A control method, system, device and storage medium of a piezoelectric motor

Abstract

The application provides a piezoelectric motor control method, system, device and storage medium. The vibration deviation of a piezoelectric ceramic slider in the motor during reciprocating retraction is determined, the rotor eccentric vibration data is divided according to the vibration deviation, the vibration damping component of the piezoelectric ceramic slider during reciprocating retraction in each vibration adjustment data segment is extracted, the target piezoelectric motor non-controllable load gradient is determined according to all vibration damping components and the dynamic balance sequence of the vibration of the piezoelectric motor during operation, the heat overheat fault tolerance entropy of the heat during motor power output is extracted according to the heat load loss set, the controllable load gradient of the target piezoelectric motor is determined according to the overheat fault tolerance entropy and the static balance sequence of the temperature of the piezoelectric motor during operation, the balance adjustment amount is determined according to the non-controllable load gradient and the controllable load gradient, and then the dynamic operation characteristics of the target piezoelectric motor during operation are regulated and controlled through the balance adjustment amount, so that the operation instability regulation and control of the piezoelectric motor in the load regulation process is realized.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and more specifically, to a control method, system, device and storage medium for a piezoelectric motor. Background Art

[0002] Motor control is an engineering technology that precisely controls the motor's operating state by adjusting parameters such as power, current, voltage, or frequency. In modern industry and everyday life, motor control is widely used in various fields, such as industrial automation, transportation, and household appliances. The key to controlling a motor lies in applying various control algorithms and techniques to adjust the motor's speed, torque, and position according to specific requirements. Common motor control methods include open-loop control and closed-loop control. Open-loop control directly controls the motor's input parameters to achieve the target output, but it cannot adjust or correct the output in real time. Closed-loop control, on the other hand, continuously adjusts the motor's input through a feedback system to ensure that the actual output is consistent with the desired output. Closed-loop control typically uses algorithms such as PID controllers or model predictive control, which can improve system stability and robustness. Motor control also involves knowledge in multiple fields, including sensor technology, signal processing, embedded systems, and electronic hardware. It requires the comprehensive application of theories and methods from disciplines such as engineering, electrical engineering, and computer science. Through reasonable motor control, efficient, precise, and safe motor operation can be achieved, providing reliable power support for various application scenarios.

[0003] Piezoelectric motor control is a control method for motors made of piezoelectric materials. This type of motor uses the piezoelectric effect to convert electrical energy into mechanical motion. Its control methods mainly include voltage control, frequency control, and phase control. By applying voltage or frequency signals to the piezoelectric material, precise control of the motor can be achieved, including speed, displacement, and force regulation. In addition, the piezoelectric motor can also use its inherent piezoelectric effect as a sensor to achieve closed-loop control, that is, to adjust the operating state of the motor in real time according to the information fed back by the sensor, thereby improving the stability and accuracy of the system. However, in the existing piezoelectric motor control, the operation control of the piezoelectric motor mainly adopts methods such as voltage control, frequency control, and phase control. By adjusting the voltage or frequency signal applied to the piezoelectric material, the motor can be precisely controlled. Voltage or frequency signals are used to achieve precise regulation of the speed, displacement and force of the motor. At the same time, the piezoelectric effect of the piezoelectric material is used as a sensor to achieve closed-loop control, and the operating state of the motor is adjusted in real time according to the feedback signal. However, in the control of the piezoelectric motor, the vibration generated during the operation of the piezoelectric motor and the control of the ambient temperature and working temperature are uncertain and random, which will affect the dynamic characteristics of the piezoelectric motor during operation, thereby reducing the stability of the piezoelectric motor during load operation and affecting the operating response effect of the piezoelectric motor during operation. Therefore, how to achieve operational instability control of the piezoelectric motor during load regulation and thereby increase the operational stability of the piezoelectric motor during load operation is a problem faced by the industry. Summary of the Invention

[0004] The present application provides a control method, system, device and storage medium for a piezoelectric motor, which can realize the control of operational instability of the piezoelectric motor during load regulation.

[0005] In a first aspect, the present application provides a method for controlling a piezoelectric motor, comprising the following steps:

[0006] Collect rotor eccentric vibration data of the target piezoelectric motor when it is running;

[0007] Determining a vibration deviation of a piezoelectric ceramic slider in the motor during reciprocating retraction, dividing the rotor eccentricity vibration data according to the vibration deviation to obtain a plurality of vibration adjustment data segments when the motor is running;

[0008] Extracting the vibration smoothing components of the piezoelectric ceramic slider during reciprocating retraction in each vibration adjustment data segment, and determining the target piezoelectric motor uncontrolled load gradient based on all the vibration smoothing components and the dynamic equilibrium sequence of the piezoelectric motor's vibration during operation;

[0009] Obtaining a heat load loss set when the piezoelectric motor is in operation, extracting an overheating fault tolerance entropy of heat when the motor outputs power based on the heat load loss set, and determining a controllable load gradient of the target piezoelectric motor based on the overheating fault tolerance entropy and a static equilibrium sequence of the temperature when the piezoelectric motor is in operation;

[0010] A balance adjustment amount is determined according to the uncontrolled load gradient and the controllable load gradient, and the dynamic operating characteristics of the target piezoelectric motor during operation are regulated by the balance adjustment amount.

[0011] In some embodiments, determining the vibration deviation of the piezoelectric ceramic slider in the motor during reciprocating retraction specifically includes:

[0012] Obtaining a uniform vibration amount of the piezoelectric ceramic slider during reciprocating retraction;

[0013] determining a sliding gradient of the piezoelectric ceramic during reciprocating retraction according to the uniform vibration amount;

[0014] determining a vibration deviation factor of the piezoelectric ceramic during reciprocating retraction;

[0015] The vibration deviation amount of the piezoelectric ceramic slider during reciprocating retraction is determined according to the sliding gradient and the vibration deviation factor.

[0016] In some embodiments, dividing the rotor eccentricity vibration data according to the vibration deviation to obtain a plurality of vibration adjustment data segments when the motor is running specifically includes:

[0017] Acquiring the vibration deviation and the rotor eccentric vibration data;

[0018] The rotor eccentricity vibration data is divided into blocks according to the magnitude of the vibration deviation, thereby obtaining a plurality of vibration adjustment data segments when the motor is running.

[0019] In some embodiments, determining the target piezoelectric motor uncontrolled load gradient according to all vibration smoothing components and the dynamic equilibrium sequence of the piezoelectric motor's vibration during operation specifically includes:

[0020] Get all vibration smoothing components;

[0021] Determine the load variation sequence of the piezoelectric motor's vibration during operation based on all vibration suppression components;

[0022] Obtaining a dynamic equilibrium sequence of the piezoelectric motor's vibration during operation;

[0023] A target piezoelectric motor uncontrolled load gradient is determined according to the load variation sequence and the dynamic balance sequence.

