Braking method, device, electronic device and storage medium for linear motor

Abstract

The application provides a braking method and device of a linear motor, an electronic device and a storage medium. The method comprises: if the driving voltage of the linear motor after a current time is less than a preset driving voltage, calculating the braking voltage of the linear motor in a second integer number of half cycles based on the driving voltage before the current time and the counter electromotive force of the linear motor in a first integer number of half cycles after the current time, wherein the second integer number of half cycles has the same time length as the first integer number of half cycles; and determining whether the maximum value of the counter electromotive force of the linear motor in a third integer number of half cycles is greater than or equal to a preset counter electromotive force, and determining whether the linear motor is braked based on the determination result. In this way, efficient and accurate braking of the linear motor can be achieved.

Description

Technical Field

[0001] This application relates to the field of electromechanical technology, and in particular to a braking method, apparatus, electronic device, and storage medium for a linear motor. Background Technology

[0002] Linear motors are primarily used as vibration devices in electronic products such as mobile phones, watches, and tablets. Their main characteristics are small size, rapid start-up, and rapid braking, leading to their increasingly widespread application in various scenarios involving button presses, sliding, heartbeats, and explosions. However, these scenarios typically require a short duration of residual vibration from the linear motor to achieve rapid braking.

[0003] Currently, in the braking process of linear motors, active braking is usually required to achieve faster braking. Therefore, improving the accuracy and efficiency of linear motor braking is an urgent problem to be solved. Summary of the Invention

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

[0005] In a first aspect, this application provides a braking method for a linear motor, comprising: if the driving voltage of the linear motor after the current moment is less than a preset driving voltage, then calculating the braking voltage of the linear motor in the second integer half-cycle based on 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, wherein the second integer half-cycle has the same time length as the first integer half-cycle; determining 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 determining whether the linear motor should be braked based on the determination result.

[0006] Secondly, this application provides a braking device for a linear motor, comprising: a calculation module, configured to calculate the braking voltage of the linear motor in a second integer half-cycle based on 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 if the driving voltage of the linear motor after the current moment is less than a preset driving voltage, wherein the second integer half-cycle has the same time length as the first integer half-cycle; a judgment module, configured to judge 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 a determination module, configured to determine whether the linear motor should brake based on the judgment result.

[0007] Thirdly, this application provides an electronic device, including: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus; the memory is used to store one or more executable instructions, which cause the processor to execute the method described in the first aspect.

[0008] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the method described in the first aspect.

[0009] Fifthly, this application provides a computer program product including computer program instructions that cause a computer to perform the method described in the first aspect.

[0010] Sixthly, this application provides a computer program that, when run on a computer, causes the computer to perform the method described in the first aspect.

[0011] This application provides a braking method, apparatus, 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 for the first integer half-cycles after the current moment, the braking voltage of the linear motor for the second integer half-cycle can be calculated. This improves the accuracy of the braking voltage, effectively reduces the reverse acceleration problem caused by incorrect adjustment of the braking voltage, avoids sudden changes or harmonics in the braking voltage, and further enables the linear motor to achieve precise and rapid braking, improving the user experience. In addition, the braking voltage obtained using the back electromotive force and driving voltage can be adapted to different vibration scenarios (such as button presses, sliding, heartbeats, explosions, etc.), exhibiting strong adaptability and robustness. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0013] Figure 1 This is a schematic diagram showing the relationship between the driving voltage and vibration velocity of a linear motor. Figure 2 This is a schematic flowchart of a braking method for a linear motor provided in an embodiment of this application; Figure 3 This is a schematic diagram of a linear motor braking method provided in an embodiment of this application; Figure 4 This is a schematic diagram of another linear motor braking method provided in the embodiments of this application; Figure 5 This is a schematic diagram of the braking voltage and vibration velocity of a linear motor provided in an embodiment of this application; Figure 6 This is a schematic diagram of the braking voltage and vibration velocity of another linear motor provided in the embodiments of this application; Figure 7 This is a schematic diagram of the composition structure of a braking device for a linear motor provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0014] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and thoroughly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0015] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0016] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0017] It should also be noted that the terms "first, second, and third" used in the embodiments of this application are only used to distinguish similar objects and do not represent a specific order of objects. It is understood that "first, second, and third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0018] To facilitate understanding of the technical solutions of the embodiments of this application, the relevant technologies of the embodiments of this application are described below. The following relevant technologies are optional solutions and can be combined with the technical solutions of the embodiments of this application in any way, and they all fall within the protection scope of the embodiments of this application.

