Actuator driving frequency adjustment method, electronic equipment and storage medium

Abstract

The invention discloses a driving frequency adjustment method of an actuator, electronic equipment and a storage medium. The method comprises the steps that when an actuator runs, the driving frequency of the actuator is adjusted within a set range; the actuator is driven by a signal output by the pulse width modulation controller; obtaining an impedance value of the actuator when the driving frequency of the actuator is adjusted; according to the impedance value of the actuator, the impedance maximum value and the impedance minimum value of the actuator are determined when the frequency of the actuator is adjusted; and determining the driving frequency when the actuator works according to the impedance maximum value and the impedance minimum value. According to the embodiment of the invention, the driving frequency of the actuator can be effectively determined.

Description

Technical Field

[0001] The present application belongs to the field of computer technology, and more specifically, to a method for adjusting the driving frequency of an actuator, an electronic device, and a storage medium. Background Art

[0002] The actuator is an essential and important component in the automatic control system. Its function is to receive the control signal sent by the controller and change the size of the controlled medium, so as to maintain the controlled variable at the required value or within a certain range. The actuator works differently at different drive frequencies. Generally, the actuator has an optimal drive frequency. When operating at the optimal drive frequency, the actuator can achieve the best working effect. At the same time, with the use of the actuator or changes in factors such as the working environment, the optimal drive frequency of the actuator may change, and it is necessary to re-determine the optimal drive frequency of the actuator. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a method for adjusting the driving frequency of an actuator, an electronic device, and a storage medium, which can effectively determine the optimal driving frequency of the actuator.

[0004] In a first aspect, an embodiment of the present application provides a method for adjusting a driving frequency of an actuator, comprising: When the actuator is running, the driving frequency of the actuator is adjusted within a set range; the actuator is driven by a signal output by a pulse width modulation controller; obtaining an impedance value of the actuator when adjusting a driving frequency of the actuator; Determining, according to the impedance value of the actuator, a maximum impedance value and a minimum impedance value of the actuator when adjusting the frequency of the actuator; The driving frequency of the actuator when working is determined according to the maximum impedance value and the minimum impedance value.

[0005] In one implementation, determining the driving frequency of the actuator when it is working according to the maximum impedance value and the minimum impedance value includes: Determine an intermediate value between the impedance maximum value and the impedance minimum value; The driving frequency of the actuator when it is working is determined according to the intermediate value.

[0006] In one implementation, obtaining the impedance value of the actuator when adjusting the driving frequency of the actuator includes: Obtaining a voltage value across the actuator when adjusting the frequency of the actuator; obtaining a current value of the actuator when adjusting the frequency of the actuator; The impedance value is obtained according to the voltage value and the current value.

[0007] In one implementation, the pulse width modulation controller is connected to the first end of the actuator through a driving module and a first inductor; the second end of the actuator is grounded through a first resistor; the first end of the actuator is also connected to the driving module through a second resistor, in sequence through a first limiting protection circuit, a first differential to single-ended circuit, a multiplexer, an analog-to-digital converter, and an impedance calculation module; the second end of the actuator is also connected to the first limiting protection circuit through a third resistor; both ends of the first resistor are connected to the driving module through a fourth resistor, a second limiting protection circuit, a second differential to single-ended circuit, a logic circuit, and a pulse width measurement circuit in sequence; the first differential to single-ended circuit is connected to the logic circuit; the second differential to single-ended circuit is connected to the multiplexer, and the end of the first resistor away from the actuator is grounded.

[0008] In one implementation, the pulse width modulation controller is connected to the first end of the actuator through a driving module and a first inductor; the second end of the actuator is grounded through a first resistor; the first end of the actuator is also connected to the driving module through a second resistor, in sequence, through a first limiting protection circuit, a first differential to single-ended circuit, a multiplexer, an analog-to-digital converter, and an impedance calculation module; the second end of the actuator is also connected to the first limiting protection circuit through a third resistor; the end of the first resistor close to the actuator is connected to the third resistor, and the ground end of the first resistor is connected to the driving module through a fourth resistor, a second limiting protection circuit, a second differential to single-ended circuit, a logic circuit, and a pulse width measurement circuit; the first differential to single-ended circuit is connected to the logic circuit; the second differential to single-ended circuit is connected to the multiplexer, and the end of the first resistor away from the actuator is grounded.

[0009] In one implementation, the driving module includes a microprocessor and a first driving circuit connected to the microprocessor.