[0024] In some embodiments, obtaining a heat load loss set when the piezoelectric motor is in operation specifically includes:

[0025] Collect thermal load data of the piezoelectric motor when it is in operation;

[0026] Collecting ambient heat when the piezoelectric motor is in operation;

[0027] A heat load loss set of the piezoelectric motor when in operation is determined according to the heat load data and the ambient heat.

[0028] In some embodiments, extracting the overheating fault tolerance entropy of the heat when the motor outputs power according to the heat load loss set specifically includes:

[0029] Obtaining the heat load loss set;

[0030] Determining the heat operation adjustment margin when the motor power is output according to the heat load loss set;

[0031] Determine the operating tolerance factor for overheating in the motor power output;

[0032] The overheating fault tolerance entropy of heat when the motor outputs power is determined according to the operation adjustment margin and the operation fault tolerance factor.

[0033] In some embodiments, a vibration sensor is used to collect rotor eccentric vibration data of a rotor when the target piezoelectric motor is in operation.

[0034] In a second aspect, the present application provides a control system for a piezoelectric motor, comprising:

[0035] An acquisition module is used to acquire rotor eccentric vibration data of the target piezoelectric motor when the motor is running;

[0036] a processing module, configured to determine a vibration deviation of a piezoelectric ceramic slider in the motor during reciprocating retraction, and to divide the rotor eccentricity vibration data according to the vibration deviation to obtain a plurality of vibration adjustment data segments during motor operation;

[0037] The processing module is further configured to extract the vibration suppression component of the piezoelectric ceramic slider during reciprocating retraction in each vibration adjustment data segment, and determine the target piezoelectric motor uncontrolled load gradient based on all the vibration suppression components and the dynamic equilibrium sequence of the piezoelectric motor's vibration during operation;

[0038] The processing module is further configured to obtain a heat load loss set when the piezoelectric motor is in operation, extract an overheating fault tolerance entropy of heat when the motor outputs power based on the heat load loss set, and determine a controllable load gradient of the target piezoelectric motor based on the overheating fault tolerance entropy and a static equilibrium sequence of the temperature of the piezoelectric motor during operation;

[0039] The control module is used to determine a balance adjustment amount according to the uncontrolled load gradient and the controllable load gradient, and then control the dynamic operating characteristics of the target piezoelectric motor during operation through the balance adjustment amount.

[0040] In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores a code, and the processor is configured to obtain the code and execute the above-mentioned piezoelectric motor control method.

[0041] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the piezoelectric motor is implemented.

[0042] The technical solutions provided by the embodiments disclosed in this application have the following beneficial effects:

[0043] The piezoelectric motor control method, system, device, and storage medium provided herein first collect rotor eccentric vibration data of a target piezoelectric motor during operation. Second, the vibration deviation of a piezoelectric ceramic slider in the motor during reciprocating retraction is determined. The rotor eccentric vibration data is divided according to the vibration deviation to obtain multiple vibration adjustment data segments during motor operation. Then, the vibration damping component of the piezoelectric ceramic slider during reciprocating retraction in each vibration adjustment data segment is extracted. The uncontrolled load gradient of the target piezoelectric motor is determined based on all the vibration damping components and the dynamic balance sequence of the piezoelectric motor's vibration during operation. Next, a thermal load loss set of the piezoelectric motor during operation is obtained. Based on the thermal load loss set, the overheating fault tolerance entropy of the heat output during motor power output is extracted. The controllable load gradient of the target piezoelectric motor is determined based on the overheating fault tolerance entropy and the static balance sequence of the piezoelectric motor's temperature during operation. Finally, a balance adjustment value is determined based on the uncontrolled load gradient and the controllable load gradient. The dynamic operating characteristics of the target piezoelectric motor during operation are then regulated using the balance adjustment value.

[0044] It can be seen that in this application, the balance adjustment amount is determined according to the non-controlled load gradient and the controllable load gradient, and then the dynamic operating characteristics of the target piezoelectric motor during operation are regulated by the balance adjustment amount. First, the rotor eccentricity vibration data is divided according to the vibration deviation amount to obtain multiple vibration adjustment data segments during motor operation, which can effectively measure the operating state of the piezoelectric motor and then adjust the vibration of the piezoelectric motor during load operation. Secondly, the non-controlled load gradient of the target piezoelectric motor is determined according to all vibration smoothing components and the dynamic balance sequence of the vibration of the piezoelectric motor during operation, which can balance the vibration of the piezoelectric motor caused by uncertain factors, and then regulate the dynamic operating characteristics of the piezoelectric motor. Thirdly, the overheat capacity The static balance sequence of the error entropy and the temperature during the operation of the piezoelectric motor determines the controllable load gradient of the target piezoelectric motor, so that the piezoelectric motor can adjust different temperatures during load operation, thereby controlling the control parameters of the piezoelectric motor's operation stability. Then, the balance adjustment amount is determined according to the uncontrolled load gradient and the controllable load gradient, which can realize the operation instability regulation of the piezoelectric motor during the load operation process, that is, by adjusting the balance performance of the motor, the operation state of the motor when it is disturbed by vibration factors and temperature factors during load changes can be better controlled, and the operation instability caused by load regulation can be avoided, thereby ensuring the stable operation of the motor under load regulation. In summary, the operation instability regulation of the piezoelectric motor during the load regulation process is realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is an exemplary flow chart of a method for controlling a piezoelectric motor according to some embodiments of the present application;

[0046] Figure 2 is a schematic diagram of the piezoelectric motor principle according to some embodiments of the present application;

[0047] Figure 3 is a schematic diagram of an exemplary process of extracting a vibration smoothing component according to some embodiments of the present application;

[0048] Figure 4 is a schematic diagram of exemplary hardware and / or software of a control system for a piezoelectric motor according to some embodiments of the present application;

[0049] Figure 5 It is a structural diagram of a computer device for implementing a control method for a piezoelectric motor according to some embodiments of the present application. DETAILED DESCRIPTION

[0050] The core of the present application is to collect rotor eccentric vibration data of a target piezoelectric motor during operation, determine the vibration deviation of a piezoelectric ceramic slider in the motor during reciprocating retraction, divide the rotor eccentric vibration data according to the vibration deviation, obtain multiple vibration adjustment data segments during motor operation, extract the vibration smoothing component of the piezoelectric ceramic slider during reciprocating retraction in each vibration adjustment data segment, determine the uncontrolled load gradient of the target piezoelectric motor based on all the vibration smoothing components and the dynamic balance sequence of the vibration during piezoelectric motor operation, obtain a heat load loss set when the piezoelectric motor is in operation, extract the overheating fault tolerance entropy of the heat during motor power output based on the heat load loss set, determine the controllable load gradient of the target piezoelectric motor based on the overheating fault tolerance entropy and the static balance sequence of the temperature during piezoelectric motor operation, determine the balance adjustment amount based on the uncontrolled load gradient and the controllable load gradient, and then regulate the dynamic operating characteristics of the target piezoelectric motor during operation using the balance adjustment amount, thereby achieving operational instability regulation of the piezoelectric motor during load regulation.