[0019] Linear motors are primarily used as vibration devices in electronic products such as mobile phones, watches, and tablets. Due to their superior performance, including small size, rapid start-up, and quick braking, their application in haptic feedback is becoming increasingly widespread, for example, in scenarios involving button presses, sliding, heartbeats, and explosions. To achieve excellent haptic effects in these scenarios, the residual vibration duration of the linear motor is usually required to be short, thereby enabling rapid braking.

[0020] For example, Figure 1 This is a schematic diagram illustrating the relationship between the driving voltage and vibration velocity of a linear motor. (For example...) Figure 1 As shown, by inputting a driving voltage to the linear motor, the linear motor can vibrate according to the driving voltage. The amplitude of the motor's vibration speed initially increases with the driving time, then reaches a steady state where the amplitude remains essentially constant. When the driving voltage approaches zero, the linear motor continues to vibrate due to the inertia of the spring structure, and the amplitude of the vibration gradually decreases. The vibration of the linear motor after the driving voltage is stopped is called the residual vibration.

[0021] Currently, in order to brake the linear motor quickly, active braking is usually required during the braking process. Two exemplary descriptions of active braking of linear motors are given below.

[0022] Example 1: By monitoring the motor's operating status in real time, a rapid braking effect is achieved through proportional-integration-differential (PID) closed-loop control.

[0023] Example 2: By establishing a motor model, the operating state of the linear motor is simulated. After the driving voltage ends, the reverse braking voltage is activated to achieve rapid braking of the linear motor.

[0024] However, Example 1 requires sensors to monitor the operating status of the linear motor in real time, which leads to drawbacks such as complex processes, high costs, and complex solutions. Example 2 uses a motor model to achieve braking of the linear motor, but the accuracy of the motor model affects the braking effect, resulting in relatively limited robustness.

[0025] In summary, current linear motor braking solutions suffer from low precision and efficiency, resulting in a poor user experience. Furthermore, the varied frequency and amplitude of the drive voltage used in linear motors can lead to inconsistent braking effects, preventing them from achieving rapid and effective braking. In addition, errors in adjusting the braking voltage can cause reverse acceleration, further impacting braking performance. Therefore, improving the precision and efficiency of linear motor braking to achieve rapid and reliable stopping is a pressing issue that needs to be addressed.

[0026] Based on this, this 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 for the first integer half-cycles after the current moment, the braking voltage of the linear motor for the second integer half-cycle can be calculated. This improves the accuracy of the braking voltage, effectively reduces the reverse acceleration problem caused by incorrect adjustment of the braking voltage, avoids sudden changes or harmonics in the braking voltage, and further enables the linear motor to achieve precise and rapid braking, improving the user experience. In addition, the braking voltage obtained using the back electromotive force and the driving voltage can be adapted to different vibration scenarios (such as button presses, sliding, heartbeats, explosions, etc.), exhibiting strong adaptability and robustness.

[0027] To facilitate understanding of the technical solutions of the embodiments of this application, the technical solutions of this application are described in detail below through specific embodiments. The above-mentioned related technologies are optional solutions and can be arbitrarily combined with the technical solutions of the embodiments of this application, all of which fall within the protection scope of the embodiments of this application. The embodiments of this application include at least some of the following contents.

[0028] Figure 2 This is a schematic flowchart of a braking method for a linear motor provided in an embodiment of this application, as shown below. Figure 2 As shown, the method may include the following steps.

[0029] S210. If the driving voltage of the linear motor after the current moment is less than the preset driving voltage, then calculate the braking voltage of the linear motor in the second integer half-cycle based on 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.

[0030] The second integer half-cycle has the same time length as the first integer half-cycle.