[0010] In one implementation, the driving module includes a microprocessor, a first driving circuit and a second driving circuit; the first driving circuit is connected to the microprocessor, the first driving circuit is connected to the first end of the actuator through the first inductor, and the second driving circuit is connected to the ground end of the first resistor through the first inductor and the first resistor.

[0011] In one implementation, obtaining the impedance value of the actuator when adjusting the driving frequency of the actuator includes: Obtaining the phase difference between the voltage and current of the actuator through the output data of the pulse width measurement circuit; Obtaining the impedance value of the actuator through the output data of the impedance output module; The impedance maximum value and the impedance minimum value are obtained according to the phase difference and the impedance value.

[0012] In a second aspect, an embodiment of the present application provides a driving frequency adjustment device for an actuator, comprising: a driving frequency adjustment module, used to adjust the driving frequency of the actuator within a set range when the actuator is running; the actuator is driven by a signal output by a pulse width modulation controller; an impedance value acquisition module, used to obtain the impedance value of the actuator when adjusting the driving frequency of the actuator; an extreme value determination module, used to determine the impedance maximum and impedance minimum of the actuator when adjusting the frequency of the actuator according to the impedance value of the actuator; a driving frequency determination module, used to determine the driving frequency of the actuator when it is working according to the impedance maximum and impedance minimum.

[0013] In a third aspect, an embodiment of the present application provides an electronic device, including a processor, wherein the processor is coupled to a memory, and the processor is used to execute a computer program or instruction stored in the memory so that the electronic device implements a method provided in any embodiment of the present application.

[0014] In a fourth aspect, an embodiment of the present application further provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute a method provided by any embodiment of the present application.

[0015] In a circuit with an actuator, the impedance value of the actuator changes with the driving frequency. In addition, with the changes in temperature, humidity, driving voltage, device aging and other conditions, the impedance value of the actuator will change under the same circuit environment. For example, it will be inductive when the voltage leads, or capacitive when the current leads. At this time, the performance of the actuator will be reduced, energy consumption will increase, heat will be generated, and other unfavorable conditions will occur. The actuator driving frequency adjustment method, electronic device and storage medium provided in the embodiments of the present application can adjust the driving frequency of the actuator by obtaining the impedance value of the actuator when the driving frequency changes, so that the actuator works in a state closest to resistance, and the actuator is kept in the best working state. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1A schematic flow chart of a method for adjusting the driving frequency of an actuator provided in an embodiment of the present application; Figure 2 A schematic diagram of a signal processing circuit provided in an embodiment of the present application; Figure 3 A schematic diagram of another signal processing circuit provided in an embodiment of the present application; Figure 4 A schematic diagram of another signal processing circuit provided in an embodiment of the present application; Figure 5 A schematic diagram of another signal processing circuit provided in an embodiment of the present application; Figure 6 A schematic diagram of a driving frequency adjustment device for an actuator provided in an embodiment of the present application; Figure 7 A schematic diagram of the structure of a limiting protection circuit and a differential to single-ended circuit according to an embodiment of the present application; Figure 8 A schematic diagram of the structure of the logic circuit of an embodiment of the present application; Fig. 9 A schematic diagram of the structure of a pulse width measurement circuit according to an embodiment of the present application; Fig.10 A connection method between a logic circuit and a pulse width measurement circuit according to an embodiment of the present application; Fig.11 This is another connection method between the logic circuit and the pulse width measurement circuit in an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0019] The embodiment of the present application provides a method for adjusting the driving frequency of an actuator, such as Figure 1 As shown, the process includes the following steps S11 to S14.

[0020] Step S11: When the actuator is running, the driving frequency of the actuator is adjusted within a set range; the actuator is driven by a signal output by a pulse width modulation controller.

[0021] In the embodiment of the present application, the actuator is arranged in the pulse width modulation control circuit, and the actuator can vibrate according to the driving signal of the pulse width modulation controller. When the actuator vibrates, it can clean and remove dust from the environment or object where the actuator is arranged, or when the actuator vibrates, it can drive the air around the actuator to vibrate, thereby pushing the air out of a certain space to achieve the function of heat dissipation.

