Actuator driving frequency adjustment method, electronic device and storage medium

Abstract

The present application discloses a method, electronic device, and storage medium for adjusting the drive frequency of an actuator. The method includes: adjusting the drive frequency of the actuator within a set range while the actuator is operating; the actuator is driven by a signal output by a pulse width modulation controller; obtaining the impedance value of the actuator when the drive frequency of the actuator is adjusted; determining the maximum and minimum impedance values ​​of the actuator when the frequency of the actuator is adjusted based on the impedance value of the actuator; and determining the drive frequency of the actuator when it is operating based on the maximum and minimum impedance values. Embodiments of the present application can effectively determine the drive frequency of the actuator.

Description

Technical Field

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

[0002] Actuators are an essential component of automatic control systems. Their function is to receive control signals from the controller and change the volume of the controlled medium, thereby maintaining the controlled variable at the desired value or within a certain range. Actuators operate differently at different drive frequencies. Generally, actuators have an optimal drive frequency, at which they achieve optimal performance. However, this optimal drive frequency may change with changes in actuator usage or operating environment, necessitating a re-determination. 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 the driving frequency of an actuator, comprising:

[0005] 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;

[0006] obtaining an impedance value of the actuator when adjusting a driving frequency of the actuator;

[0007] 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;

[0008] The driving frequency of the actuator when it is working is determined according to the maximum impedance value and the minimum impedance value.

[0009] In one implementation, determining the driving frequency of the actuator when it is operating according to the maximum impedance value and the minimum impedance value includes:

[0010] Determining an intermediate value between the impedance maximum value and the impedance minimum value;

[0011] The driving frequency of the actuator when it is working is determined according to the intermediate value.

[0012] In one implementation, obtaining the impedance value of the actuator when adjusting the driving frequency of the actuator includes:

[0013] obtaining a voltage value across the actuator when the frequency of the actuator is adjusted;

[0014] obtaining a current value of the actuator when adjusting the frequency of the actuator;

[0015] The impedance value is obtained according to the voltage value and the current value.

[0016] 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 limiter 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 limiter protection circuit through a third resistor; both ends of the first resistor are connected to the driving module through a fourth resistor, a second limiter 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.

[0017] 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 limiter 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 limiter 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 limiter 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.

[0018] In one implementation, the driving module includes a microprocessor and a first driving circuit connected to the microprocessor.

[0019] 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.

[0020] In one implementation, obtaining the impedance value of the actuator when adjusting the driving frequency of the actuator includes:

[0021] Obtaining the phase difference between the voltage and current of the actuator through the output data of the pulse width measurement circuit;

[0022] Obtaining the impedance value of the actuator through the output data of the impedance output module;

[0023] The impedance maximum value and the impedance minimum value are obtained according to the phase difference and the impedance value.

[0024] 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, for adjusting 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, for obtaining the impedance value of the actuator when adjusting the driving frequency of the actuator; an extreme value determination module, for determining the impedance maximum and impedance minimum of the actuator when adjusting the frequency of the actuator based on the impedance value of the actuator; and a driving frequency determination module, for determining the driving frequency of the actuator when it is working based on the impedance maximum and impedance minimum.

[0025] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, which 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.

[0026] 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 the method provided in any embodiment of the present application.

[0027] In circuits with actuators, the actuator's impedance value varies not only with driving frequency but also with temperature, humidity, driving voltage, and device aging. Under the same circuit environment, the actuator's impedance value can change, such as becoming inductive when voltage leads or capacitive when current leads. This can lead to adverse performance degradation, increased energy consumption, and heat generation. The actuator driving frequency adjustment method, electronic device, and storage medium provided in the embodiments of the present application can adjust the actuator's driving frequency by obtaining the actuator's impedance value when the driving frequency changes, thereby aligning the actuator with a state closest to resistive operation and maintaining the actuator in optimal operating condition. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. 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 any creative work.

[0029] Figure 1 A schematic flow chart of a method for adjusting the driving frequency of an actuator provided in an embodiment of the present application;

[0030] Figure 2 A schematic diagram of a signal processing circuit provided in an embodiment of the present application;

[0031] Figure 3 A schematic diagram of another signal processing circuit provided in an embodiment of the present application;

[0032] Figure 4 A schematic diagram of another signal processing circuit provided in an embodiment of the present application;

[0033] Figure 5 A schematic diagram of another signal processing circuit provided in an embodiment of the present application;

[0034] Figure 6 Schematic diagram of a driving frequency adjustment device for an actuator provided in an embodiment of the present application;

[0035] Figure 7 This is a schematic structural diagram of the limiter protection circuit and the differential-to-single-ended circuit according to an embodiment of the present application;

[0036] Figure 8 A schematic structural diagram of a logic circuit according to an embodiment of the present application;

[0037] Figure 9 This is a schematic diagram of the structure of a pulse width measurement circuit according to an embodiment of the present application;

[0038] Figure 10 A connection method between a logic circuit and a pulse width measurement circuit according to an embodiment of the present application;

[0039] Figure 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

[0040] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0041] 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.