[0031] It should be noted that, in the embodiments of this application, the braking method of the linear motor can be applied to the braking device of the linear motor, or to an electronic device integrating the device.

[0032] It should also be noted that the preset driving voltage can be set manually by those skilled in the art based on experience, or it can be set in other ways. This application does not limit this.

[0033] It should be understood that if the driving voltage of the linear motor after the current moment is less than the preset driving voltage, it means that the driving voltage of the linear motor after the current moment approaches zero, and the linear motor enters the braking state after the current moment.

[0034] For example, the waveform of the driving voltage can be a sine wave, a square wave, etc., and this application embodiment does not limit it.

[0035] For example, the waveform of the back electromotive force can be a sine wave, a square wave, etc., and the embodiments of this application do not limit it.

[0036] For example, the waveform of the braking voltage can be a sine wave, a square wave, etc., and this application embodiment does not limit it.

[0037] It should be understood that if the driving voltage of the linear motor after the current moment is less than the preset driving voltage, the back electromotive force of the linear motor can be detected in real time or periodically after the current moment.

[0038] It should also be understood that the detected back electromotive force of the linear motor can be saved to random access memory (RAM).

[0039] For example, the back electromotive force (EMF) of a linear motor can be detected by a signal acquisition device. For instance, the back EMF of a linear motor can be detected by a microcontroller unit (MCU) with an analog-to-digital converter (ADC).

[0040] 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 driving voltage prior to the current moment and the back electromotive force of the first integer half-cycle; and calculating the braking voltage of the linear motor in the second integer half-cycle based on the back electromotive force of the first integer half-cycle and the gain parameter of the second integer half-cycle.

[0041] It should be noted that the purpose of linear motor braking is to actively reduce the vibration velocity to near zero. The back electromotive force (EMF) of a linear motor is equal to the product of the electromechanical coupling coefficient and the vibration velocity. The electromechanical coupling coefficient is generally a fixed value. Therefore, to reduce the vibration velocity to near zero, the back EMF of the linear motor needs to be reduced. Furthermore, the braking voltage for the second integer number of half-cycles can be generated directly using the back EMF of the linear motor in the first integer number of half-cycles and the gain parameter in the second integer number of half-cycles, thereby reducing the back EMF in the second integer number of half-cycles.

[0042] Furthermore, 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 of the first integer half-cycle and the gain parameter of the second integer half-cycle.

[0043] For example, the braking voltage of a linear motor in the second integer half-cycle can be expressed by the following formula: (1) in, This represents the braking voltage of the linear motor during the second integer half-cycle. The gain parameter for the second integer number of half cycles. It represents the back electromotive force for the first integer number of half-cycles.

[0044] This method allows the back electromotive force and gain parameters to be correlated, enabling the calculation of the braking voltage of the linear motor during the second integer half-cycle, thereby improving the accuracy and efficiency of linear motor braking.

[0045] It should be understood that in practical applications, when the gain parameter of the second 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 second integer half-cycle. Therefore, it is necessary to limit the gain parameter of the second integer half-cycle.

[0046] 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 of 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 of the first integer half-cycle and the preset threshold.

[0047] It should be noted that by determining whether the gain parameter of the second integer half-cycle is less than a preset threshold, if the determination result is negative, the preset threshold can be used as the gain parameter of the second integer half-cycle. Based on the preset threshold and the back electromotive force of the first integer half-cycle, the braking voltage of the second integer half-cycle is calculated.

[0048] Furthermore, the method may also include: obtaining the maximum value of the absolute value of the back electromotive force over the second integer half-cycle; and 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 a preset threshold.

[0049] For example, a preset threshold The calculation formula is as follows: (2) in, For the first integer number of half-cycles, the back electromotive force. This represents the maximum value of the hardware output capability of the electronic device.

[0050] This method, by comparing the gain parameter of the second integer half-cycle with a preset threshold, allows for flexible adjustment of the braking voltage calculation. This ensures that the braking voltage of the linear motor in the second integer half-cycle considers both real-time gain changes and avoids hardware limitations when the gain is too high, thereby improving the accuracy and stability of braking control. Furthermore, considering hardware output limitations, by restricting the gain parameter, the maximum braking effect is achieved within the range that the hardware can output.