[0022] In a possible implementation, the setting range can be determined based on the optimal operating frequency pre-set by the actuator. When the actuator is produced, the actuator is configured with an optimal operating frequency. When the pulse width modulation controller drives the actuator according to the optimal operating frequency, the actuator has the best performance, the best working effect, or the longest service life. The working environment, load size, movement speed, etc. of the actuator will affect its optimal driving frequency. Therefore, in different working environments, the optimal operating frequency of the actuator may be different from the optimal operating frequency configured when the actuator is produced. At the same time, as the cumulative number of uses of the actuator increases, the optimal operating frequency of the actuator may change compared to the optimal operating frequency configured when the actuator was produced. The actuator can be applied to practical scenarios such as ceramic air pumps, piezoelectric motors, and ultra-cleaning.

[0023] In a possible implementation, the frequency of the pulse signal output by the pulse width modulation controller may be the driving frequency of the actuator. By adjusting the frequency of the pulse width modulation controller, the driving frequency of the actuator can be changed. The frequency of the pulse width modulation controller may be changed within a set range, thereby changing the driving frequency of the actuator.

[0024] In a possible implementation, the driving frequency of the actuator may be adjusted by changing the duty cycle of the actuator.

[0025] Step S12: Obtaining the impedance value of the actuator when adjusting the driving frequency of the actuator.

[0026] In the embodiment of the present application, when the actuator is adjusted within a set range, the change in the impedance value of the actuator can be recorded to obtain the impedance spectrum of the actuator as the driving frequency changes. Accordingly, the impedance spectrum of the actuator includes: the impedance value of the actuator when the driving frequency of the actuator is adjusted.

[0027] In a possible implementation, during step S12 , the actuator may be operated at a plurality of different driving frequencies, and the impedance values ​​of the actuator corresponding to the plurality of different driving frequencies may be recorded.

[0028] Step S13: determining the maximum impedance value and the minimum impedance value of the actuator when adjusting the frequency of the actuator according to the impedance value of the actuator.

[0029] Impedance value can be the obstacle to alternating current in the circuit. Impedance value is a complex number, represented by Z, and the unit is ohm (Ω). Impedance value includes real part and imaginary part. The real part of impedance value can be expressed as resistance (R), and the imaginary part can be expressed as reactance (X). Impedance value can be expressed as: Z=R+jX, where j is the imaginary unit. Among them, reactance can be divided into capacitive reactance (Xc) and inductive reactance (XL). In AC circuit, impedance value determines the relationship between voltage and current, including their amplitude and phase. Correspondingly, impedance value in AC circuit can be expressed as: Z=R+j(XL-XC). Impedance maximum and impedance minimum are two extreme manifestations of impedance value under specific conditions.

[0030] Step S13 may further include determining an impedance maximum value and an impedance minimum value according to a plurality of impedance values ​​of the actuator.

[0031] The above impedance maximum refers to the impedance of the circuit reaching its maximum value at a certain frequency. The appearance of impedance maximum usually occurs in a parallel circuit of inductance and capacitance. When the circuit reaches a resonant state, the impedance increases to its maximum value. In this case, the phase difference between the current and voltage in the circuit reaches the maximum, causing the imaginary part of the impedance (i.e. reactance) to reach a maximum value, thereby increasing the overall impedance.

[0032] The impedance minimum refers to the frequency at which the impedance of the circuit reaches its minimum value. The impedance minimum usually occurs in a series circuit of resistors, inductors, and capacitors. When the current in the circuit reaches a maximum value, the impedance decreases to a minimum value. This is because at this frequency, the resistance of the capacitor and inductor to the current cancels each other out, reducing the overall impedance. At this time, the phase difference between the current and voltage in the circuit is small, resulting in a smaller imaginary part of the impedance (i.e. reactance), which reduces the overall impedance.

[0033] Step S14: determining the driving frequency of the actuator when it is working according to the maximum impedance value and the minimum impedance value.

[0034] In step S14, a new optimal operating frequency of the actuator can be determined based on the impedance maximum value and the impedance minimum value, and the optimal frequency of the actuator is used as the driving frequency of the actuator when the actuator is working. After the new optimal operating frequency is determined, the driving frequency of the actuator can be adjusted to the new optimal operating frequency.

[0035] Through the method provided in the embodiment of the present application, the optimal operating frequency of the actuator can be regained according to the maximum and minimum impedance values ​​of the actuator during the operation of the actuator. Therefore, when the optimal operating frequency of the actuator changes due to changes in the environment or usage time, the driving frequency of the actuator can be adjusted in time, so that the actuator can operate at the optimal operating frequency for a long time and achieve the optimal working performance of the actuator.

[0036] In a possible implementation, determining the driving frequency of the actuator when it is working according to the impedance maximum value and the impedance minimum value includes: determining an intermediate value between the impedance maximum value and the impedance minimum value; and determining the driving frequency of the actuator when it is working according to the intermediate value.

