding to the piezoelectric block driven by each of the pulse signals; The frequency of the corresponding pulse signal is determined as the driving frequency based on the position state information and the voltage information.

2. The driving calibration method of a piezoelectric motor according to claim 1, characterized in that: The step of sending a plurality of pulse signals of different frequencies to the driving module based on the set frequency range includes: According to the set first frequency step, pulse signals corresponding to the first target frequency are selected one by one from the set frequency range and sent to the driving module.

3. The driving calibration method of a piezoelectric motor according to claim 2, characterized in that: After selecting pulse signals corresponding to the first target frequency one by one from the set frequency range according to the set first frequency step and sending them to the driving module, the method further includes: Determining a target frequency range according to a driving result of the pulse signal corresponding to the first target frequency; Pulse signals corresponding to the second target frequency are selected one by one from the target frequency range according to the set second frequency step.

4. The driving calibration method of a piezoelectric motor according to claim 1, characterized in that: The step of determining the frequency of the corresponding pulse signal as the driving frequency based on the position state information and the voltage information includes: It is determined that the frequency of the pulse signal when the position state information is within a set position state range and the voltage information is within a set voltage range is the driving frequency.

5. The piezoelectric motor drive calibration method according to claim 1, characterized in that: The step of determining the frequency of the corresponding pulse signal as the driving frequency based on the position state information and the voltage information includes: A weighted score calculation is performed based on the position state information and the voltage information using a set weighted formula to determine the weighted score corresponding to each of the pulse signals, and the frequency of the pulse signal whose weighted score reaches a set threshold is determined as the driving frequency.

6. The piezoelectric motor drive calibration method according to claim 1, characterized in that: After determining the frequency of the corresponding pulse signal as the driving frequency based on the position state information and the voltage information, the method further includes: In the case that there are multiple driving frequencies, driving power consumption corresponding to each driving frequency is determined, and the driving frequency is selected based on the driving power consumption.

7. A piezoelectric motor drive calibration system, characterized in that: It includes a controller, a driving module, a piezoelectric block and a detection module; The driving module is used to drive the piezoelectric block to vibrate based on the received pulse signal, so as to drive the motor rotor to rotate; The detection module is used to detect the position state information and voltage information corresponding to the piezoelectric block under the driving of each pulse signal; The controller is used to execute the driving calibration method of the piezoelectric motor as described in any one of claims 1-6.

8. A piezoelectric motor drive calibration device, characterized in that: include: A sending module, used for sending a plurality of pulse signals of different frequencies to a driving module based on a set frequency range, so that the driving module drives the piezoelectric block based on the pulse signal; An acquisition module, used for acquiring position state information and voltage information corresponding to the piezoelectric block driven by each of the pulse signals; A determination module is used to determine the frequency of the corresponding pulse signal as the driving frequency based on the position state information and the voltage information.

9. An electronic device, characterized in that: include: memory and one or more processors; The memory is used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the piezoelectric motor drive calibration method as described in any one of claims 1-6.

10. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the driving calibration method of the piezoelectric motor as described in any one of claims 1-6 when executed by a computer processor.

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