[0051] 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 velocity of the linear motor based on the drive voltage prior to the current moment and the low-frequency pulse width modulation (LPM) parameter of the linear motor; determining the maximum value of the second vibration velocity of the linear motor based on the back electromotive force of the first integer half-cycle and the LPM parameter of the linear motor; and calculating the gain parameter for the second integer half-cycle based on the maximum value of the first vibration velocity and the maximum value of the second vibration velocity.

[0052] It should be noted that the low-frequency pulse width modulation parameters of the linear motor may include the frequency, intensity, and duration of the linear motor, etc., and the embodiments of this application do not limit this.

[0053] This method allows for the precise calculation of the gain parameter of a linear motor during the second integer half-cycle by using the maximum value of the two vibration velocities of the linear motor, thereby improving the accuracy and efficiency of braking control.

[0054] In some embodiments, determining the maximum value of the first vibration velocity of the linear motor may include: inputting the driving voltage prior to the current moment and the low-frequency pulse width modulation parameters of the linear motor into the motor model to obtain the first vibration velocity, and determining the maximum value of the first vibration velocity; correspondingly, determining the maximum value of the second vibration velocity of the linear motor includes: inputting the back electromotive force of the first integer number of half cycles and the low-frequency pulse width modulation parameters of the linear motor into the motor model to obtain the second vibration velocity, and determining the maximum value of the second vibration velocity.

[0055] It should be noted that the motor model can be a pre-trained model.

[0056] For example, the motor model can be a second-order model of a linear motor.

[0057] It should be understood that when the linear motor is in a braking state, the vibration velocity of the linear motor continuously decreases. Therefore, the maximum value of the first vibration velocity is the peak value of the first spectral peak of the first vibration velocity, and the maximum value of the second vibration velocity is the peak value of the first spectral peak of the second vibration velocity.

[0058] This method improves the accuracy of the maximum values ​​of the first and second vibration velocities, making it easier to use these two maximum values ​​to calculate the gain parameters of the linear motor and thus optimize its braking performance.

[0059] In some embodiments, calculating the gain parameter for the second integer number of half-cycles may include: calculating the ratio of the maximum value of the first vibration velocity to the maximum value of the second vibration velocity; and determining the negative of the ratio as the gain parameter for the second integer number of half-cycles.

[0060] For example, the gain parameter for the second integer number of half-cycles can be expressed by the following formula: (3) in, The gain parameter for the second integer number of half cycles. The maximum value of the first vibration velocity. This is the maximum value of the second vibration velocity.

[0061] This method calculates the gain parameter for the second integer number of half cycles based on the maximum values ​​of the first and second vibration velocities. It can effectively use the changes in vibration velocity to dynamically adjust the braking voltage, thereby optimizing the braking performance of the linear motor.

[0062] 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 the preset back electromotive force.

[0063] It should be noted that the preset back electromotive force can be set manually by those skilled in the art based on experience, or it can be set in other ways. This application does not limit this.

[0064] For example, the preset back electromotive force can be a boundary value of the residual vibration perceived by the user. For instance, the preset back electromotive force can be set to 0.1g, where g is the acceleration due to gravity.

[0065] S230. Based on the judgment result, determine whether the linear motor should brake.

[0066] In some embodiments, if the determination result is yes, then the braking voltage of the linear motor in the fourth integer half-cycle is calculated based on the driving voltage before the current time, the back electromotive force of the third integer half-cycle, and the braking voltage of the second integer half-cycle, wherein the time length of the fourth integer half-cycle is the same as the time length of the third integer half-cycle; if the determination result is no, then the braking of the linear motor is stopped.

[0067] For example, Figure 3This is a schematic diagram of a linear motor braking method provided in an embodiment of this application. For example... Figure 3 As shown, braking of a linear motor can include two stages of braking, wherein: The first stage of braking may include a first detection stage and a first braking stage. The first detection stage corresponds to the first integer half-cycles in the aforementioned embodiments, and the first braking stage corresponds to the second integer half-cycles in the aforementioned embodiments. Based on the driving voltage prior to 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, wherein the first detection stage and the first braking stage have the same duration.