[0037] In a possible implementation, obtaining the impedance value of the actuator when the driving frequency of the actuator is adjusted includes: obtaining a voltage value across the actuator when the frequency of the actuator is adjusted; obtaining a current value of the actuator when the frequency of the actuator is adjusted; and obtaining the impedance value based on the voltage value and the current value.

[0038] In a possible implementation, the impedance value may be calculated by a voltage value, a current value, and a phase difference between the voltage and the current.

[0039] When the current value I and the voltage value V are obtained, the impedance can be calculated using the complex form of Ohm's law: Z = I / V. Among them, V and I are both complex numbers, representing the amplitude and phase of the voltage and current.

[0040] In a possible implementation, the circuit structure for driving the actuator can be as follows: Figure 2 shown. The pulse width modulation controller (PWM) is connected to the first end of the actuator 22 through the driving module and the first inductor 21; the second end of the actuator 22 is grounded through the first resistor 210; the first end of the actuator 22 is also connected to the driving module through the second resistor 23, the first limit protection circuit 24, the first differential to single-ended circuit 25, the multiplexer 26, the analog-to-digital converter 27, and the impedance calculation module 28 in sequence; the second end of the actuator 22 is also connected to the first limit protection circuit 24 through the third resistor 29; both ends of the first resistor 210 are connected to the driving module through the fourth resistor 211, the second limit protection circuit 212, the second differential to single-ended circuit 213, the logic circuit 214 and the pulse width measurement circuit 215 in sequence; the first differential to single-ended circuit 25 is connected to the logic circuit 214; the second differential to single-ended circuit 213 is connected to the multiplexer 26, and the end of the first resistor 210 away from the actuator 22 is grounded.

[0041] Still refer to Figure 2As shown, the first differential-to-single-ended circuit 25 is connected to the logic circuit 214 via the first amplifier 216, and the first differential-to-single-ended circuit 25 is connected to the positive electrode of the first amplifier 216. The negative electrode of the first amplifier 216 is connected to the first reference voltage (Vref1). The second differential-to-single-ended circuit 213 is connected to the logic circuit 214 via the second amplifier 217. The second differential-to-single-ended circuit 213 is connected to the positive electrode of the second amplifier 217, and the negative electrode of the second amplifier 217 is connected to the second reference voltage (Vref2).

[0042] exist Figure 2 In the illustrated embodiment, the driving module includes a microprocessor and a first driving circuit (driver) 218 ​​connected to the microprocessor.

[0043] In one embodiment, the circuit structure for driving the actuator can be as follows: Figure 3 As shown, the pulse width modulation controller is connected to the first end of the actuator 22 through the driving module and the first inductor 21; the second end of the actuator 22 is grounded through the first resistor 210; the first end of the actuator 22 is also connected to the driving module through the second resistor 23, the first limit protection circuit 24, the first differential to single-ended circuit 25, the multiplexer 26, the analog-to-digital converter 27, and the impedance calculation module 28 in sequence; the second end of the actuator 22 is also connected to the first limit protection circuit through the third resistor 29; the end of the first resistor close to the actuator 22 is connected to the third resistor 29, and the ground end of the first resistor 210 is connected to the driving module through the fourth resistor 211, the second limit protection circuit 212, the second differential to single-ended circuit 213, the logic circuit and the pulse width measurement circuit 215; the first differential to single-ended circuit 25 is connected to the logic circuit; the second differential to single-ended circuit 213 is connected to the multiplexer 26, and the end of the first resistor 210 away from the actuator 22 is grounded.

[0044] Figure 3 The embodiment shown is Figure 2 The embodiment shown differs in that Figure 3 In the illustrated embodiment, the fourth resistor connected to one end of the first resistor is combined with the third resistor, thereby reducing one fourth resistor.

[0045] In another possible implementation, the circuit structure for driving the actuator can be as follows: Figure 4 shown. Figure 4 The embodiment shown is Figure 2 The embodiment shown differs in that the drive modules are structured differently.

[0046] exist Figure 4In the illustrated embodiment, the driving module includes a microprocessor, a first driving circuit 218 and a second driving circuit 41; the first driving circuit 218 is connected to the microprocessor, the first driving circuit 218 is connected to the first end of the actuator 22 through the first inductor 21, and the second driving circuit 41 is connected to the ground end of the first resistor 210 through the first inductor 21.