[0042] 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.

[0043] In an embodiment of the present application, an actuator is provided within a pulse-width modulation control circuit and is capable of vibrating in response to a drive signal from a pulse-width modulation controller. The vibration of the actuator can clean and remove dust from the environment or object in which the actuator is located. Alternatively, the vibration of the actuator can cause the air surrounding the actuator to vibrate, thereby pushing the air out of a certain space and providing heat dissipation.

[0044] In a possible implementation, the setting range can be determined based on the optimal operating frequency pre-set for the actuator. When the actuator is manufactured, 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 for the actuator during production. At the same time, as the cumulative number of events of use of the actuator increases, the optimal operating frequency of the actuator may change compared to the optimal operating frequency configured for the actuator during production. The actuator can be applied to practical scenarios such as ceramic air pumps, piezoelectric motors, and ultra-cleaning.

[0045] In a possible implementation, the frequency of the pulse signal output by the pulse width modulation controller can be the actuator drive frequency. By adjusting the frequency of the pulse width modulation controller, the actuator drive frequency can be varied. By varying the frequency of the pulse width modulation controller within a set range, the actuator drive frequency can be varied.

[0046] In a possible implementation, the driving frequency of the actuator can be adjusted by changing the duty cycle of the actuator.

[0047] Step S12: Obtaining the impedance value of the actuator when adjusting the driving frequency of the actuator.

[0048] In the embodiment of the present application, when adjusting the actuator within a set range, the change in the actuator's impedance value can be recorded to obtain the impedance spectrum of the actuator as the drive frequency changes. Accordingly, the impedance spectrum of the actuator includes: the impedance value of the actuator when the drive frequency of the actuator is adjusted.

[0049] 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.

[0050] 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.

[0051] Impedance is the resistance to alternating current in a circuit. It is a complex number, represented by Z, with units of ohms (Ω). Impedance consists of a real part and an imaginary part. The real part can be expressed as resistance (R), and the imaginary part as reactance (X). Impedance can be expressed as: Z = R + jX, where j is the imaginary unit. Reactance can be further divided into capacitive reactance (Xc) and inductive reactance (XL). In AC circuits, impedance determines the relationship between voltage and current, including their amplitude and phase. Accordingly, impedance can be expressed as: Z = R + j(XL - XC). Impedance maximum and minimum are the two extremes of impedance under specific conditions.

[0052] Step S13 may further include determining an impedance maximum value and an impedance minimum value according to the multiple impedance values ​​of the actuator.

[0053] The impedance maximum mentioned above refers to the frequency at which the circuit's impedance reaches its maximum value. This impedance maximum typically occurs in parallel circuits with inductors and capacitors. When the circuit reaches resonance, the impedance reaches its maximum value. In this case, the phase difference between the current and voltage in the circuit reaches its maximum, causing the imaginary part of the impedance (i.e., reactance) to reach its maximum value, thereby increasing the overall impedance.

[0054] Impedance minimum refers to the frequency at which a circuit's impedance reaches its minimum. This impedance minimum typically occurs in a series circuit consisting of a resistor, inductor, and capacitor. When the current in the circuit reaches its maximum, the impedance decreases to its minimum. This is because at this frequency, the resistance to current flow from the capacitor and inductor cancels each other out, reducing the overall impedance. At this frequency, 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 in turn reduces the overall impedance.

[0055] Step S14: determining a driving frequency of the actuator when it is operating according to the maximum impedance value and the minimum impedance value.

[0056] In step S14, a new optimal operating frequency of the actuator can be determined based on the impedance maximum and impedance minimum, and the optimal frequency of the actuator can be used as the driving frequency of the actuator during operation. After the new optimal operating frequency is determined, the driving frequency of the actuator can be adjusted to the new optimal operating frequency.

[0057] 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.

[0058] In one possible implementation, determining the driving frequency of the actuator when it is operating based on the maximum impedance value and the minimum impedance value includes: determining an intermediate value between the maximum impedance value and the minimum impedance value; and determining the driving frequency of the actuator when it is operating based on the intermediate value.

[0059] In one 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.

[0060] In a possible implementation, the impedance value may be calculated using a voltage value, a current value, and a phase difference between the voltage and the current.