[0068] The second stage of braking may include a second detection stage and a second braking stage. The second detection stage corresponds to the third integer half-cycle in the aforementioned embodiment, and the second braking stage corresponds to the fourth integer half-cycle in the aforementioned 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, wherein the second detection stage and the second braking stage have the same duration. Further, Figure 3 The integer number of half-cycles shown represents two half-cycles (i.e., one cycle).

[0069] It should be understood that if, after the linear motor performs the second stage of braking, when performing the third stage of back EMF detection, it is found that the maximum value of the back EMF in the third stage is still greater than or equal to the preset back EMF, then the fourth stage of braking needs to be performed, and the above steps are repeated until the maximum value of the back EMF in a certain stage is less than the preset back EMF.

[0070] For example, Figure 4 This is a schematic diagram of another linear motor braking method provided in the embodiments of this application. For example... Figure 4 As shown, braking of a linear motor can include two stages of braking, wherein: The first stage of braking may include a first detection stage and a first braking stage. The first detection stage corresponds to the first integer half-cycles in the aforementioned embodiments, and the first braking stage corresponds to the second integer half-cycles in the aforementioned embodiments. Based on the driving voltage prior to 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, wherein the first detection stage and the first braking stage have the same duration.

[0071] The second stage of braking may include a second detection stage and a second braking stage. The second detection stage corresponds to the third integer half-cycle in the aforementioned embodiment, and the second braking stage corresponds to the fourth integer half-cycle in the aforementioned 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, wherein the second detection stage and the second braking stage have the same duration. Further, Figure 4 The integer number of half-cycles shown constitutes one half-cycle (i.e., half a cycle).

[0072] It should be understood that if, after the linear motor performs the second stage of braking, when performing the third stage of back EMF detection, it is found that the maximum value of the back EMF in the third stage is still greater than or equal to the preset back EMF, then the fourth stage of braking needs to be performed, and the above steps are repeated until the maximum value of the back EMF in a certain stage is less than the preset back EMF.

[0073] It should be noted that, in the embodiments of this application, an integer number of half-cycles can be obtained by detecting zero-crossing points. Taking back electromotive force (EMF) as an example, an integer number of half-cycles of back EMF can be obtained by detecting the zero-crossing points of the back EMF. For example, as shown... Figure 3 As shown, in the first detection phase, two zero-crossing points can be detected to obtain two half-cycles (i.e., one cycle); in the first detection phase and the first braking phase, three zero-crossing points can be detected to obtain four half-cycles (i.e., two cycles).

[0074] In some embodiments, the method may further include: if both the first integer half-cycle and the second integer half-cycle are even-numbered half-cycles, then determining that the back electromotive force of the second integer half-cycle and the braking voltage of the first integer half-cycle are in opposite directions; or, if both the first integer half-cycle and the second integer half-cycle are odd-numbered half-cycles, then determining that the back electromotive force of the second integer half-cycle and the braking voltage of the first integer half-cycle are in the same direction.

[0075] For example, such as Figure 3 As shown, both the first and second cycles have an even number of half cycles, and the back electromotive force of the first cycle and the braking voltage of the second cycle are in opposite directions.

[0076] For example, such as Figure 4 As shown, both the first and second half-cycles are odd-numbered half-cycles, and the back electromotive force of the first half-cycle and the braking voltage of the second half-cycle are in the same direction.

[0077] This method allows us to determine the direction of the braking voltage for the second integer half-cycle by analyzing the direction of the back electromotive force for the first integer half-cycle, thereby improving the control accuracy and braking efficiency of the linear motor.

[0078] In other embodiments, the method may further include: calculating the slope of the back electromotive force of the linear motor at the beginning of the first integer half-cycle, and determining a first sign function value corresponding to the slope at the beginning of the first integer half-cycle; calculating the slope of the back electromotive force of the linear motor at the end of the first integer half-cycle, and determining a second sign function value corresponding to the slope at the end of the first integer half-cycle; and adjusting the direction of the back electromotive force of the first integer half-cycle based on the first sign function value and the second sign function value to obtain the direction of the braking voltage of the second integer half-cycle.