[0051] In order to better understand the above technical solution, the following will be combined with the accompanying drawings and specific implementation methods to describe the above technical solution in detail. Figure 1 , which is an exemplary flow chart of a piezoelectric motor control method according to some embodiments of the present application. The piezoelectric motor control method 100 mainly includes the following steps:

[0052] In step 101 , the eccentric vibration data of the rotor of the target piezoelectric motor is collected when the motor is in operation.

[0053] In specific implementation, the vibration monitoring of the piezoelectric motor is started, and the rotor eccentric vibration data of the rotor when the target piezoelectric motor is running is collected through the vibration sensor. The rotor eccentric vibration data represents the vibration data generated when the rotor rotates due to the asymmetry or imbalance of the rotor operation when the piezoelectric motor is running. The rotor eccentric vibration data usually includes information such as the amplitude, frequency, and phase of the vibration, which is used to characterize the operating status and health status of the piezoelectric motor rotor. These data are usually recorded in the form of time series.

[0054] It should be noted that a piezoelectric motor is an electric motor that uses the piezoelectric inverse effect of a piezoelectric body to convert electromechanical energy. Its principle is significantly different from that of an ordinary electric motor based on electromagnetic induction. That is, a piezoelectric motor is a motor that uses the piezoelectric effect to generate motion. The piezoelectric effect refers to the fact that when certain crystals (such as quartz, iron crystals, etc.) are subjected to force, their internal charge distribution will change, thereby generating an electric potential difference. Piezoelectric materials have this property. When external pressure is applied to them, the material will deform and the charge distribution will change. Piezoelectric materials are usually made of ceramic materials, such as lead ammonium zirconate titanate.

[0055] In addition, during the operation of the piezoelectric motor, the dielectric constant of the piezoelectric ceramic will change with the change of temperature, which is one of the reasons for its unstable performance. Secondly, the stick-slip piezoelectric motor is mainly composed of bearings, sliders (moving parts), contact points, and a fixed piezoelectric actuator. The length of the piezoelectric ceramic becomes longer or shorter as the applied voltage changes. Due to the friction between the slider and the contact point, the slider will move with the deformation of the piezoelectric ceramic. During the sliding stage, the piezoelectric ceramic retracts rapidly, which will generate vibration and noise. In addition, since the piezoelectric ceramic needs to retract quickly back and forth, the material of the contact point (that is, the rotor in this application) will vibrate and wear, which will greatly affect the smooth operation of the piezoelectric motor.

[0056] In step 102, the vibration deviation of the piezoelectric ceramic slider in the motor during reciprocating retraction is determined, and the rotor eccentric vibration data is divided according to the vibration deviation to obtain a plurality of vibration adjustment data segments during motor operation.

[0057] It should be noted that the reference in this application Figure 2 As shown, this figure is a schematic diagram of the piezoelectric motor principle according to some embodiments of the present application. The principles of the various components in the schematic diagram of the piezoelectric motor principle in this embodiment are as follows:

[0058] In the working principle of a piezoelectric motor, a piezoelectric actuator applies voltage to a piezoelectric ceramic. When a positive voltage is applied, the piezoelectric ceramic expands, and when a reverse voltage is applied, the piezoelectric material contracts. This deformation causes the contacts to move, thereby generating a driving force. The contacts then move the rolling slider, which in turn drives the bearing movement, and finally transmits this movement to the mechanical load.

[0059] In some embodiments, determining the vibration deviation of a piezoelectric ceramic slider in a motor during reciprocating retraction may be achieved by using the following steps:

[0060] Obtaining a uniform vibration amount of the piezoelectric ceramic slider during reciprocating retraction;

[0061] determining a sliding gradient of the piezoelectric ceramic during reciprocating retraction according to the uniform vibration amount;

[0062] determining a vibration deviation factor of the piezoelectric ceramic during reciprocating retraction;

[0063] The vibration deviation amount of the piezoelectric ceramic slider during reciprocating retraction is determined according to the sliding gradient and the vibration deviation factor.

[0064] In a specific implementation, the uniform vibration amount of the piezoelectric ceramic slider during reciprocating retraction is obtained, and the uniform vibration amount is set between 0 and 1. In this application, the average value of all vibration frequencies of the piezoelectric ceramic slider during reciprocating retraction when the piezoelectric motor works within one month is used as the uniform vibration amount. In order to facilitate the subsequent regulation of the piezoelectric motor, the uniform vibration amount is integrated into the range of 0 to 1. The integration can adopt a normalization algorithm, etc., which will not be repeated here.

[0065] It should be noted that the uniform vibration amount in this application represents the degree of fluctuation of the vibration generated when the piezoelectric ceramic slider reciprocates and retracts. The smaller the uniform vibration amount, the higher the stability of the piezoelectric motor when running under load.

[0066] In addition, in a specific implementation, the sliding gradient of the piezoelectric ceramic during reciprocating retraction can be determined based on the uniform vibration amount in the following manner: the average value and the variance of all vibration frequencies of the piezoelectric ceramic slider during reciprocating retraction when the piezoelectric motor works within one month are calculated, and the calculation result is normalized as the sliding gradient.

[0067] It should be noted that the sliding gradient in this application refers to the degree of change in the relative motion between the piezoelectric ceramic slider and the friction surface when the slider reciprocates and retracts. If the difference between the movement speed of the slider and the speed of the friction surface is small, the sliding gradient is low, indicating that the movement of the slider is relatively stable. Conversely, if the speed difference is large, the sliding gradient is high, indicating that the movement of the slider is unstable and may lead to increased friction and wear.

[0068] In specific implementation, the vibration deviation factor of the piezoelectric ceramic during reciprocating retraction is determined. The vibration deviation factor is 50% to 70% of the value of the uniform vibration amount as the vibration deviation factor. In the present application, the vibration deviation factor is set to 60% of the value of the uniform vibration amount. In other embodiments, it can also be set according to the specific load conditions and vibration frequency of the piezoelectric motor.

[0069] It should be noted that the vibration deviation factor in the present application represents the deviation of the vibration degree of the piezoelectric ceramic during reciprocating retraction relative to the expected motion, and is used to balance the vibration error caused by different loads.

