Braking method and device of linear motor, electronic equipment and storage medium

Abstract

The invention provides a braking method and device of a linear motor, electronic equipment and a storage medium. The method comprises the steps that if the driving voltage of the linear motor after the current moment is smaller than the preset driving voltage, the braking voltage of the linear motor in the second integer number of half cycles is calculated based on the driving voltage before the current moment and the back electromotive force of the linear motor in the first integer number of half cycles after the current moment, the time length of the second integer number of half cycles is the same as that of the first integer number of half cycles; and whether the maximum value of the back electromotive force of the linear motor in the third integer half cycle is larger than or equal to the preset back electromotive force is judged, and whether the linear motor is braked or not is determined based on the judgment result. In this way, efficient and accurate braking of the linear motor can be achieved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of electromechanical technology, and in particular, to a braking method, device, electronic device, and storage medium for a linear motor. Background Art

[0002] Linear motors are mainly used as vibration devices in electronic products such as mobile phones, watches, and tablets. Their main features are small size, fast start, and fast braking, so they are increasingly widely used in many scenarios such as button presses, swipes, heartbeats, and explosions. However, in the above scenarios, it is usually necessary to make the after-vibration of the linear motor last for a short time to achieve fast braking.

[0003] Currently, during the braking process of a linear motor, in order to make the linear motor achieve fast braking, active braking is usually required. Therefore, how to improve the braking accuracy and braking efficiency of the linear motor is an urgent problem to be solved. Summary of the Invention

[0004] In view of this, the present application provides a braking method, device, electronic device, and storage medium for a linear motor, which can improve the braking accuracy and braking efficiency of the linear motor, thereby achieving precise and fast braking.

[0005] In a first aspect, the present application provides a braking method for a linear motor, including: if the driving voltage of the linear motor after the current moment is less than a preset driving voltage, then based on the driving voltage before the current moment and the back electromotive force of the linear motor in the first integer number of half-cycles after the current moment, calculate the braking voltage of the linear motor in the second integer number of half-cycles, where the time length of the second integer number of half-cycles is the same as that of the first integer number of half-cycles; determine whether the maximum value of the back electromotive force of the linear motor in the third integer number of half-cycles is greater than or equal to a preset back electromotive force, and based on the determination result, determine whether the linear motor performs braking.

[0006] In a second aspect, the present application provides a braking device for a linear motor, including: a calculation module, configured to, if the driving voltage of the linear motor after the current moment is less than a preset driving voltage, then based on the driving voltage before the current moment and the back electromotive force of the linear motor in the first integer number of half-cycles after the current moment, calculate the braking voltage of the linear motor in the second integer number of half-cycles, where the time length of the second integer number of half-cycles is the same as that of the first integer number of half-cycles; a judgment module, configured to judge whether the maximum value of the back electromotive force of the linear motor in the third integer number of half-cycles is greater than or equal to a preset back electromotive force; a determination module, configured to determine whether the linear motor performs braking based on the determination result.

[0007] In a third aspect, the present application provides an electronic device, including: a processor, a memory, a communication interface, and a communication bus. The processor, the memory, and the communication interface complete communication with each other through the communication bus. The memory is used to store one or more executable instructions, and the executable instructions cause the processor to execute the method of the first aspect described above.

[0008] In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program, and when the computer program is executed by one or more processors, the method of the first aspect described above is implemented.

[0009] In a fifth aspect, the present application provides a computer program product including computer program instructions, and the computer program instructions cause a computer to execute the method of the first aspect described above.

[0010] In a sixth aspect, the present application provides a computer program, and when the computer program runs on a computer, the computer is caused to execute the method of the first aspect described above.

[0011] The embodiments of the present application provide a braking method, device, electronic device, and storage medium for a linear motor. By using the driving voltage before the current moment and the back electromotive force of the linear motor in the first integer number of half-cycles after the current moment, the braking voltage of the linear motor in the second integer number of half-cycles can be calculated, thereby improving the accuracy of the braking voltage, effectively reducing the reverse acceleration problem caused by incorrect adjustment of the braking voltage, avoiding sudden changes or harmonics in the braking voltage, further enabling the linear motor to achieve precise and rapid braking, and improving the user experience. In addition, the braking voltage obtained by using the back electromotive force and the driving voltage can adapt to different vibration scenarios (such as button press, sliding, heartbeat, explosion, etc.), and has strong adaptability and robustness. Description of the Drawings

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments recorded in the embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0013] Figure 1 is a schematic diagram of the driving voltage and vibration speed of a linear motor;

[0014] Figure 2 is a flowchart of a braking method for a linear motor provided by an embodiment of the present application;

[0015] Figure 3 is a schematic diagram of linear motor braking provided by an embodiment of the present application;

[0016] Figure 4 It is another schematic diagram of the braking of a linear motor provided by an embodiment of the present application;

[0017] Figure 5 It is a schematic diagram of the braking voltage and vibration speed of a linear motor provided by an embodiment of the present application;

[0018] Figure 6 It is another schematic diagram of the braking voltage and vibration speed of a linear motor provided by an embodiment of the present application;

[0019] Figure 7 It is a schematic diagram of the composition structure of a braking device of a linear motor provided by an embodiment of the present application;

[0020] Figure 8 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0021] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the following will clearly and detailedly describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art shall fall within the protection scope of the embodiments of the present application.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0023] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0024] It should also be noted that the terms "first / second / third" involved in the embodiments of the present application are only used to distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first / second / third" can be interchanged with a specific order or sequence when permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0025] To facilitate the understanding of the technical solutions in the embodiments of the present application, the following describes the related technologies in the embodiments of the present application. The following related technologies can be arbitrarily combined with the technical solutions in the embodiments of the present application as optional solutions, and they all fall within the protection scope of the embodiments of the present application.

[0026] Linear motors are mainly used as vibration devices in electronic products such as mobile phones, watches, and tablets. Due to their excellent performance such as small size, rapid startup, and quick braking, they are increasingly widely used in the field of tactile feedback, for example, widely used in many scenarios such as button presses, swipes, heartbeats, and explosions. In order to achieve excellent tactile effects in the above scenarios, it is usually necessary to make the after-vibration duration of the linear motor relatively short, so as to achieve faster braking of the linear motor.

[0027] Exemplarily, Figure 1 is a schematic diagram of the drive voltage and vibration speed of a linear motor. As Figure 1 shown, by inputting a drive voltage to the linear motor, the linear motor can vibrate according to this drive voltage. The amplitude of the vibration speed of the motor will first increase with the increase of the drive time and then reach a steady state, with the amplitude remaining basically unchanged. When the drive voltage approaches zero, the linear motor will continue to vibrate due to the inertia of the spring structure, and the amplitude of the vibration will gradually decrease. The vibration of the linear motor after stopping the input of the drive voltage is called after-vibration.