[0061] Once the current I and voltage V are known, the impedance can be calculated using the complex form of Ohm's law: Z = I / V. V and I are complex numbers representing the magnitude and phase of the voltage and current, respectively.

[0062] In a possible implementation, the circuit structure for driving the actuator can be as follows: Figure 2shown. The pulse width modulation (PWM) controller is connected to the first end of the actuator 22 through the drive 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 drive 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. 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 drive 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. 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. The end of the first resistor 210 away from the actuator 22 is grounded.

[0063] Still refer to Figure 2 As shown, the first differential-to-single-ended circuit 25 is connected to the logic circuit 214 via the first amplifier 216. The first differential-to-single-ended circuit 25 is connected to the positive terminal of the first amplifier 216. The negative terminal 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 terminal of the second amplifier 217. The negative terminal of the second amplifier 217 is connected to the second reference voltage (Vref2).

[0064] exist Figure 2 In the illustrated embodiment, the driving module includes a microprocessor and a first driving circuit (driver) 218 ​​connected to the microprocessor.

[0065] In one embodiment, the circuit structure for driving the actuator can be as follows: Figure 3As 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 further connected to the driving module through the second resistor 23, the first limiter 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 further connected to the first limiter 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, the ground end of the first resistor 210 is connected to the driving module through the fourth resistor 211, the second limiter 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.

[0066] 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.

[0067] 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.

[0068] exist Figure 4 In the embodiment shown, 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.

[0069] 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 driver module is shown.

[0070] In one possible 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 output data of the pulse width measurement circuit; obtaining the impedance value of the actuator through output data of the impedance output module; and obtaining the maximum impedance value and the minimum impedance value based on the phase difference and the impedance value.

[0071] In this embodiment of the present application, an ADC (analog to digital converter) can be used to perform multiple, time-sharing, continuous sampling to obtain multiple sets of corresponding voltage and current values. Using these voltage and current values, an impedance calculation module can be used to calculate the actuator's impedance. A pulse width measurement circuit can be used to determine the phase difference between the voltage and current. By scanning a set range corresponding to the actuator's operating frequency band, a frequency-dependent impedance spectrum, namely the actuator's impedance value and phase, can be obtained. Furthermore, based on the impedance value and phase, the impedance maximum and minimum values ​​can be determined.

[0072] In a possible implementation, the impedance maximum and minimum can be calculated based on the phase difference and impedance value using 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. Furthermore, the impedance value satisfies Z = (|Umax|θ1) / (|Imax|θ2) = (Umax / Imax)θ. 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. Furthermore, the impedance value satisfies |Z| = Vpp / Ipp, Vpp = Umax - Umin, and Ipp = Imax - Imin.

[0073] 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 including two diodes 711 and two resistors 712. The two diodes 711 are connected in series, and the two resistors 712 are connected in series. A first connection point exists in the circuit between the two diodes 711, and a second connection point exists in the circuit between the two resistors 712. The first connection point is connected to the second connection point. One of the two diodes 711 is connected to a power supply, and the other of the two diodes 711 is connected to ground. One of the two resistors 712 is connected to a power supply, and the other of the two resistors 712 is connected to ground. 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 terminal and the output terminal of the operational amplifier 722. The second connection point of the amplitude limiting protection sub-circuit 71 is connected to the positive terminal of the operational amplifier 722. Each operational amplifier sub-circuit 72 connected to a clipping protection sub-circuit 71 is connected between the cathode of the third operational amplifier sub-circuit and resistor 721, and to the anode of the third operational amplifier sub-circuit, respectively, through resistors 74 and 75. A third connection point between the cathodes of the two OPA sub-circuits 72 connected to the clipping protection sub-circuit 71 and resistor 721 is connected via resistor 73. The anode of the OPA sub-circuit 72 not directly connected to the clipping protection sub-circuit 71 is also connected to a reference voltage (Vref) via resistor 76.

[0074] 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. Figure 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).

[0075] Figure 10 A connection method between a logic circuit and a pulse width measurement circuit is shown. Figure 10In the example shown, the logic circuit includes a D flip-flop, which 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 interconnected. The two clear ports are also connected to the output of an AND gate. The inputs of the AND gate are respectively connected to the Q ports of the D flip-flop. 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 interconnected, and the connection point of the circuit 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 circuit between the two constant current sources 101 is connected to the non-grounded end of the capacitor 102 and to the end of the resistor 103 closest to the capacitor 102.