[0070] In addition, in a specific implementation, the vibration deviation amount of the piezoelectric ceramic slider during reciprocating retraction can be determined based on the sliding gradient and the vibration deviation factor in the following manner, namely: vibration deviation amount = (1-vibration deviation factor) * sliding gradient. In other embodiments, other methods can also be used to determine the vibration deviation amount, which is not limited here.

[0071] It should be noted that the vibration deviation in this application represents the deviation between the actual vibration level of the piezoelectric ceramic slider during reciprocating retraction and the historical average vibration level, and is used to characterize the vibration of the piezoelectric ceramic slider during reciprocating retraction. A smaller vibration deviation indicates that the vibration of the slider is relatively stable, while a larger vibration deviation may require further adjustment or optimization.

[0072] In some embodiments, dividing the rotor eccentricity vibration data according to the vibration deviation to obtain a plurality of vibration adjustment data segments when the motor is running can be achieved by the following steps:

[0073] Acquiring the vibration deviation and the rotor eccentric vibration data;

[0074] The rotor eccentricity vibration data is divided into blocks according to the magnitude of the vibration deviation, thereby obtaining a plurality of vibration adjustment data segments when the motor is running.

[0075] In specific implementation, the rotor eccentric vibration data is divided into blocks according to the size of the vibration deviation, and then multiple vibration adjustment data segments when the motor is running are obtained. For example, when the size of the vibration deviation is 5, all vibration amplitudes in all rotor eccentric vibration data are evenly divided into 5 segments in the order of acquisition time. Each segment contains the frequency and phase corresponding to the vibration amplitude, that is, in the rotor eccentric vibration data, the number of vibration amplitudes, frequencies and phases is equal. All vibration amplitude data contained in each divided segment constitute a data segment, that is, the vibration adjustment data segment when the motor is running.

[0076] It should be noted that the vibration adjustment data segment during motor operation in this application represents a data set composed of vibration factors caused by different vibration conditions during the operation of the piezoelectric motor, which is equally divided in chronological order. This data set is used to evaluate the operating status of the piezoelectric motor and then perform vibration adjustment on the piezoelectric motor when it is running under load.

[0077] In step 103, the vibration smoothing components of the piezoelectric ceramic slider during reciprocating retraction are extracted from each vibration adjustment data segment, and the target piezoelectric motor uncontrolled load gradient is determined based on all the vibration smoothing components and the dynamic balance sequence of the piezoelectric motor vibration during operation.

[0078] In some embodiments, reference Figure 3 As shown in FIG. 1 , this figure is a schematic diagram of an exemplary process for extracting a vibration smoothing component according to some embodiments of the present application. In this embodiment, extracting the vibration smoothing component of the piezoelectric ceramic slider during reciprocating retraction in each vibration adjustment data segment can be achieved by using the following steps:

[0079] In step 1031, a vibration adjustment data segment is selected;

[0080] In step 1032, the vibration discrete amount of the piezoelectric ceramic slider during reciprocating retraction in the vibration adjustment data segment is determined;

[0081] In step 1033, the vibration concentration value of the piezoelectric ceramic slider during reciprocating retraction in the vibration adjustment data segment is determined;

[0082] In step 1034, a vibration suppression factor of the vibration data segment is determined;

[0083] In step 1035, the vibration smoothing component of the piezoelectric ceramic slider in the vibration adjustment data segment during reciprocating retraction is determined based on the vibration discrete quantity, the vibration concentration value and the vibration smoothing factor, and the vibration smoothing component of the piezoelectric ceramic slider in the remaining vibration adjustment data segments during reciprocating retraction is continued to be determined.

[0084] In a specific implementation, the vibration discrete amount of the piezoelectric ceramic slider in the vibration adjustment data segment when it reciprocates and retracts is determined. The vibration discrete amount can be determined by calculating the standard deviation of all vibration frequencies in the vibration adjustment data segment, that is, a vibration adjustment data segment is selected, and the standard deviation of all vibration frequencies in the vibration adjustment data segment is used as the vibration discrete amount of the piezoelectric ceramic slider in the vibration adjustment data segment when it reciprocates and retracts.

[0085] It should be noted that the vibration discrete amount described in this application represents the instability of the vibration of the ceramic slider in the piezoelectric motor during the reciprocating retraction process. If the vibration discreteness is large, it means that the vibration frequency of the ceramic slider of the piezoelectric motor during the reciprocating retraction is higher, and the instability of the piezoelectric motor is also higher.

[0086] In addition, in a specific implementation, the vibration concentration value of the piezoelectric ceramic slider in the vibration adjustment data segment when it reciprocates and retracts is determined. The vibration concentration value can be determined by calculating the variance of all vibration frequencies in the vibration adjustment data segment, that is, a vibration adjustment data segment is selected, and the variance of all vibration frequencies in the vibration adjustment data segment is used as the vibration concentration value of the piezoelectric ceramic slider in the vibration adjustment data segment when it reciprocates and retracts.

[0087] It should be noted that the vibration concentration value in this application represents the concentration degree of the vibration frequency of the piezoelectric ceramic slider of the piezoelectric motor during the reciprocating retraction process. The higher the concentration degree of the vibration frequency, the more stable and consistent the vibration of the piezoelectric ceramic slider, and the more accurate the vibration adjustment caused by the load of the piezoelectric motor.

[0088] In specific implementation, the vibration smoothing factor of the vibration data segment is determined, and the vibration smoothing factor is set to a constant between 0 and 1. In specific cases, it can be set according to actual needs. For example, when the mean value of the vibration discrete amount in all vibration data segments is larger during the reciprocating retraction of the piezoelectric ceramic, a larger vibration smoothing factor is set. When the mean value of the vibration discrete amount in all vibration data segments is smaller during the reciprocating retraction of the piezoelectric ceramic, a smaller vibration smoothing factor is set. In the present application, since the vibration discrete amount is determined based on the vibration frequency of the stick-slip piezoelectric motor during operation, the vibration of the motor is less affected by the load. Therefore, the vibration smoothing factor is set to 0.45.

[0089] It should be noted that the vibration damping factor in this application represents a parameter for adjusting the degree of fluctuation of the frequency of vibration generated when the piezoelectric ceramic reciprocates and retracts. The vibration damping factor can adjust the stable operating state of the piezoelectric motor when vibration is generated under different load conditions.

[0090] In specific implementation, the vibration smoothing component of the piezoelectric ceramic slider in the vibration adjustment data segment during reciprocating retraction is determined according to the vibration discrete quantity, the vibration concentration value and the vibration smoothing factor. The vibration smoothing component can be determined by the following formula, namely: vibration smoothing component = (vibration discrete quantity / vibration concentration value) * vibration smoothing factor, and the vibration smoothing component of the piezoelectric ceramic slider in the remaining vibration adjustment data segments during reciprocating retraction is continued to be determined. It should be noted that in this application, each vibration data segment corresponds to a vibration discrete quantity and a vibration concentration quantity. In other embodiments, the vibration smoothing component can also be determined according to other methods, for example, a hierarchical clustering algorithm or a time clustering aggregation algorithm, etc., which is not limited here.