[0028] Currently, during the braking process of linear motors, in order to make the linear motor brake faster, active braking is usually required. Two exemplary descriptions of active braking of linear motors are given below.

[0029] Example 1: By real-time monitoring of the operating state of the motor, a fast braking effect is achieved through proportional-integral-differential (PID) closed-loop control.

[0030] Example 2: By establishing a motor model and simulating the operating state of the linear motor, after the drive voltage ends, a reverse braking voltage is started to achieve fast braking of the linear motor.

[0031] However, Example 1 requires sensors to real-time monitor the operating state of the linear motor, which will cause disadvantages such as complex processes, high costs, and complex solutions; Example 2 realizes the braking of the linear motor through a motor model, and the accuracy of the motor model will affect the braking effect, resulting in relatively limited robustness.

[0032] In summary, the current braking solutions for linear motors have problems of low precision and low efficiency, resulting in a poor user perception experience. Moreover, since the driving voltages used by linear motors have various change types in terms of frequency and amplitude, different braking effects may be caused, so that the linear motor cannot achieve fast and effective braking. In addition, if an error occurs during the adjustment of the braking voltage, the linear motor may experience reverse acceleration, further affecting the braking performance. Therefore, how to improve the braking accuracy and efficiency of the linear motor to achieve fast and reliable stop of the linear motor is an urgent problem to be solved.

[0033] Based on this, the embodiments of the present application provide a braking method for a linear motor. By using the driving voltage before the current moment and the back electromotive force of the linear motor in the first integer number of half-cycles after the current moment, the braking voltage of the linear motor in the second integer number of half-cycles can be calculated, thereby improving the accuracy of the braking voltage, effectively reducing the reverse acceleration problem caused by incorrect adjustment of the braking voltage, avoiding sudden changes or harmonics of the braking voltage, further enabling the linear motor to achieve precise and fast braking, and improving the user experience. In addition, the braking voltage obtained by using the back electromotive force and the driving voltage can adapt to different vibration scenarios (such as button, sliding, heartbeat, explosion and other scenarios), and has strong adaptability and robustness.

[0034] To facilitate the understanding of the technical solutions of the embodiments of the present application, the technical solutions of the present application are described in detail below through specific embodiments. The above related technologies can be arbitrarily combined with the technical solutions of the embodiments of the present application as optional solutions, and they all belong to the protection scope of the embodiments of the present application. The embodiments of the present application include at least some of the following contents.

[0035] Figure 2 is a schematic flowchart of a braking method for a linear motor provided by an embodiment of the present application. As Figure 2 shown, the method may include the following steps.

[0036] S210. If the driving voltage of the linear motor after the current moment is less than the preset driving voltage, calculate the braking voltage of the linear motor in the second integer number of half-cycles based on the driving voltage before the current moment and the back electromotive force of the linear motor in the first integer number of half-cycles after the current moment.

[0037] Among them, the time lengths of the second integer number of half-cycles and the first integer number of half-cycles are the same.

[0038] It should be noted that in the embodiments of the present application, the braking method of the linear motor can be applied to a braking device of the linear motor or an electronic device integrated with the device.

[0039] It should also be noted that the preset drive voltage can be set manually by those skilled in the art according to experience, or can be set in other ways, and the embodiments of the present application do not limit this.

[0040] It should be understood that in the case where the drive voltage of the linear motor after the current moment is less than the preset drive voltage, it indicates that the drive voltage of the linear motor after the current moment approaches zero, and at this time, the linear motor enters a braking state after the current moment.

[0041] Exemplarily, the waveform of the drive voltage can be a sine wave, a square wave, etc., and the embodiments of the present application do not limit this.

[0042] Exemplarily, the waveform of the back electromotive force can be a sine wave, a square wave, etc., and the embodiments of the present application do not limit this.

[0043] Exemplarily, the waveform of the braking voltage can be a sine wave, a square wave, etc., and the embodiments of the present application do not limit this.

[0044] It should be understood that in the case where the drive voltage of the linear motor after the current moment is less than the preset drive voltage, the back electromotive force of the linear motor can be detected in real time or periodically after the current moment.

[0045] It should also be understood that the detected back electromotive force of the linear motor can be saved in the random access memory (RAM).

[0046] Exemplarily, the back electromotive force of the linear motor can be detected by a signal acquisition device. For example, the back electromotive force of the linear motor can be detected by a microcontroller unit (MCU) of an analog-to-digital converter (ADC).

[0047] In some embodiments, calculating the braking voltage of the linear motor in the second integer half-cycle may include: calculating the gain parameter of the linear motor in the second integer half-cycle based on the drive voltage before the current moment and the back electromotive force in the first integer half-cycle; calculating the braking voltage of the linear motor in the second integer half-cycle based on the back electromotive force in the first integer half-cycle and the gain parameter in the second integer half-cycle.

[0048] It should be noted that the purpose of linear motor braking is to actively reduce the vibration speed to approach zero. The back electromotive force of the linear motor is equal to the product of the electromechanical coupling coefficient and the vibration speed. The electromechanical coupling coefficient is generally a fixed value. Therefore, in order to reduce the vibration speed to approach zero, it is necessary to reduce the back electromotive force of the linear motor. Further, the braking voltage in the second integer half-cycle can be generated directly using the back electromotive force in the first integer half-cycle and the gain parameter in the second integer half-cycle of the linear motor, thereby reducing the back electromotive force in the second integer half-cycle.

[0049] Further, the braking voltage of the linear motor in the second integer half-cycle can be obtained by calculating the product of the back electromotive force in the first integer half-cycle and the gain parameter in the second integer half-cycle.

[0050] Exemplarily, the braking voltage of the linear motor in the second integer half-cycle can be expressed by the following formula:

[0051]

[0052] where brksignal1 is the braking voltage of the linear motor in the second integer half-cycle, BG1 is the gain parameter in the second integer half-cycle, and bemfsignal1 is the back electromotive force in the first integer half-cycle.

[0053] Through this method, the back electromotive force and the gain parameter can be associated to calculate the braking voltage of the linear motor in the second integer half-cycle, thereby improving the accuracy and efficiency of linear motor braking.

[0054] It should be understood that in practical applications, when the gain parameter in the second integer half-cycle is relatively large, due to hardware limitations, the linear motor may not be able to output a sufficiently large braking voltage in the second integer half-cycle. Therefore, it is necessary to limit the gain parameter in the second integer half-cycle.