[0047] Figure 5 This is a schematic diagram of the circuit structure of another embodiment of the present application. Figure 5 The circuit structure shown in Figure 3 Based on the arrangement of the third resistor and the fourth resistor shown in FIG. Figure 4 The structure of the drive module is shown.

[0048] In a possible implementation, the impedance value of the actuator when adjusting the driving frequency of the actuator includes: obtaining the phase difference between the voltage and current of the actuator through the output data of the pulse width measurement circuit; obtaining the impedance value of the actuator through the output data of the impedance output module; and obtaining the impedance maximum value and the impedance minimum value based on the phase difference and the impedance value.

[0049] In an embodiment of the present application, an ADC (analog to digital converter) can be used to continuously sample multiple times in time-sharing to obtain multiple groups of corresponding voltage values ​​and current values. Using the voltage value and current value, the impedance value of the actuator can be calculated using an impedance calculation module. The phase difference between the voltage and current is obtained using a pulse width measurement circuit. By scanning the set range corresponding to the operating frequency band of the actuator, an impedance spectrum that varies with frequency, that is, the impedance value and phase of the actuator, can be obtained. Then, the impedance maximum and impedance minimum are obtained based on the impedance value and phase.

[0050] In a possible implementation, the impedance maximum and impedance minimum can be calculated according to the phase difference and impedance value by the following formula. Impedance value Z=R+jX=|Z|θ, where Z is the impedance value, R is the real part of the impedance value, jX is the imaginary part of the impedance value, and θ is the phase difference. At the same time, the impedance value also satisfies Z=(|Umax|θ1) / (|Imax|θ2)=(Umax / Imax)θ. Where Umax is the maximum voltage, Imax is the maximum current, θ1 is the voltage phase angle, θ2 is the current phase angle, and θ=θ1-θ2. At the same time, the impedance value can also satisfy |Z|=Vpp / Ipp, Vpp=Umax-Umin, Ipp=Imax-Imin.

[0051] In one example of the present application, the structures of the amplitude limiting protection circuit and the differential to single-ended circuit can refer to Figure 7As shown. The amplitude limiting protection circuit may include two amplitude limiting protection sub-circuits 71, each amplitude limiting protection sub-circuit 71 includes two diodes 711 and two resistors 712. Among them, the two diodes 711 are connected in series, and the two resistors 712 are connected in series, there is a first connection point in the line between the two diodes 711, there is a second connection point in the line between the two resistors 712, and the first connection point is connected to the second connection point. One of the two diodes 711 is connected to the power supply, and the other of the two diodes 711 is grounded. One of the two resistors 712 is connected to the power supply, and the other of the two resistors 712 is grounded. Each amplitude limiting protection sub-circuit 71 is connected to an operational amplifier (OPA) sub-circuit 72. The OPA sub-circuit 72 includes an operational amplifier 722 and a resistor 721. The two ends of the resistor 721 are connected to the negative electrode and the output end of the operational amplifier 722. The second connection point of the amplitude limiting protection sub-circuit 71 is connected to the positive electrode of the operational amplifier 722. Each operational amplifier sub-circuit 72 connected to the clipping protection sub-circuit 71 is connected between the negative electrode of the third operational amplifier sub-circuit and the resistor 721, and connected to the positive electrode of the third operational amplifier sub-circuit through the resistor 74 and the resistor 75. The third connection point between the negative electrodes of the two OPA sub-circuits 72 connected to the clipping protection sub-circuit 71 and the resistor 721 is connected through the resistor 73. The positive electrode of the OPA sub-circuit 72 that is not directly connected to the clipping protection sub-circuit 71 is also connected to the reference voltage (Vref) through the resistor 76.

[0052] Figure 8 A structure of a logic circuit is shown. The logic circuit may include at least one of an AND gate and an XOR gate. Fig. 9 A pulse width measurement circuit structure is presented. The pulse width measurement circuit may include a counter and a time-to-digital converter (TDC).