[0091] It should be noted that the vibration smoothing component of the piezoelectric ceramic slider during reciprocating retraction in the vibration adjustment data segment of this application represents a quantitative indicator of the stability of the vibration generated by the piezoelectric ceramic during reciprocating contraction. This quantitative indicator is used to measure the degree of suppression of vibration frequency fluctuations of the piezoelectric ceramic slider during the vibration adjustment process.

[0092] In some embodiments, determining the target piezoelectric motor uncontrolled load gradient based on all vibration suppression components and the dynamic equilibrium sequence of the piezoelectric motor's vibration during operation can be achieved by using the following steps:

[0093] Get all vibration smoothing components;

[0094] Determine the load variation sequence of the piezoelectric motor's vibration during operation based on all vibration suppression components;

[0095] Obtaining a dynamic equilibrium sequence of the piezoelectric motor's vibration during operation;

[0096] Determine a target piezoelectric motor non-controlled load gradient according to the load change sequence and the dynamic balance sequence.

[0097] It should be noted that in the present application, when the target piezoelectric motor is running, the vibration data of the piezoelectric ceramic slider is related to the size of the load. When the load is running, the size of the load will fluctuate due to multiple uncertain factors during the operation of the piezoelectric motor, for example, the fluctuation of the current in the piezoelectric motor causes the fluctuation of the operation and the change of the load size, etc. That is, when the target piezoelectric motor is running, the running state is unstable and the control ability is low. Therefore, in the control of the target piezoelectric motor, the non-controlled load gradient is determined to balance the dynamic operation characteristics of the piezoelectric motor, balance the vibration caused by uncertain factors, and improve the stability of the control and the control accuracy of the piezoelectric motor.

[0098] In addition, in the present application, the non-controlled load gradient of the target piezoelectric motor represents the degree of influence of load change on vibration stability during the operation of the piezoelectric motor. Under normal circumstances, the vibration stability of the motor under different load conditions may be different, and the non-controlled load gradient is used to measure this change.

[0099] In specific implementation, the load change sequence of the vibration of the piezoelectric motor during operation is determined according to all vibration suppression components. The load change sequence can be arranged according to the time sequence of all suppression components to obtain the suppression components. The sequence of the suppression components arranged according to the time sequence is the load change sequence of the vibration of the piezoelectric motor during operation, and the sequence changes according to the change of time.

[0100] It should be noted that in the present application, the load change sequence represents the trend of the vibration suppression component changing with time during the operation of the piezoelectric motor. The load change sequence can measure the running state of the piezoelectric motor. For example, in the load change sequence, the vibration suppression component gradually increases, indicating that the load of the motor gradually increases, and the vibration suppression component gradually decreases, indicating that the load of the motor gradually decreases.

[0101] In addition, in a specific implementation, a dynamic balance sequence of vibration of the piezoelectric motor during operation is obtained. The dynamic balance sequence can collect the vibration frequency of the piezoelectric motor during non-load operation within one month through a vibration sensor, and calculate the average value of the vibration frequency during non-load operation. Then, the vibration smoothing component in each vibration data segment and the average value of the vibration frequency during non-load operation are subtracted and the absolute value is taken. The absolute value is used as the dynamic balance data of the vibration of the piezoelectric motor during operation. The dynamic balance data is then arranged in chronological order to obtain the dynamic balance sequence of vibration of the piezoelectric motor during operation, wherein the dynamic balance data represents the difference between the vibration frequency of the piezoelectric motor during load operation and the average value of the vibration frequency during non-load operation, which can measure the dynamic balance performance of the piezoelectric motor during load operation. The smaller the difference, the better the dynamic balance of the piezoelectric motor during load operation and the smoother the operation.

[0102] It should be noted that the dynamic balance sequence in this application represents the trend of the vibration balance ability of the piezoelectric motor changing over time during operation.

[0103] In specific implementation, determining the target piezoelectric motor uncontrolled load gradient based on the load variation sequence and the dynamic balance sequence can be achieved in the following manner, namely: fitting all data in the load variation sequence and all data in the dynamic balance sequence into a two-dimensional coordinate system (the ordinate is the smoothing component / dynamic balance data, and the abscissa is time), and then connecting the data points in the two-dimensional coordinate system with a smooth curve according to the starting time point, and then extracting the maximum slope values ​​on the two curves, and finally, calculating the ratio of the maximum slope value in the load variation sequence and the maximum slope value in the dynamic balance sequence, quantizing the ratio to 0~1, and then using the quantized ratio as the target piezoelectric motor uncontrolled load gradient.

[0104] In step 104, a thermal load loss set of the piezoelectric motor during operation is obtained, and an overheating fault tolerance entropy of heat during motor power output is extracted based on the thermal load loss set. A controllable load gradient of the target piezoelectric motor is determined based on the overheating fault tolerance entropy and a static equilibrium sequence of the temperature of the piezoelectric motor during operation.

[0105] In some embodiments, obtaining the thermal load loss set of the piezoelectric motor during operation may be achieved by using the following steps:

[0106] Collect thermal load data of the piezoelectric motor when it is in operation;

[0107] Collecting ambient heat when the piezoelectric motor is in operation;

[0108] A heat load loss set of the piezoelectric motor when in operation is determined according to the heat load data and the ambient heat.

[0109] It should be noted that the thermal load data in this application represents the temperature of the piezoelectric motor itself when the piezoelectric motor is working. The temperature data of the piezoelectric motor itself when the piezoelectric motor is working can be collected through a temperature sensor. The collection time is all the temperature data of the piezoelectric motor working within one month, and the sampling period is once per minute.

[0110] In addition, the ambient heat when the piezoelectric motor is in operation indicates the degree of adjustment of the ambient temperature in which the piezoelectric motor is located. It can be collected by a temperature sensor. The collection cycle is once a day. The collection time is the ambient temperature in which the piezoelectric motor is located within a month, and the variance of all ambient temperatures is calculated, and the variance is used as the ambient heat.

[0111] In a specific implementation, a thermal load loss set of the piezoelectric motor during operation is determined based on the thermal load data and the ambient heat. The thermal load loss set can be determined in the following manner: first, the thermal load data are arranged from small to large, and divided equally according to the number of segments of the vibration adjustment data segment to obtain a thermal load data segment, wherein the thermal load data segment represents a data set consisting of the operating temperature data of the piezoelectric motor; then, the average value of each thermal load segment is obtained; then, the ambient heat is quantized to a value between 0 and 1; in this application, the ambient heat is set to 0.3 based on the actual working state of the piezoelectric motor; finally, the temperature average in each temperature data segment is multiplied by the ambient heat to obtain multiple products; all the products are used as elements of the thermal load loss set of the piezoelectric motor during operation, namely, the thermal load loss amount; the thermal load loss amount represents the degree of loss of operating stability of the piezoelectric motor due to temperature during operation, thereby obtaining a thermal load loss set.