[0055] In some embodiments, calculating the braking voltage of the linear motor in the second integer half-cycle may include: if the gain parameter in the second integer half-cycle is less than a preset threshold, then calculating the braking voltage in the second integer half-cycle based on the back electromotive force in the first integer half-cycle and the gain parameter in the second integer half-cycle; or, if the gain parameter in the second integer half-cycle is greater than or equal to the preset threshold, then calculating the braking voltage in the second integer half-cycle based on the back electromotive force in the first integer half-cycle and the preset threshold.

[0056] It should be noted that by determining whether the gain parameter in the second integer half-cycle is less than a preset threshold, it is possible to, when the determination result is negative, use the preset threshold as the gain parameter in the second integer half-cycle, and calculate the braking voltage in the second integer half-cycle based on the preset threshold and the back electromotive force in the first integer half-cycle.

[0057] Furthermore, the method may further include: obtaining the maximum value of the absolute value of the back electromotive force in the second integer half-cycle; determining the ratio of the maximum value of the hardware output capability of the electronic device to the maximum value of the absolute value as the preset threshold.

[0058] Exemplarily, the preset threshold BG th has the following calculation formula:

[0059] BG th =V max / max(abs(bemfsignal1)) (2)

[0060] where bemfsignal1 is the back electromotive force in the first integer half-cycle, and V max is the maximum value of the hardware output capability of the electronic device.

[0061] Through this method, by comparing the gain parameter in the second integer half-cycle with the preset threshold, it is possible to flexibly adjust the calculation method of the braking voltage, so that the braking voltage of the linear motor in the second integer half-cycle takes into account both the real-time gain change and avoids the hardware limitation when the gain is large, thereby improving the accuracy and stability of the braking control. Furthermore, considering the limitation of the hardware output, by restricting the gain parameter, the maximum braking effect can be obtained within the range that the hardware can output.

[0062] In some embodiments, calculating the gain parameter of the linear motor in the second integer half-cycle may include: determining the maximum value of the first vibration speed of the linear motor based on the driving voltage before the current moment and the low-frequency pulse width modulation (LPM) parameter of the linear motor; determining the maximum value of the second vibration speed of the linear motor based on the back electromotive force in the first integer half-cycle and the low-frequency pulse width modulation parameter of the linear motor; calculating the gain parameter of the second integer half-cycle based on the maximum value of the first vibration speed and the maximum value of the second vibration speed.

[0063] It should be noted that the low-frequency pulse width modulation parameters of the linear motor may include the frequency, intensity, duration, etc. of the linear motor, and the embodiments of the present application do not limit this.

[0064] Through this method, the gain parameter of the linear motor in the second integer half-cycle can be accurately calculated based on the maximum values of the two vibration speeds of the linear motor, thereby improving the accuracy and efficiency of braking control.

[0065] In some embodiments, determining the maximum value of the first vibration speed of the linear motor may include: inputting the drive voltage before the current moment and the low-frequency pulse width modulation parameter of the linear motor into a motor model to obtain the first vibration speed, and determining the maximum value of the first vibration speed; correspondingly, determining the maximum value of the second vibration speed of the linear motor includes: inputting the back electromotive force in the first integer half-cycle and the low-frequency pulse width modulation parameter of the linear motor into the motor model to obtain the second vibration speed, and determining the maximum value of the second vibration speed.

[0066] It should be noted that the motor model can be a trained model.

[0067] Exemplarily, the motor model can be a second-order model of the linear motor.

[0068] It should be understood that when the linear motor is in the braking state, the vibration speed of the linear motor continuously decreases. Therefore, the maximum value of the first vibration speed is the peak value of the first spectral peak of the first vibration speed, and the maximum value of the second vibration speed is the peak value of the first spectral peak of the second vibration speed.

[0069] Through this method, the accuracy of the maximum values of the first vibration speed and the second vibration speed can be improved, facilitating the subsequent calculation of the gain parameter of the linear motor using these two maximum values, thereby optimizing the braking performance of the linear motor.

[0070] In some embodiments, calculating the gain parameter in the second integer half-cycle may include: calculating the ratio of the maximum value of the first vibration speed to the maximum value of the second vibration speed; determining the negative of the ratio as the gain parameter in the second integer half-cycle.

[0071] Exemplarily, the gain parameter in the second integer half-cycle can be expressed by the following formula:

[0072]

[0073] Where BG1 is the gain parameter in the second integer half-cycle, P_A1 is the maximum value of the first vibration speed, and P_B1 is the maximum value of the second vibration speed.

[0074] Through this method, based on the maximum values of the first vibration speed and the second vibration speed, calculating the gain parameter in the second integer half-cycle can effectively adjust the braking voltage dynamically using the change in vibration speed, thereby optimizing the braking performance of the linear motor.

[0075] S220. Determine whether the maximum value of the back electromotive force of the linear motor in the third integer half-cycle is greater than or equal to a preset back electromotive force.

[0076] It should be noted that the preset back electromotive force can be set artificially by those skilled in the art according to experience, or can be set in other ways, and the embodiments of the present application do not limit this.

[0077] Exemplarily, the preset back electromotive force can be the boundary value of the aftershock perceived by the user. For example, the preset back electromotive force can be set to 0.1g, where g is the acceleration due to gravity.

[0078] S230. Based on the judgment result, determine whether to brake the linear motor.

[0079] In some embodiments, if the judgment result is yes, then based on the drive voltage before the current moment, the back electromotive force in the third integer half-cycle, and the braking voltage in the second integer half-cycle, calculate the braking voltage of the linear motor in the fourth integer half-cycle, where the time length of the fourth integer half-cycle is the same as that of the third integer half-cycle; if the judgment result is no, then stop braking the linear motor.

[0080] Exemplarily, Figure 3 is a schematic diagram of braking a linear motor provided by an embodiment of the present application. As Figure 3 shown, the braking of the linear motor can include braking in two stages, where:

[0081] The braking in the first stage can include a first detection stage and a first braking stage. The first detection stage is equivalent to the first integer half-cycle in the foregoing embodiment, and the first braking stage is equivalent to the second integer half-cycle in the foregoing embodiment. Based on the drive voltage before the current moment and the back electromotive force of the linear motor in the first detection stage, the braking voltage of the linear motor in the first braking stage can be calculated, where the time lengths of the first detection stage and the first braking stage are the same.