[0053] Fig.10 A connection method between a logic circuit and a pulse width measurement circuit is shown. Fig.10In the example shown, the logic circuit includes a D flip-flop, and the D flip-flop may include an XOR gate. The D flip-flop includes a D port, a Q port, a CP port and a clear port. The D port is used to input a high level. The two clear ports are connected to each other. And the two clear ports are simultaneously connected to the output end of the AND gate. The input end of the AND gate is connected to the Q port of the D flip-flop respectively. The Q ports of the two D flip-flops are also connected to two constant current sources 101, the two constant current sources 101 are connected to each other, and the connection point of the line between the two constant current sources 101 is also connected to a low-pass filter circuit. The low-pass filter circuit includes a capacitor 102, a resistor 103 and a capacitor 104, one end of the capacitor 102 is grounded, and the other end of the capacitor 102 is connected to the resistor 103. One end of the resistor 103 is connected to the capacitor 102, and the other end is connected to the capacitor 104. The connection point of the line between the two constant current sources 101 is connected to the non-grounded end of the capacitor 102, and the resistor 103 is connected to one end close to the capacitor 102.

[0054] Fig.11 Another connection method between a logic circuit and a pulse width measurement circuit is shown. The logic circuit includes an XOR gate. The pulse width measurement circuit includes a filter enabler (noise filter), a trigger edge selection module, a measurement enable switch, a counter and a clock. The measurement enable switch includes an AND gate. The output end of the XOR gate is connected to one end of the filter enabler, and the filter enabler can receive a signal from the filter enable switch. The other end of the filter enabler is connected to one end of the trigger edge selection module, and the other end of the trigger edge selection module is connected to an input end of the AND gate. An output end of the AND gate is connected to a reference signal point 111. The clock is connected to one end of the counter, and the other end of the counter is connected to the reference signal point 111. The output end of the AND gate is also connected to one end of the completion mark module, and the other end of the completion mark module is connected to the counter for clearing the counter. The counter outputs a count value signal to the count value module through the reference signal point 111.

[0055] The present application also provides a device for adjusting the driving frequency of an actuator. Figure 6 As shown, it includes: a driving frequency adjustment module, which is used to adjust the driving frequency of the actuator within a set range when the actuator is running; the actuator is driven by a signal output by a pulse width modulation controller; an impedance value acquisition module, which is used to obtain the impedance value of the actuator when adjusting the driving frequency of the actuator; an extreme value determination module, which is used to determine the impedance maximum value and the impedance minimum value of the actuator when adjusting the frequency of the actuator according to the impedance value of the actuator; and a driving frequency determination module, which is used to determine the driving frequency of the actuator when it is working according to the impedance maximum value and the impedance minimum value.

[0056] In one implementation, the driving frequency adjustment module is further used to: determine an intermediate value between the maximum impedance value and the minimum impedance value; and determine the driving frequency of the actuator when it is working according to the intermediate value.

[0057] In one embodiment, the impedance value acquisition module is also used to: obtain the voltage value across the actuator when the frequency of the actuator is adjusted; obtain the current value of the actuator when the frequency of the actuator is adjusted; and obtain the impedance value based on the voltage value and the current value.

[0058] In one embodiment, the pulse width modulation controller is connected to the first end of the actuator through a driving module and a first inductor; the second end of the actuator is grounded through a first resistor; the first end of the actuator is also connected to the driving module through a second resistor, in sequence through a first limiting protection circuit, a first differential to single-ended circuit, a multiplexer, an analog-to-digital converter, and an impedance calculation module; the second end of the actuator is also connected to the first limiting protection circuit through a third resistor; both ends of the first resistor are connected to the driving module through a fourth resistor, a second limiting protection circuit, a second differential to single-ended circuit, a logic circuit, and a pulse width measurement circuit in sequence; the first differential to single-ended circuit is connected to the logic circuit; the second differential to single-ended circuit is connected to the multiplexer, and the end of the first resistor away from the actuator is grounded.

[0059] In one embodiment, the pulse width modulation controller is connected to the first end of the actuator through a driving module and a first inductor; the second end of the actuator is grounded through a first resistor; the first end of the actuator is also connected to the driving module through a second resistor, in sequence through a first limiting protection circuit, a first differential to single-ended circuit, a multiplexer, an analog-to-digital converter, and an impedance calculation module; the second end of the actuator is also connected to the first limiting protection circuit through a third resistor; the end of the first resistor close to the actuator is connected to the third resistor, and the ground end of the first resistor is connected to the driving module through a fourth resistor, a second limiting protection circuit, a second differential to single-ended circuit, a logic circuit and a pulse width measurement circuit; the first differential to single-ended circuit is connected to the logic circuit; the second differential to single-ended circuit is connected to the multiplexer, and the end of the first resistor away from the actuator is grounded.

[0060] In one implementation, the driving module includes a microprocessor and a first driving circuit connected to the microprocessor.