[0112] It should be noted that the thermal load loss set in this application represents a set of stability losses in load operation caused by heat due to the load factors of the piezoelectric motor itself and the environmental factors in which the piezoelectric motor is located during operation of the piezoelectric motor.

[0113] In some embodiments, extracting the overheating fault tolerance entropy of the heat during motor power output according to the heat load loss set can be achieved by using the following steps:

[0114] Obtaining the heat load loss set;

[0115] Determining the heat operation adjustment margin when the motor power is output according to the heat load loss set;

[0116] Determine the operating tolerance factor for overheating in the motor power output;

[0117] The overheating fault tolerance entropy of heat when the motor outputs power is determined according to the operation adjustment margin and the operation fault tolerance factor.

[0118] In a specific implementation, the operating adjustment margin of heat when the motor power is output is determined according to the thermal load loss set. The operating adjustment margin can be obtained by subtracting the maximum value of the thermal load loss and the minimum value of the thermal load loss in the thermal load loss set to obtain a thermal load loss difference, and the thermal load loss difference is used as the operating adjustment margin. In other embodiments, other methods can also be used to determine the operating adjustment margin, which is not limited here.

[0119] It should be noted that the operating adjustment margin in this application refers to the ability of the piezoelectric motor to stably adjust when responding to external temperature changes and its own temperature change disturbances under load operating conditions.

[0120] In addition, during the specific implementation, the operating fault tolerance factor when the motor power output is overheated is determined. The value range of the operating fault tolerance factor is 0~1, which is determined based on the stability of the change of the operating temperature in the piezoelectric motor power output. The operating fault tolerance factor can be set to 0.85. In other embodiments, it can be set according to the specific situation and is not limited here.

[0121] It should be noted that the operating fault tolerance factor in this application represents an indicator of the fault tolerance capability for overheating during the motor power output process, so as to measure the motor's ability to handle overheating during operation. The closer the value is to 1, the stronger the motor's fault tolerance capability in overheating conditions, and the better it can cope with temperature changes and fluctuations and maintain stable operation. The closer the value is to 0, the lower the motor's fault tolerance capability for overheating conditions, and the more easily it is affected by temperature changes, resulting in performance degradation.

[0122] In a specific implementation, the overheating fault tolerance entropy of the heat during the motor power output is determined according to the operation adjustment margin and the operation fault tolerance factor. This can be achieved in the following manner, namely: determining the differential of the operation adjustment margin during the operation time to obtain the derivative corresponding to the operation adjustment margin, multiplying the derivative by the operation fault tolerance factor, and taking the product of the derivative and the operation fault tolerance factor as the overheating fault tolerance entropy.

[0123] It should be noted that the overheating tolerance entropy in this application represents the temperature change tolerance of the piezoelectric motor when it is stably adjusted when overheating occurs during the power output process of the motor, and is used to measure the adjustment ability of the piezoelectric motor for operating stability adjustment.

[0124] In some embodiments, determining the controllable load gradient of the target piezoelectric motor based on the overheating fault tolerance entropy and the static equilibrium sequence of the operating temperature of the piezoelectric motor can be achieved by the following steps:

[0125] Obtaining a static equilibrium sequence of the piezoelectric motor's operating temperature;

[0126] determining a static equilibrium trend quantity of temperature according to the static equilibrium sequence;

[0127] A controllable load gradient of the target piezoelectric motor is determined according to the overheating fault tolerance entropy and the static balance trend quantity.

[0128] It should be noted that in the present application, the piezoelectric motor is affected by temperature changes during load operation on its operating stability, but the dynamic stability of the piezoelectric motor during load operation is ensured, and in the process of controlling the piezoelectric motor, the constant control of the temperature is in a controllable state, so the controllable load gradient of the target piezoelectric motor is determined to characterize the degree to which the piezoelectric motor is affected by temperature changes during load operation, and then the dynamic performance of the piezoelectric motor is controlled according to the degree of influence. The controllable load gradient represents the control parameter for controlling the operating stability of the piezoelectric motor by adjusting different temperatures during load operation. The controllable load gradient is used to measure the ability of the motor to achieve stable operation under different load conditions when the motor is running stably.

[0129] In specific implementation, the static balance sequence of the temperature of the piezoelectric motor during operation can be obtained in the following manner, namely: the thermal load data of the piezoelectric motor when it is in operation is subtracted from the average of all ambient heat when the piezoelectric motor is in operation and the absolute value is taken to obtain the absolute value of the difference between multiple thermal load data and the average of ambient heat. Finally, the absolute values ​​of the difference between all thermal load data and the average of ambient heat are arranged in ascending order, and the result of the arrangement is used as the static balance sequence of the temperature of the piezoelectric motor during operation.

[0130] It should be noted that the static balance sequence in this application represents the trend of the temperature balance ability of the piezoelectric motor changing over time in a load operation state.

[0131] In specific implementation, the static equilibrium trend amount of the temperature is determined according to the static equilibrium sequence. The static equilibrium trend amount can be determined according to the maximum slope value in the static equilibrium sequence. The slope can be determined according to a linear regression algorithm or a data fitting algorithm, which is not limited here.

[0132] It should be noted that the static balance trend quantity in this application represents the changing trend of the operating temperature in the temperature balance ability during the operation of the motor. The larger the static balance trend quantity, the more obvious the temperature change trend, that is, the temperature fluctuation is greater during motor regulation.

[0133] In specific implementation, the controllable load gradient of the target piezoelectric motor is determined according to the overheating fault tolerance entropy and the static balance trend quantity. The controllable load gradient of the target piezoelectric motor can be determined according to the ratio of the overheating fault tolerance entropy and the static balance trend quantity, that is, the ratio of the overheating fault tolerance entropy and the static balance trend quantity is used as the controllable load gradient of the target piezoelectric motor. In other embodiments, it can also be determined according to specific circumstances, which is not limited here.

[0134] In step 105 , a balance adjustment amount is determined according to the uncontrolled load gradient and the controllable load gradient, and the dynamic operating characteristics of the target piezoelectric motor during operation are regulated by the balance adjustment amount.