[0076] Figure 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 of the XOR gate is connected to one end of the filter enabler, which can receive the signal from the filter enable switch. The other end of the filter enabler is connected to one end of the trigger edge selection module. The other end of the trigger edge selection module is connected to an input of the AND gate. An output of the AND gate is connected to reference signal point 111. The clock is connected to one end of the counter, and the other end of the counter is connected to reference signal point 111. The output of the AND gate is also connected to one end of the completion flag module, and the other end of the completion flag module is connected to the counter for clearing the counter. The counter outputs a count value signal to the count value module via reference signal point 111.

[0077] The embodiment of the present application also provides a driving frequency adjustment device for an actuator, such as 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 the signal output by the pulse width modulation controller; an impedance value acquisition module, which is used to obtain the impedance value of the actuator when the driving frequency of the actuator is adjusted; an extreme value determination module, which is used to determine the maximum impedance value and the minimum impedance value of the actuator when the frequency of the actuator is adjusted 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 maximum impedance value and the minimum impedance value.

[0078] In one embodiment, the driving frequency adjustment module is further configured 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 operating according to the intermediate value.

[0079] In one embodiment, the impedance value obtaining module is further 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.

[0080] 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 limiter 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 limiter protection circuit through a third resistor; both ends of the first resistor are connected to the driving module through a fourth resistor, a second limiter 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.

[0081] 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 limiter 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 limiter 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 limiter 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.

[0082] In one embodiment, the driving module includes a microprocessor and a first driving circuit connected to the microprocessor.

[0083] 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.

[0084] In one embodiment, the impedance value acquisition module is further 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.

[0085] The actuator driving frequency adjustment device provided in the embodiments of the present application can implement the steps of any actuator driving frequency adjustment method in the embodiments of the present application.

[0086] 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 embodiment of the present application may be constructed by combining some elements and / or features. The order of operations described in the embodiment of the present application may be rearranged. Some configurations of any embodiment may be included in another embodiment and may be replaced by the corresponding configuration 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 appended claims may be combined to form the embodiment of this application, or may be included as new claims in the amendment after submitting this application.

[0087] In a firmware or software configuration, the embodiments of the present application may be implemented in the form of modules, procedures, 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 can send data to and receive data from the processor via various known means.

[0088] Various aspects of the systems and methods described herein can 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 memory 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 can be embodied in microprocessors with software-based circuit simulation, discrete logic (sequential and combinational), custom devices, fuzzy (neural) logic, quantum devices, and any combination of the various device types mentioned above. Of course, the underlying device technology can 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 structures), hybrid analog and digital, etc.

[0089] 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 that 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 the various circuits (e.g., computers), such data and / or instructions may be processed by a processing entity (e.g., one or more processors).

[0090] 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 systems, components, and methods are described herein for illustrative purposes, it will be understood by those skilled in the art that various equivalent modifications are possible 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 the systems and methods described above.

[0091] Those skilled in the art will appreciate that various changes and / or modifications may be made to the present application shown in the specific embodiments without departing from the spirit or scope of the broad description of the present application. 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 the features described for the different embodiments (including the features in the abstract), even if the feature or combination of features is not clearly defined in the claims or the detailed description of the present embodiment.

[0092] In general, 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 claims, but should be construed to include all processing systems that operate under the claims. Accordingly, 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.

[0093] Throughout the specification and claims, unless the context clearly requires otherwise, the words “include,” “comprising,” and the like are to 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,” “hereinafter,” “above,” “hereafter,” and words of similar meaning refer to this application as a whole and not to any particular parts 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.

[0094] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means more than two, unless otherwise specifically defined.

[0095] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection 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; the setting range is determined according to the optimal operating frequency preset by the actuator; 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; determining a driving frequency of the actuator when the actuator is operating according to the maximum impedance value and the minimum impedance value; The step of determining the driving frequency of the actuator when the actuator is operating according to the maximum impedance value and the minimum impedance value includes: Determining 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.

2. The method according to claim 1, 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.

3. 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, in sequence, through the first limiter protection circuit, the first differential-to-single-ended circuit, the multiplexer, the analog-to-digital converter, and the impedance calculation module; the second end of the actuator is also connected to the first limiter protection circuit through the third resistor; both ends of the first resistor are connected to the driving module through a fourth resistor, the second limiter 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.

4. The method according to claim 1, wherein 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, in sequence, through the first limiter protection circuit, the first differential-to-single-ended circuit, the multiplexer, the analog-to-digital converter, and the impedance calculation module; the second end of the actuator is also connected to the first limiter 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 limiter 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.

5. The method according to claim 3 or 4, characterized in that The driving module includes a microprocessor and a first driving circuit connected to the microprocessor.

6. The method according to claim 3 or 4, 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.

7. The method according to claim 3 or 4, 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.

8. 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 7.

9. 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 to 7.

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