[0061] In one embodiment, the driving module includes a microprocessor, a first driving circuit and a second driving circuit; the first driving circuit is connected to the microprocessor, the first driving circuit is connected to the first end of the actuator through the first inductor, and the second driving circuit is connected to the ground end of the first resistor through the first inductor and the first resistor.

[0062] In one embodiment, the impedance value acquisition module is also used to: obtain the phase difference between the voltage and current of the actuator through the output data of the pulse width measurement circuit; obtain the impedance value of the actuator through the output data of the impedance output module; and obtain the impedance maximum value and the impedance minimum value based on the phase difference and the impedance value.

[0063] The actuator driving frequency adjustment device provided in the embodiment of the present application can implement the steps of any one of the actuator driving frequency adjustment methods in the embodiment of the present application.

[0064] The implementation of the above-mentioned embodiment of the present application is a combination of elements and features of the embodiment of the present application. Unless otherwise mentioned, elements or features may be considered as optional. Each element or feature may be put into practice without being combined with other elements or features. In addition, the implementation of the present application may be constructed by combining some elements and / or features. The order of operations described in the implementation of the present application may be rearranged. Some constructions of any one embodiment may be included in another embodiment, and may be replaced by the corresponding construction of another embodiment. It is obvious to those skilled in the art that claims that do not have a clear reference relationship to each other in the attached claims may be combined with the implementation of this application, or may be included as new claims in the amendment after submitting this application.

[0065] In a firmware or software configuration, the embodiments of the present application may be implemented in the form of modules, processes, functions, etc. The software code may be stored in a memory unit and executed by a processor. The memory unit is located inside or outside the processor and may send data to and receive data from the processor via various known means.

[0066] Various aspects of the systems and methods described herein may be implemented as functions programmed into any of a variety of circuits, including programmable logic devices (PLDs), such as field programmable gate arrays (FPGAs), programmable array logic (PAL) devices, electronic programmable logic and storage devices, standard cell-based devices, and application-specific integrated circuits (ASICs). Some other possibilities for implementing these aspects of the system include: microcontrollers with memory, such as electronically erasable programmable read-only memory (EEPROM), embedded microprocessors, firmware, software, etc. In addition, these aspects of the system may be embodied in microprocessors with software-based circuit simulation, discrete logic (sequential and combinational), custom devices, fuzzy (neural) logic, quantum devices, and combinations of any of the above various device types. Of course, the underlying device technology may be provided in a variety of component types, such as metal oxide semiconductor field effect transistor (MOSFET) technology such as complementary metal oxide semiconductor (CMOS), bipolar technology such as emitter coupled logic (ECL), polymer technology (e.g., silicon conjugated polymer and metal conjugated polymer metal structure), hybrid analog and digital, etc.

[0067] The various functions or processes disclosed herein may be described as data and / or instructions embodied in various computer-readable media in terms of their behavior, register transfers, logic components, transistors, geometric layouts, and / or other characteristics. Computer-readable media that may contain such formatted data and / or instructions include, but are not limited to, various forms of non-volatile storage media (e.g., optical, magnetic, or semiconductor storage media) and carrier waves, which may be used to transmit such formatted data and / or instructions via wireless, optical, or wired signal media, or any combination thereof. When received in any of a variety of circuits (e.g., computers), such data and / or instructions may be processed by a processing entity (e.g., one or more processors).

[0068] The above description of the illustrated embodiments of the systems and methods is not intended to be exhaustive or to limit the systems and methods to the precise forms disclosed. Although specific embodiments and examples of the system components and methods are described herein for illustrative purposes, it will be appreciated by those skilled in the art that various equivalent modifications may be made within the scope of the systems, components, and methods. The teachings of the systems and methods provided herein may be applied to other processing systems and methods, not just to the above-described systems and methods.

[0069] Those skilled in the art will appreciate that, without departing from the spirit or scope of the broad description of the present application, various changes and / or modifications may be made to the present application shown in the specific embodiments. Therefore, the present embodiment will be considered in all respects to be illustrative and not restrictive. In addition, the present application includes any combination of features described for different embodiments (including features in the abstract section), even if the feature or combination of features is not clearly defined in the claims or the detailed description of the present embodiment.

[0070] Generally, in the following claims, the terms used should not be construed to limit the systems and methods to the specific embodiments disclosed in the specification and the claims, but should be construed to include all processing systems that operate under the claims. Therefore, the systems and methods are not limited by the present disclosure, but rather the scope of the systems and methods is determined entirely by the claims.