[0135] In some embodiments, determining the balance adjustment amount according to the uncontrolled load gradient and the controllable load gradient can be achieved by using the following steps:

[0136] Obtaining the dynamic characteristic quantity of the piezoelectric motor under the current operating state;

[0137] Determining a first balance adjustment component in a current operating state of the piezoelectric motor according to the uncontrolled load gradient and the operating dynamic characteristic quantity;

[0138] Determining a second balance adjustment component under the current operating state of the piezoelectric motor according to the controllable load gradient and the operating dynamic characteristic quantity;

[0139] A balance adjustment amount is determined according to the first balance adjustment component and the second balance adjustment component.

[0140] In a specific implementation, the operating dynamic characteristic quantity of the piezoelectric motor in the current operating state is obtained. The operating dynamic characteristic quantity can be dimensionally processed by the vibration frequency of the piezoelectric motor when running under load at the current moment and the temperature value of the piezoelectric motor, and then the ratio of the vibration frequency to the temperature value is calculated, and the ratio is used as the operating dynamic characteristic quantity of the piezoelectric motor in the current operating state.

[0141] It should be noted that the operating dynamic characteristic quantity in this application represents a measurement value of the dynamic performance characteristics exhibited by the piezoelectric motor in the current operating state.

[0142] In addition, in a specific implementation, the first balance adjustment component of the piezoelectric motor in the current operating state is determined based on the uncontrolled load gradient and the operating dynamic characteristic quantity. The first balance adjustment component can be determined by multiplying the uncontrolled load gradient and the operating dynamic characteristic quantity, that is, the product of the uncontrolled load gradient and the operating dynamic characteristic quantity is used as the first balance adjustment component; repeat the above steps and use the product of the controllable load gradient and the operating dynamic characteristic quantity as the second balance adjustment component.

[0143] It should be noted that, in the present application, the first balance adjustment component represents a measure of balance adjustment of vibration when the piezoelectric motor is running, and the second balance adjustment component represents a measure of balance adjustment of temperature when the piezoelectric motor is running.

[0144] In addition, the dynamic operating characteristics of the target piezoelectric motor during operation are affected by two key factors: vibration and temperature. Therefore, adjusting the dynamic characteristics of the target piezoelectric motor during operation from the two dimensions of vibration and temperature can effectively improve the stability of the piezoelectric motor during load operation and realize the control of operational instability of the piezoelectric motor during load adjustment.

[0145] In a specific implementation, a balance adjustment amount is determined based on the first balance adjustment component and the second balance adjustment component. The balance adjustment amount may be determined by the sum of the first balance adjustment component and the second balance adjustment component, that is, the sum of the first balance adjustment component and the second balance adjustment component is used as the balance adjustment amount. In other embodiments, the balance adjustment amount may be determined by other methods, for example, by a group aggregation algorithm or a principal component analysis method, which is not limited here.

[0146] It should be noted that the balance adjustment amount in this application represents the overall adjustment amount used to adjust the balance performance of the piezoelectric motor. Determining the balance adjustment amount can realize the operation instability control of the piezoelectric motor during load operation, that is, by adjusting the balance performance of the motor, the operating state of the motor when it is disturbed by vibration factors and temperature factors during load changes can be better controlled, and the operation instability caused by load adjustment can be avoided, thereby ensuring the stable operation of the motor under various load adjustments.

[0147] In some embodiments, regulating the dynamic operating characteristics of the target piezoelectric motor during operation by using the balance adjustment amount can be achieved by using the following steps:

[0148] obtaining the balance adjustment amount;

[0149] comparing the balance adjustment amount with a preset target dynamic operation characteristic determination value of the piezoelectric motor during operation, and increasing the dynamic control gain of the piezoelectric motor when the balance adjustment amount is greater than the preset dynamic operation characteristic determination value;

[0150] When the balance adjustment amount is greater than a preset dynamic operation characteristic determination value, the dynamic control gain of the piezoelectric motor is reduced.

[0151] It should be noted that the dynamic operating characteristic judgment value in this application represents an indicator for measuring the stability of the piezoelectric motor during operation. The preset dynamic operating characteristic judgment value can be set by simulating the dynamic operating control states of a large number of piezoelectric motors through machine learning. It will not be repeated here. In this embodiment, the preset dynamic operating characteristic judgment value is used as a benchmark for the dynamic operating characteristic control of the target piezoelectric motor during operation.

[0152] The dynamic control gain of the piezoelectric motor represents a parameter used in the piezoelectric motor control to adjust the piezoelectric motor's operational instability during load adjustment. This gain value is typically used in the feedback loop of the piezoelectric motor control.

[0153] In addition, in another aspect of the present application, in some embodiments, the present application provides a control system for a piezoelectric motor, referring to Figure 4 , which is a schematic diagram of exemplary hardware and / or software of a piezoelectric motor control system according to some embodiments of the present application. The piezoelectric motor control system 400 includes: an acquisition module 401, a processing module 402, and a control module 403, which are described as follows:

[0154] Acquisition module 401, in this application, acquisition module 401 is mainly used to collect rotor eccentric vibration data of the target piezoelectric motor when the motor is running;

[0155] Processing module 402, in this application, is mainly used to determine the vibration deviation of the piezoelectric ceramic slider in the motor during reciprocating retraction, and divide the rotor eccentricity vibration data according to the vibration deviation to obtain multiple vibration adjustment data segments when the motor is running;

[0156] The processing module 402 is further configured to extract the vibration suppression component of the piezoelectric ceramic slider during reciprocating retraction in each vibration adjustment data segment, and determine the target piezoelectric motor uncontrolled load gradient based on all the vibration suppression components and the dynamic equilibrium sequence of the piezoelectric motor's vibration during operation;

[0157] In addition, the processing module 402 is further configured to obtain a heat load loss set of the piezoelectric motor during operation, extract an overheating fault tolerance entropy of heat during motor power output based on the heat load loss set, and determine a controllable load gradient of the target piezoelectric motor based on the overheating fault tolerance entropy and a static equilibrium sequence of the piezoelectric motor's operating temperature;

[0158] The control module 403 in this application is mainly used to determine the balance adjustment amount according to the uncontrolled load gradient and the controllable load gradient, and then control the dynamic operating characteristics of the target piezoelectric motor during operation through the balance adjustment amount.

[0159] In addition, the present application also provides a computer device, which includes a memory and a processor, wherein the memory stores a code, and the processor is configured to obtain the code and execute the above-mentioned piezoelectric motor control method.

[0160] In some embodiments, reference Figure 5 , which is a schematic diagram of the structure of a computer device for implementing a piezoelectric motor control method according to some embodiments of the present application. The piezoelectric motor control method in the above embodiment can be achieved by Figure 5 The computer device 500 shown in FIG. 5 is implemented as shown in FIG. 5 . The computer device 500 includes at least one processor 501 , a communication bus 502 , a memory 503 , and at least one communication interface 504 .

[0161] The processor 501 may be a general-purpose central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more processors for executing the control method for controlling the piezoelectric motor in the present application.