[0082] The braking in the second stage can include a second detection stage and a second braking stage. The second detection stage is equivalent to the third integer half-cycle in the foregoing embodiment, and the second braking stage is equivalent to the fourth integer half-cycle in the foregoing embodiment. Based on the drive voltage before the current moment, the back electromotive force of the linear motor in the second detection stage, and the braking voltage of the linear motor in the first braking stage, the braking voltage of the linear motor in the second braking stage can be calculated, where the time lengths of the second detection stage and the second braking stage are the same. Further, Figure 3 the integer half-cycles shown are two half-cycles (i.e., one cycle).

[0083] It should be understood that if, after the linear motor performs the braking in the second stage and then performs the detection of the back electromotive force in the third stage, it is found that the maximum value of the back electromotive force in the third stage is still greater than or equal to the preset back electromotive force, then it is necessary to continue to perform the braking in the fourth stage, and repeat the above steps until the maximum value of the back electromotive force in a certain stage is less than the preset back electromotive force.

[0084] Exemplarily, Figure 4 is another schematic diagram of the braking of the linear motor provided by the embodiment of the present application.

[0085] As Figure 4 shown, the braking of the linear motor may include braking in two stages, where:

[0086] The braking in the first stage may include a first detection stage and a first braking stage. The first detection stage corresponds to the first integer number of half-cycles in the foregoing embodiment, and the first braking stage corresponds to the second integer number of half-cycles in the foregoing embodiment. Based on the driving voltage before the current moment and the back electromotive force of the linear motor in the first detection stage, the braking voltage of the linear motor in the first braking stage can be calculated, where the time lengths of the first detection stage and the first braking stage are the same.

[0087] The braking in the second stage may include a second detection stage and a second braking stage. The second detection stage corresponds to the third integer number of half-cycles in the foregoing embodiment, and the second braking stage corresponds to the fourth integer number of half-cycles in the foregoing embodiment. Based on the driving voltage before the current moment, the back electromotive force of the linear motor in the second detection stage, and the braking voltage of the linear motor in the first braking stage, the braking voltage of the linear motor in the second braking stage can be calculated, where the time lengths of the second detection stage and the second braking stage are the same. Further, Figure 4 the integer number of half-cycles shown is one half-cycle (i.e., half a cycle).

[0088] It should be understood that if, after the linear motor performs the braking in the second stage and then performs the detection of the back electromotive force in the third stage, it is found that the maximum value of the back electromotive force in the third stage is still greater than or equal to the preset back electromotive force, then it is necessary to continue to perform the braking in the fourth stage, and repeat the above steps until the maximum value of the back electromotive force in a certain stage is less than the preset back electromotive force.

[0089] It should be noted that in the embodiment of the present application, the integer number of half-cycles can be obtained by detecting the zero crossing point. Taking the back electromotive force as an example, the integer number of half-cycles of the back electromotive force can be obtained by detecting the zero crossing point of the back electromotive force. Exemplarily, as Figure 3As shown, in the first detection stage, two zero-crossing points can be detected to obtain two half-cycles (i.e., one cycle); in the first detection stage and the first braking stage, three zero-crossing points can be detected to obtain four half-cycles (i.e., two cycles).

[0090] In some embodiments, the method may further include: if both the first integer number of half-cycles and the second integer number of half-cycles are even-numbered half-cycles, determining that the back electromotive force of the second integer number of half-cycles and the direction of the braking voltage of the first integer number of half-cycles are opposite; or, if both the first integer number of half-cycles and the second integer number of half-cycles are odd-numbered half-cycles, determining that the back electromotive force of the second integer number of half-cycles and the direction of the braking voltage of the first integer number of half-cycles are the same.

[0091] Exemplarily, as Figure 3 shown, both the first cycle and the second cycle are even-numbered half-cycles. At this time, the direction of the back electromotive force of the first cycle and the direction of the braking voltage of the second cycle are opposite.

[0092] Exemplarily, as Figure 4 shown, both the first half-cycle and the second half-cycle are odd-numbered half-cycles. At this time, the direction of the back electromotive force of the first half-cycle and the direction of the braking voltage of the second half-cycle are the same.

[0093] Through this method, by the direction of the back electromotive force of the first integer number of half-cycles, the direction of the braking voltage of the second integer number of half-cycles can be obtained, thereby improving the control accuracy and braking efficiency of the linear motor.

[0094] In some other embodiments, the method may further include: calculating the slope of the back electromotive force of the linear motor at the starting moment of the first integer number of half-cycles and determining the first sign function value corresponding to the slope at the starting moment of the first integer number of half-cycles; calculating the slope of the back electromotive force of the linear motor at the ending moment of the first integer number of half-cycles and determining the second sign function value corresponding to the slope at the ending moment of the first integer number of half-cycles; based on the first sign function value and the second sign function value, adjusting the direction of the back electromotive force of the first integer number of half-cycles to obtain the direction of the braking voltage of the second integer number of half-cycles.

[0095] It should be noted that when the slope is greater than 0, the sign value corresponding to the slope is 1; when the slope is less than 0, the sign value corresponding to the slope is -1.

[0096] Furthermore, the direction of the back electromotive force of the second integer number of half-cycles can be determined based on the product of the first sign function value and the second sign function value; the direction of the braking voltage of the second integer number of half-cycles can be determined based on the direction of the back electromotive force of the second integer number of half-cycles.

[0097] Exemplarily, denote the slope of the back electromotive force of the linear motor at the start of the first integer half-cycle as s1, and the slope of the back electromotive force of the linear motor at the end of the first integer half-cycle as s2. Then the first sign function value is sign(s1), and the second sign function value is sign(s2). Thus, the direction of the back electromotive force of the linear motor in the second integer half-cycle can be obtained as Furthermore, the direction of the braking voltage of the linear motor in the second integer half-cycle can be obtained as

[0098] It can be understood that if equals 1, it indicates that the direction of the back electromotive force in the second integer half-cycle is the same as that in the first integer half-cycle. Then the direction of the braking voltage in the second integer half-cycle is opposite to the direction of the back electromotive force in the first integer half-cycle; if equals -1, it indicates that the direction of the back electromotive force in the second integer half-cycle is opposite to that in the first integer half-cycle. Then the direction of the braking voltage in the second integer half-cycle is the same as the direction of the back electromotive force in the first integer half-cycle.

[0099] By this method, based on the first sign function value and the second sign function value, adjusting the direction of the back electromotive force in the first integer half-cycle can effectively optimize the direction of the braking voltage in the second integer half-cycle, thereby improving the control accuracy and braking efficiency of the linear motor.