[0071] Unless the context clearly requires otherwise, throughout the specification and claims, the words "include", "including", "comprising", etc. should be interpreted in an inclusive sense and not in an exclusive or exhaustive sense; that is, in the sense of "including but not limited to". Words using the singular or plural number also include the singular or plural number, respectively. In addition, "herein", "herein below", "above", "hereafter" and words of similar meaning refer to this application as a whole and not to any particular part of this application. When the word "or" is used in a list involving two or more items, the word "or" includes all of the following interpretations of the word: any item in the list, all items in the list, and any combination of items in the list.

[0072] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0073] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method for adjusting the driving frequency of an actuator, characterized in that: include: When the actuator is running, adjusting the driving frequency of the actuator within a set range; The actuator is driven by a signal output by a pulse width modulation controller; obtaining an impedance value of the actuator when adjusting the driving frequency of the actuator; Determining, according to the impedance value of the actuator, a maximum impedance value and a minimum impedance value of the actuator when adjusting the frequency of the actuator; The driving frequency of the actuator when working is determined according to the maximum impedance value and the minimum impedance value.

2. The method according to claim 1, characterized in that The step of determining the driving frequency of the actuator when it is working according to the maximum impedance value and the minimum impedance value includes: Determine an intermediate value between the impedance maximum value and the impedance minimum value; The driving frequency of the actuator when it is working is determined according to the intermediate value.

3. The method according to claim 1 or 2, characterized in that: The obtaining of the impedance value of the actuator when adjusting the driving frequency of the actuator includes: obtaining a voltage value across the actuator when the frequency of the actuator is adjusted; obtaining a current value of the actuator when adjusting the frequency of the actuator; The impedance value is obtained according to the voltage value and the current value.

4. The method according to claim 1, characterized in that: The pulse width modulation controller is connected to the first end of the actuator through the driving module and the first inductor; the second end of the actuator is grounded through the first resistor; the first end of the actuator is also connected to the driving module through the second resistor, through the first limit protection circuit, the first differential to single-ended circuit, the multiplexer, the analog-to-digital converter, and the impedance calculation module in sequence; the second end of the actuator is also connected to the first limit protection circuit through the third resistor; both ends of the first resistor are connected to the driving module through a fourth resistor, the second limit protection circuit, the second differential to single-ended circuit, the logic circuit, and the pulse width measurement circuit in sequence; The first differential-to-single-ended circuit is connected to the logic circuit; The second differential-to-single-ended circuit is connected to the multiplexer, and one end of the first resistor away from the actuator is grounded.

5. The method according to claim 1, characterized in that The pulse width modulation controller is connected to the first end of the actuator through the driving module and the first inductor; the second end of the actuator is grounded through the first resistor; the first end of the actuator is also connected to the driving module through the second resistor, through the first limit protection circuit, the first differential to single-ended circuit, the multiplexer, the analog-to-digital converter, and the impedance calculation module in sequence; the second end of the actuator is also connected to the first limit protection circuit through the third resistor; the end of the first resistor close to the actuator is connected to the third resistor, and the ground end of the first resistor is connected to the driving module through the fourth resistor, the second limit protection circuit, the second differential to single-ended circuit, the logic circuit and the pulse width measurement circuit; The first differential-to-single-ended circuit is connected to the logic circuit; The second differential-to-single-ended circuit is connected to the multiplexer, and one end of the first resistor away from the actuator is grounded.

6. The method according to claim 4 or 5, characterized in that: The driving module includes a microprocessor and a first driving circuit connected to the microprocessor.

7. The method according to claim 4 or 5, characterized in that: The driving module includes a microprocessor, a first driving circuit and a second driving circuit; the first driving circuit is connected to the microprocessor, the first driving circuit is connected to the first end of the actuator through the first inductor, and the second driving circuit is connected to the ground end of the first resistor through the first inductor and the first resistor.

8. The method according to claim 4 or 5, characterized in that: The obtaining of the impedance value of the actuator when adjusting the driving frequency of the actuator includes: Obtaining the phase difference between the voltage and current of the actuator through the output data of the pulse width measurement circuit; Obtaining the impedance value of the actuator through the output data of the impedance output module; The impedance maximum value and the impedance minimum value are obtained according to the phase difference and the impedance value.

9. An electronic device, characterized in that: The electronic device comprises a processor coupled to a memory, wherein the processor is configured to execute a computer program or instruction stored in the memory, so that the electronic device implements the method according to any one of claims 1 to 8.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-8.

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