[0162] The communication bus 502 may include a pathway for transmitting information between the aforementioned components.

[0163] The memory 503 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, a random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, an optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto. The memory 503 may be independent and connected to the processor 501 via the communication bus 502. The memory 503 may also be integrated with the processor 501.

[0164] The memory 503 is configured to store a program code for implementing the scheme of the present application, and the processor 501 is configured to execute the program code stored in the memory 503. The program code can include one or more software modules. The piezoelectric motor control method in the above-described embodiments can be implemented by the processor 501 and one or more software modules in the program code in the memory 503.

[0165] The communication interface 504 is configured to communicate with other devices or communication networks, such as an Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc., using any transceiver-like mechanism.

[0166] In a specific implementation, as an example, the computer device can include a plurality of processors, each of which can be a single-CPU processor or a multi-CPU processor. The processor herein can refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0167] The computer device described above can be a general-purpose computer device or a special-purpose computer device. In a specific implementation, the computer device can be a desktop computer, a laptop computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device, or an embedded device. The embodiments of the present application do not limit the type of the computer device.

[0168] In addition, the present application also provides a computer-readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the piezoelectric motor control method described above.

[0169] Although the preferred embodiments of the present application have been described, those skilled in the art can make further changes and modifications to the embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to cover all changes and modifications falling within the scope of the present application.

[0170] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A method for controlling a piezoelectric motor, characterized in that: The steps include: Collect rotor eccentric vibration data of the target piezoelectric motor when it is running; Determining a vibration deviation of a piezoelectric ceramic slider in the motor during reciprocating retraction, dividing the rotor eccentricity vibration data according to the vibration deviation to obtain a plurality of vibration adjustment data segments when the motor is running; Extracting the vibration suppression components of the piezoelectric ceramic slider during reciprocating retraction in each vibration adjustment data segment, and determining the target piezoelectric motor uncontrolled load gradient based on all the vibration suppression components and the dynamic equilibrium sequence of the piezoelectric motor's vibration during operation; Obtaining a thermal load loss set for the piezoelectric motor during operation, extracting an overheating fault tolerance entropy of heat during motor power output based on the thermal load loss set, and determining a controllable load gradient of the target piezoelectric motor based on the overheating fault tolerance entropy and a static equilibrium sequence of the piezoelectric motor's operating temperature. The overheating fault tolerance entropy represents the motor's tolerance to temperature changes during power output when the piezoelectric motor is stably regulated in the event of overheating, and is used to measure the piezoelectric motor's ability to regulate operational stability. A balance adjustment amount is determined according to the uncontrolled load gradient and the controllable load gradient, and the dynamic operating characteristics of the target piezoelectric motor during operation are regulated by the balance adjustment amount.

2. The method according to claim 1, wherein Determining the vibration deviation of the piezoelectric ceramic slider in the motor during reciprocating retraction specifically includes: Obtaining a uniform vibration amount of the piezoelectric ceramic slider during reciprocating retraction; determining a sliding gradient of the piezoelectric ceramic during reciprocating retraction according to the uniform vibration amount; determining a vibration deviation factor of the piezoelectric ceramic during reciprocating retraction; The vibration deviation amount of the piezoelectric ceramic slider during reciprocating retraction is determined according to the sliding gradient and the vibration deviation factor.

3. The method according to claim 1, wherein The rotor eccentricity vibration data is divided according to the vibration deviation to obtain a plurality of vibration adjustment data segments when the motor is running, specifically including: Acquiring the vibration deviation and the rotor eccentric vibration data; The rotor eccentricity vibration data is divided into blocks according to the magnitude of the vibration deviation, thereby obtaining a plurality of vibration adjustment data segments when the motor is running.

4. The method according to claim 1, wherein The target piezoelectric motor uncontrolled load gradient is determined based on all vibration suppression components and the dynamic balance sequence of the piezoelectric motor's vibration during operation. Specifically, the following steps are involved: Get all vibration smoothing components; Determine the load variation sequence of the piezoelectric motor's vibration during operation based on all vibration suppression components; Obtaining a dynamic equilibrium sequence of the piezoelectric motor's vibration during operation; A target piezoelectric motor uncontrolled load gradient is determined according to the load variation sequence and the dynamic balance sequence.

5. The method according to claim 1, wherein Obtaining the heat load loss set of the piezoelectric motor during operation specifically includes: Collect thermal load data of the piezoelectric motor when it is in operation; Collecting ambient heat when the piezoelectric motor is in operation; A heat load loss set of the piezoelectric motor when in operation is determined according to the heat load data and the ambient heat.

6. The method according to claim 1, wherein Extracting the overheating fault tolerance entropy of heat during motor power output according to the heat load loss set specifically includes: Obtaining the heat load loss set; Determining the heat operation adjustment margin when the motor power is output according to the heat load loss set; Determine the operating tolerance factor for overheating in the motor power output; The overheating fault tolerance entropy of heat when the motor outputs power is determined according to the operation adjustment margin and the operation fault tolerance factor.

7. The method according to claim 1, wherein The vibration sensor is used to collect the rotor eccentric vibration data of the rotor when the target piezoelectric motor is running.

8. A piezoelectric motor control system, which uses the method according to any one of claims 1 to 7 to control the piezoelectric motor, characterized in that: The system includes: An acquisition module is used to acquire rotor eccentric vibration data of the target piezoelectric motor when the motor is running; a processing module, configured to determine a vibration deviation of a piezoelectric ceramic slider in the motor during reciprocating retraction, and to divide the rotor eccentricity vibration data according to the vibration deviation to obtain a plurality of vibration adjustment data segments during motor operation; The processing module is further configured to extract the vibration suppression component of the piezoelectric ceramic slider during reciprocating retraction in each vibration adjustment data segment, and determine the target piezoelectric motor uncontrolled load gradient based on all the vibration suppression components and the dynamic equilibrium sequence of the piezoelectric motor's vibration during operation; The processing module is further configured to obtain a heat load loss set when the piezoelectric motor is in operation, extract an overheating fault tolerance entropy of heat when the motor outputs power based on the heat load loss set, and determine a controllable load gradient of the target piezoelectric motor based on the overheating fault tolerance entropy and a static equilibrium sequence of the temperature of the piezoelectric motor during operation; The control module is used to determine a balance adjustment amount according to the uncontrolled load gradient and the controllable load gradient, and then control the dynamic operating characteristics of the target piezoelectric motor during operation through the balance adjustment amount.

9. A computer device, characterized in that: The computer device includes a memory and a processor, wherein the memory stores codes, and the processor is configured to acquire the codes and execute the piezoelectric motor control method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the piezoelectric motor control method according to any one of claims 1 to 7 is implemented.

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