[0100] It should be understood that the method for determining the direction of the braking voltage in the fourth integer half-cycle is similar to that for determining the direction of the braking voltage in the second integer half-cycle, and will not be elaborated here.

[0101] In some embodiments, calculating the braking voltage of the linear motor in the fourth integer half-cycle may include: calculating the gain parameter of the linear motor in the fourth integer half-cycle based on the drive voltage before the current moment, the back electromotive force in the third integer half-cycle, and the braking voltage in the second integer half-cycle; calculating the braking voltage of the linear motor in the fourth integer half-cycle based on the back electromotive force in the third integer half-cycle and the gain parameter in the fourth integer half-cycle.

[0102] It should be noted that the braking voltage of the linear motor in the fourth integer half-cycle can be obtained by calculating the product of the back electromotive force in the third integer half-cycle and the gain parameter in the fourth integer half-cycle.

[0103] Exemplarily, the braking voltage of the linear motor in the fourth integer half-cycle can be expressed by the following formula:

[0104]

[0105] Among them, brksignal2 is the braking voltage of the linear motor in the fourth integer half cycle, BG2 is the gain parameter in the fourth integer half cycle, and bemfsignal2 is the back electromotive force in the third integer half cycle.

[0106] By this method, the back electromotive force and the gain parameter can be correlated to calculate the braking voltage of the linear motor in the fourth integer half cycle, thereby improving the braking accuracy and efficiency of the linear motor.

[0107] It should be understood that in practical applications, when the gain parameter in the fourth integer half cycle is large, due to hardware limitations, the linear motor may not be able to output a sufficiently large braking voltage in the fourth integer half cycle. Therefore, it is necessary to limit the gain parameter in the fourth integer half cycle. Further, the method of limiting the gain parameter in the fourth integer half cycle is similar to the method of limiting the gain parameter in the second integer half cycle, which will not be elaborated here.

[0108] In some embodiments, calculating the gain parameter of the linear motor in the fourth integer half cycle may include: determining the maximum value of the third vibration speed of the linear motor based on the drive voltage before the current moment, the low-frequency pulse width modulation parameter of the linear motor, and the braking voltage in the second integer half cycle; determining the maximum value of the fourth vibration speed of the linear motor based on the back electromotive force in the third integer half cycle, the low-frequency pulse width modulation parameter of the linear motor, and the braking voltage in the second integer half cycle; calculating the gain parameter in the fourth integer half cycle based on the maximum value of the third vibration speed and the maximum value of the fourth vibration speed.

[0109] It can be understood that the method of determining the maximum value of the third vibration speed and the maximum value of the fourth vibration speed can refer to the method of determining the maximum value of the first vibration speed and the maximum value of the second vibration speed in the foregoing embodiments, which will not be elaborated in this embodiment of the present application.

[0110] It should be noted that the low-frequency pulse width modulation parameter of the linear motor may include the frequency, intensity, duration, etc. of the linear motor, which are not limited in this embodiment of the present application.

[0111] By this method, the gain parameter of the linear motor in the fourth integer half cycle can be accurately calculated through the maximum values of the two vibration speeds of the linear motor, thereby improving the accuracy and efficiency of braking control.

[0112] Further, determining the maximum value of the third vibration speed of the linear motor may include: inputting the drive voltage before the current moment, the low-frequency pulse width modulation parameter of the linear motor, and the braking voltage of the second integer number of half-cycles into the motor model to obtain the third vibration speed, and determining the maximum value of the third vibration speed; correspondingly, determining the maximum value of the fourth vibration speed of the linear motor may include: inputting the back electromotive force of the third integer number of half-cycles, the low-frequency pulse width modulation parameter of the linear motor, and the braking voltage of the second integer number of half-cycles into the motor model to obtain the fourth vibration speed, and determining the maximum value of the fourth vibration speed.

[0113] It should be noted that the motor model can be a trained model.

[0114] Exemplarily, the motor model can be a second-order model of the linear motor.

[0115] It should be understood that when the linear motor is in the braking state, the vibration speed of the linear motor continuously decreases. Therefore, the maximum value of the third vibration speed is the peak value of the first spectral peak of the third vibration speed, and the maximum value of the fourth vibration speed is the peak value of the first spectral peak of the fourth vibration speed.

[0116] Through this method, the accuracy of the maximum value of the third vibration speed and the maximum value of the fourth vibration speed can be improved, which is convenient for calculating the gain parameters of the linear motor using the two maximum values subsequently, thereby optimizing the braking performance of the linear motor.

[0117] In some embodiments, calculating the gain parameter of the fourth integer number of half-cycles based on the maximum value of the third vibration speed and the maximum value of the fourth vibration speed may include: calculating the ratio of the maximum value of the third vibration speed to the maximum value of the fourth vibration speed; determining the opposite number of the ratio as the gain parameter of the fourth integer number of half-cycles.

[0118] Exemplarily, the gain parameter of the fourth integer number of half-cycles can be expressed by the following formula:

[0119]

[0120] where BG2 is the gain parameter of the fourth integer number of half-cycles, P_C1 is the maximum value of the third vibration speed, and P_D1 is the maximum value of the fourth vibration speed.

[0121] Through this method, calculating the gain parameter of the fourth integer number of half-cycles based on the maximum value of the third vibration speed and the maximum value of the fourth vibration speed can effectively adjust the braking voltage dynamically using the change of the vibration speed, thereby optimizing the braking performance of the linear motor.

[0122] It can be understood that when the maximum value of the back electromotive force in the third integer half-cycle is less than the preset back electromotive force, it can be considered that the linear motor has stopped vibrating. Therefore, braking is not performed in the fourth integer half-cycle, which can not only significantly reduce energy consumption, but also effectively protect the linear motor from unnecessary wear, thereby extending the service life of the linear motor.

[0123] Figure 5 It is a schematic diagram of the braking voltage and vibration speed of a linear motor provided by an embodiment of the present application. As Figure 5 shown, the linear motor performs braking in two stages, and the time length for generating the braking voltage in each stage is half a cycle. Compared with Figure 1 the change in the vibration speed of the linear motor when braking is not performed in [reference], it can be seen that the technical solution provided by the embodiment of the present application can quickly reduce the vibration speed of the linear motor, thereby effectively reducing the after-vibration of the linear motor.

[0124] Figure 6 It is another schematic diagram of the braking voltage and vibration speed of a linear motor provided by an embodiment of the present application. As Figure 6 shown, the linear motor performs braking in one stage, and the time length for generating the braking voltage in this stage is one cycle. Compared with Figure 1 the change in the vibration speed of the linear motor when braking is not performed in [reference], it can be seen that the technical solution provided by the embodiment of the present application can quickly reduce the vibration speed of the linear motor, thereby effectively reducing the after-vibration of the linear motor.

[0125] It can be understood that on the one hand, considering the different operating states of the linear motor, in the technical solution provided by the embodiment of the present application, the braking voltage of the linear motor can be adaptively adjusted according to the back electromotive force, so as to ensure a relatively efficient braking effect and adapt to different application scenarios; on the other hand, the braking voltage in the second integer half-cycle can be obtained based on the product of the back electromotive force in the first integer half-cycle and the gain parameter in the second integer half-cycle, so that there will be no noise in braking due to sudden changes in the braking voltage.

[0126] The embodiment of the present application provides a braking method for a linear motor. By using the driving voltage before the current moment and the back electromotive force of the linear motor in the first integer number of half-cycles after the current moment, the braking voltage of the linear motor in the second integer number of half-cycles can be calculated. And when the maximum value of the back electromotive force of the linear motor in the third integer number of half-cycles is greater than or equal to the preset back electromotive force, the braking voltage of the linear motor in the fourth integer number of half-cycles can be calculated by using the driving voltage before the current moment, the back electromotive force of the third integer number of half-cycles, and the braking voltage of the second integer number of half-cycles. Thereby, the accuracy of the braking voltage is improved, the problem of reverse acceleration caused by incorrect adjustment of the braking voltage is effectively reduced, the sudden change or harmonic of the braking voltage is avoided, and further the linear motor can achieve precise and rapid braking, improving the user experience. In addition, the braking voltage obtained by using the back electromotive force and the driving voltage can adapt to different vibration scenarios (such as button, sliding, heartbeat, explosion and other scenarios), and has strong adaptability and robustness.

[0127] The preferred embodiments of the present application have been described in detail above in conjunction with the accompanying drawings. However, the present application is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present application, various simple modifications can be made to the technical solutions of the present application, and these simple modifications all belong to the protection scope of the present application. For example, in the various specific technical features described in the above specific embodiments, they can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present application will not separately describe various possible combination methods. For another example, any combination can be made between various different embodiments of the present application as long as it does not violate the idea of the present application, and it should also be regarded as the content disclosed by the present application. For another example, on the premise of not conflicting, the various embodiments described in the present application and / or the technical features in each embodiment can be combined with any related technology, and the technical solutions obtained after the combination should also fall within the protection scope of the present application.

[0128] It should also be understood that in the various method embodiments of the present application, the magnitudes of the serial numbers of the above processes do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0129] Based on the same inventive concept as the foregoing embodiments, Figure 7 is a schematic structural diagram of a braking device for a linear motor provided by an embodiment of the present application. As Figure 7 shown, the braking device 700 of the linear motor may include a calculation module 710, a judgment module 720, and a determination module 730, where:

[0130] A calculation module 710, configured to calculate a braking voltage of the linear motor in a second integer number of half-cycles based on a driving voltage before the current moment and a back electromotive force in the first integer number of half-cycles after the current moment if a driving voltage of the linear motor after the current moment is less than a preset driving voltage, where the second integer number of half-cycles has the same time length as the first integer number of half-cycles;

[0131] A judgment module 720, configured to judge whether a maximum value of a back electromotive force of the linear motor in a third integer number of half-cycles is greater than or equal to a preset back electromotive force;

[0132] A determination module 730, configured to determine whether to brake the linear motor based on a judgment result.

[0133] In some embodiments, the calculation module 710 is further configured to calculate a braking voltage of the linear motor in a fourth integer number of half-cycles based on the driving voltage before the current moment, the back electromotive force in the third integer number of half-cycles, and the braking voltage in the second integer number of half-cycles if the judgment result is yes, where the fourth integer number of half-cycles has the same time length as the third integer number of half-cycles; the determination module 730 is further configured to stop braking of the linear motor if the judgment result is no.

[0134] In some embodiments, the determination module 730 is further configured to determine that directions of the back electromotive force in the second integer number of half-cycles and the braking voltage in the first integer number of half-cycles are opposite if both the first integer number of half-cycles and the second integer number of half-cycles are an even number of half-cycles; or determine that directions of the back electromotive force in the second integer number of half-cycles and the braking voltage in the first integer number of half-cycles are the same if both the first integer number of half-cycles and the second integer number of half-cycles are an odd number of half-cycles.

[0135] In some embodiments, as Figure 7 shown, the braking device 700 of the linear motor may further include an adjustment module 740, where:

[0136] The calculation module 710 is further configured to calculate a slope of a back electromotive force of the linear motor at a starting moment of the first integer number of half-cycles, and the determination module 730 is further configured to determine a first sign function value corresponding to the slope at the starting moment of the first integer number of half-cycles; the calculation module 710 is further configured to calculate a slope of the back electromotive force of the linear motor at an ending moment of the first integer number of half-cycles, and the determination module 730 is further configured to determine a second sign function value corresponding to the slope at the ending moment of the first integer number of half-cycles;

[0137] The adjustment module 740 is configured to adjust a direction of the back electromotive force in the first integer number of half-cycles based on the first sign function value and the second sign function value to obtain a direction of the braking voltage in the second integer number of half-cycles.

[0138] In some embodiments, the calculation module 710 is further configured to calculate a gain parameter of the linear motor in the second integer number of half-cycles based on the drive voltage before the current moment and the back electromotive force in the first integer number of half-cycles; and calculate a braking voltage of the linear motor in the second integer number of half-cycles based on the back electromotive force in the first integer number of half-cycles and the gain parameter in the second integer number of half-cycles.

[0139] In some embodiments, the determination module 730 is further configured to determine a maximum value of the first vibration speed of the linear motor based on the drive voltage before the current moment and the low-frequency pulse width modulation parameter of the linear motor; determine a maximum value of the second vibration speed of the linear motor based on the back electromotive force in the first integer number of half-cycles and the low-frequency pulse width modulation parameter of the linear motor; and the calculation module 710 is further configured to calculate a gain parameter in the second integer number of half-cycles based on the maximum value of the first vibration speed and the maximum value of the second vibration speed.

[0140] In some embodiments, the determination module 730 is further configured to input the drive voltage before the current moment and the low-frequency pulse width modulation parameter of the linear motor into a motor model to obtain a first vibration speed, and determine a maximum value of the first vibration speed; input the back electromotive force in the first integer number of half-cycles and the low-frequency pulse width modulation parameter of the linear motor into the motor model to obtain a second vibration speed, and determine a maximum value of the second vibration speed.

[0141] In some embodiments, the calculation module 710 is further configured to calculate a ratio of the maximum value of the first vibration speed to the maximum value of the second vibration speed; and determine the negative of the ratio as the gain parameter in the second integer number of half-cycles.

[0142] In some embodiments, the calculation module 710 is further configured to, if the gain parameter in the second integer number of half-cycles is less than a preset threshold, calculate a braking voltage in the second integer number of half-cycles based on the back electromotive force in the first integer number of half-cycles and the gain parameter in the second integer number of half-cycles; or, if the gain parameter in the second integer number of half-cycles is greater than or equal to the preset threshold, calculate a braking voltage in the second integer number of half-cycles based on the back electromotive force in the first integer number of half-cycles and the preset threshold.

[0143] In some embodiments, as Figure 7 shown, the braking device 700 of the linear motor may further include an acquisition module 750, where:

[0144] The acquisition module 750 is configured to acquire a maximum value of the absolute value of the back electromotive force in the second integer number of half-cycles;

[0145] The determining module 730 is further configured to determine the ratio of the maximum value of the hardware output capability of the electronic device to the maximum value of the absolute value as a preset threshold.

[0146] In some embodiments, the calculating module 710 is further configured to calculate a gain parameter of the linear motor in the fourth integer half-cycle based on the driving voltage before the current moment, the back electromotive force in the third integer half-cycle, and the braking voltage in the second integer half-cycle; calculate the braking voltage of the linear motor in the fourth integer half-cycle based on the back electromotive force in the third integer half-cycle and the gain parameter in the fourth integer half-cycle.

[0147] In some embodiments, the determining module 730 is further configured to determine the maximum value of the third vibration speed of the linear motor based on the driving voltage before the current moment, the low-frequency pulse width modulation parameter of the linear motor, and the braking voltage in the second integer half-cycle; determine the maximum value of the fourth vibration speed of the linear motor based on the back electromotive force in the third integer half-cycle, the low-frequency pulse width modulation parameter of the linear motor, and the braking voltage in the second integer half-cycle; the calculating module 710 is further configured to calculate the gain parameter in the fourth integer half-cycle based on the maximum value of the third vibration speed and the maximum value of the fourth vibration speed.

[0148] The embodiment of the present application provides a braking device for a linear motor. By using the driving voltage before the current moment and the back electromotive force of the linear motor in the first integer half-cycle after the current moment, the braking voltage of the linear motor in the second integer half-cycle can be calculated. And when the maximum value of the back electromotive force of the linear motor in the third integer half-cycle is greater than or equal to the preset back electromotive force, the braking voltage of the linear motor in the fourth integer half-cycle can be calculated based on the driving voltage before the current moment, the back electromotive force in the third integer half-cycle, and the braking voltage in the second integer half-cycle. Thereby, the accuracy of the braking voltage is improved, the problem of reverse acceleration caused by incorrect adjustment of the braking voltage is effectively reduced, the sudden change or harmonics of the braking voltage are avoided, and further the linear motor can achieve precise and fast braking, improving the user experience. In addition, the braking voltage obtained by using the back electromotive force and the driving voltage can adapt to different vibration scenarios (such as button pressing, sliding, heartbeat, explosion and other scenarios), and has strong adaptability and robustness.

[0149] Those skilled in the art should understand that the relevant descriptions of the above braking device of the linear motor in the embodiment of the present application can be understood with reference to the relevant descriptions of the braking method of the linear motor in the embodiment of the present application.

[0150] Figure 8It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device may include: a processor 810, a communications interface 820, a memory 830 storing a program 850, and a communication bus 840.

[0151] The processor 810, the communications interface 820, and the memory 830 complete communication with each other through the communication bus 840.

[0152] The communications interface 820 is used to communicate with other electronic devices or servers.

[0153] The processor 810 is used to execute the program 850, and specifically can execute the relevant steps in the above method embodiments.

[0154] Specifically, the program 850 may include program code, and the program code includes one or more executable computer operation instructions.

[0155] The processor 810 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. One or more processors included in the intelligent device may be of the same type of processor, such as one or more CPUs; or may be of different types of processors, such as one or more CPUs and one or more ASICs.

[0156] The memory 830 is used to store one or more executable instructions. The memory 830 may include high-speed RAM, and may also include non-volatile memory, such as one or more disk memories.

[0157] One or more executable instructions are specifically used to cause the processor 810 to execute the method provided by the embodiment of the present application.

[0158] In addition, for the specific implementation of each step in one or more executable instructions, reference may be made to the corresponding steps and units in the above method embodiments, which will not be elaborated here. Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the above-described devices and modules can refer to the corresponding process descriptions in the foregoing method embodiments, which will not be repeated here.

[0159] An embodiment of the present application also provides a computer-readable storage medium for storing a computer program.

[0160] In some embodiments, the computer-readable storage medium can be applied to the electronic device in the embodiments of the present application, and when the computer program is executed by one or more processors, it implements the corresponding processes implemented by the electronic device in each method of the embodiments of the present application. For the sake of brevity, details are not described herein again.

[0161] The embodiments of the present application also provide a computer program product, including computer program instructions.

[0162] In some embodiments, the computer program product can be applied to the electronic device in the embodiments of the present application, and the computer program instructions cause the computer to execute the corresponding processes implemented by the electronic device in each method of the embodiments of the present application. For the sake of brevity, details are not described herein again.

[0163] The embodiments of the present application also provide a computer program.

[0164] In some embodiments, the computer program can be applied to the electronic device in the embodiments of the present application. When the computer program runs on the computer, it causes the computer to execute the corresponding processes implemented by the electronic device in each method of the embodiments of the present application. For the sake of brevity, details are not described herein again.

[0165] Those of ordinary skill in the art can realize that the units and method steps of each example described in combination with the embodiments disclosed in the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiments of the present application.

[0166] It should be noted that in the present application, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0167] The serial numbers of the embodiments of the present application above are only for description and do not represent the advantages or disadvantages of the embodiments.

[0168] The methods disclosed in several method embodiments provided by the present application can be arbitrarily combined without conflict to obtain new method embodiments.

[0169] The features disclosed in several product embodiments provided by this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0170] The features disclosed in several method or device embodiments provided by this application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0171] The above embodiments are only used to illustrate the embodiments of this application, rather than to limit the embodiments of this application. Those of ordinary skill in the relevant technical field can also make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also belong to the scope of the embodiments of this application. The patent protection scope of the embodiments of this application shall be defined by the claims.

Claims

1. A braking method for a linear motor, characterized in that: Used in electronic equipment, including: If the driving voltage of the linear motor after the current moment is less than the preset driving voltage, the braking voltage of the linear motor in a second integer number of half cycles is calculated based on the driving voltage before the current moment and the back electromotive force of the linear motor in the first integer number of half cycles after the current moment, wherein the second integer number of half cycles has the same time length as the first integer number of half cycles; It is determined whether the maximum value of the back electromotive force of the linear motor in the third integer half cycle is greater than or equal to the preset back electromotive force, and based on the determination result, it is determined whether the linear motor is braked.

2. The method according to claim 1, characterized in that: The step of determining whether the linear motor is to be braked based on the judgment result includes: If the judgment result is yes, then based on the driving voltage before the current moment, the back electromotive force of the third integer half cycle and the braking voltage of the second integer half cycle, the braking voltage of the linear motor in the fourth integer half cycle is calculated, wherein the fourth integer half cycle has the same time length as the third integer half cycle; If the judgment result is no, the braking of the linear motor is stopped.

3. The method according to claim 1, characterized in that The method further comprises: If the first integer number of half cycles and the second integer number of half cycles are both even number of half cycles, it is determined that the back electromotive force of the second integer number of half cycles and the braking voltage of the first integer number of half cycles are in opposite directions; or, If the first integer number of half cycles and the second integer number of half cycles are both odd number of half cycles, it is determined that the back electromotive force of the second integer number of half cycles and the braking voltage of the first integer number of half cycles have the same direction.

4. The method according to claim 1, characterized in that The method further comprises: Calculating the slope of the back electromotive force of the linear motor at the start time of the first integer number of half cycles, and determining a first sign function value corresponding to the slope at the start time of the first integer number of half cycles; Calculating the slope of the back electromotive force of the linear motor at the end of the first integer number of half cycles, and determining a second sign function value corresponding to the slope at the end of the first integer number of half cycles; Based on the first sign function value and the second sign function value, the direction of the back electromotive force of the first integer number of half cycles is adjusted to obtain the direction of the braking voltage of the second integer number of half cycles.

5. The method according to any one of claims 1 to 4, characterized in that The calculating of the braking voltage of the linear motor in the second integer half cycle comprises: Calculating a gain parameter of the linear motor in the second integer number of half cycles based on the drive voltage before the current moment and the back electromotive force of the first integer number of half cycles; Based on the back electromotive force of the first integer number of half cycles and the gain parameter of the second integer number of half cycles, the braking voltage of the linear motor in the second integer number of half cycles is calculated.

6. The method according to claim 5, characterized in that The step of calculating the gain parameter of the linear motor during the second integer number of half cycles includes: determining a maximum value of a first vibration speed of the linear motor based on the driving voltage before the current moment and a low-frequency pulse width modulation parameter of the linear motor; Determining a maximum value of a second vibration speed of the linear motor based on the back electromotive force of the first integer half-cycles and a low-frequency pulse width modulation parameter of the linear motor; The gain parameter of the second integer number of half cycles is calculated based on the maximum value of the first vibration speed and the maximum value of the second vibration speed.

7. The method according to claim 6, characterized in that The determining a maximum value of a first vibration speed of the linear motor comprises: Inputting the driving voltage before the current moment and the low-frequency pulse width modulation parameter of the linear motor into a motor model to obtain the first vibration speed, and determining the maximum value of the first vibration speed; Accordingly, determining the maximum value of the second vibration speed of the linear motor includes: The back electromotive force of the first integer half-cycle and the low-frequency pulse width modulation parameters of the linear motor are input into the motor model to obtain the second vibration speed, and the maximum value of the second vibration speed is determined.

8. The method according to claim 6, characterized in that The calculating the gain parameter of the second integer number of half cycles comprises: calculating a ratio of a maximum value of the first vibration velocity to a maximum value of the second vibration velocity; The inverse of the ratio is determined as a gain parameter for the second integer number of half cycles.

9. The method according to claim 5, characterized in that The calculating the braking voltage of the linear motor during the second integer number of half cycles comprises: If the gain parameter of the second integer half cycle is less than a preset threshold, the braking voltage of the second integer half cycle is calculated based on the back electromotive force of the first integer half cycle and the gain parameter of the second integer half cycle; or, If the gain parameter of the second integer number of half cycles is greater than or equal to the preset threshold, the braking voltage of the second integer number of half cycles is calculated based on the back electromotive force of the first integer number of half cycles and the preset threshold.

10. The method according to claim 9, characterized in that The method further comprises: Obtaining the maximum absolute value of the back electromotive force of the second integer number of half cycles; The ratio of the maximum value of the hardware output capability of the electronic device to the maximum value of the absolute value is determined as the preset threshold.

11. The method according to claim 2, characterized in that The step of calculating the braking voltage of the linear motor in the fourth integer half cycle includes: Calculating a gain parameter of the linear motor in the fourth integer half cycle based on the driving voltage before the current moment, the back electromotive force of the third integer half cycle, and the braking voltage of the second integer half cycle; Based on the back electromotive force of the third integer number of half cycles and the gain parameter of the fourth integer number of half cycles, the braking voltage of the linear motor in the fourth integer number of half cycles is calculated.

12. The method according to claim 11, characterized in that: The calculating the gain parameter of the linear motor in the fourth integer half cycle includes: Determining a maximum value of a third vibration speed of the linear motor based on the driving voltage before the current moment, the low-frequency pulse width modulation parameter of the linear motor, and the braking voltage of the second integer number of half cycles; determining a maximum value of a fourth vibration speed of the linear motor based on the back electromotive force of the third integer half-cycle, the low-frequency pulse width modulation parameter of the linear motor, and the braking voltage of the second integer half-cycle; Based on the maximum value of the third vibration speed and the maximum value of the fourth vibration speed, a gain parameter of the fourth integer number of half cycles is calculated.

13. A braking device for a linear motor, characterized in that: include: a calculation module, configured to calculate the braking voltage of the linear motor in a second integer number of half cycles based on the driving voltage before the current moment and the back electromotive force of the linear motor in a first integer number of half cycles after the current moment, if the driving voltage of the linear motor after the current moment is less than the preset driving voltage, wherein the second integer number of half cycles has the same time length as the first integer number of half cycles; A judging module, used for judging whether the maximum value of the back electromotive force of the linear motor in the third integer half cycle is greater than or equal to a preset back electromotive force; The determination module is used to determine whether the linear motor is braked based on the judgment result.

14. An electronic device, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store one or more executable instructions, and the executable instructions enable the processor to execute the method according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that: The computer storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 1 to 12 is implemented.

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