[0079] It should be noted that when the slope is greater than 0, the sign value of the slope is 1; when the slope is less than 0, the sign value of the slope is -1.

[0080] Furthermore, the direction of the back electromotive force for the second integer half-cycle can be determined based on the product of the first symbol function value and the second symbol function value; the direction of the braking voltage for the second integer half-cycle can be determined based on the direction of the back electromotive force for the second integer half-cycle.

[0081] For example, the slope of the back electromotive force of the linear motor at the beginning of the first integer half-cycle is denoted as... Let the slope of the back electromotive force of the linear motor at the end of the first integer half-cycle be denoted as... Then the value of the first symbolic function is The value of the second symbolic function is Therefore, the direction of the back electromotive force of the linear motor in the second integer half-cycle can be obtained as follows: sign(s1)* sign(s2) Therefore, the direction of the braking voltage of the linear motor in the second integer half-cycle can be obtained as follows: -sign(s1)* sign(s2) .

[0082] It's understandable, if sign(s1)* sign(s2) If the value equals 1, it means that the direction of the back electromotive force in the second integer half-cycle is the same as the direction of the back electromotive force 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 sign(s1)* sign(s2) The value is -1, which means that the direction of the back electromotive force in the second integer half-cycle is opposite to the direction of the back electromotive force in the first integer half-cycle. Therefore, 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.

[0083] By using this method, the direction of the back electromotive force in the first integer half-cycle is adjusted based on the first and second sign function values, which 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.

[0084] It should be understood that the method for determining the direction of the braking voltage for the fourth integer half-cycle is similar to the method for determining the direction of the braking voltage for the second integer half-cycle, and will not be repeated here.

[0085] 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 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; and calculating the braking voltage of the linear motor in the fourth integer half-cycle based on the back electromotive force of the third integer half-cycle and the gain parameter of the fourth integer half-cycle.

[0086] 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.

[0087] For example, the braking voltage of the linear motor in the fourth integer half-cycle can be expressed by the following formula: (4) in, This represents the braking voltage of the linear motor in the fourth integer half-cycle. The gain parameter for the fourth integer half-cycle. It is the back electromotive force of the third integer half-cycle.

[0088] This method allows the back electromotive force and gain parameters to be correlated, enabling the calculation of the braking voltage of the linear motor in the fourth integer half-cycle, thereby improving the accuracy and efficiency of linear motor braking.

[0089] It should be understood that in practical applications, if the gain parameter is large in the fourth integer half-cycle, hardware limitations may prevent the linear motor from outputting 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. Furthermore, the method for limiting the gain parameter in the fourth integer half-cycle is similar to the method for limiting the gain parameter in the second integer half-cycle, and will not be elaborated here.

[0090] 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 velocity 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; determining the maximum value of the fourth vibration velocity 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; and calculating the gain parameter in the fourth integer half-cycle based on the maximum value of the third vibration velocity and the maximum value of the fourth vibration velocity.

[0091] It is understood that the method for determining the maximum value of the third vibration velocity and the maximum value of the fourth vibration velocity can refer to the method for determining the maximum value of the first vibration velocity and the maximum value of the second vibration velocity in the foregoing embodiments, and will not be repeated here in the embodiments of this application.

[0092] It should be noted that the low-frequency pulse width modulation parameters of the linear motor may include the frequency, intensity, and duration of the linear motor, etc., and the embodiments of this application do not limit this.

[0093] This method allows for the precise calculation of the gain parameter of a linear motor in the fourth integer half-cycle by using the maximum value of the two vibration velocities of the linear motor, thereby improving the accuracy and efficiency of braking control.

[0094] Further, determining the maximum value of the third vibration velocity of the linear motor can include: inputting the driving voltage before the current moment, the low-frequency pulse width modulation parameters of the linear motor, and the braking voltage for the second integer half-cycle into the motor model to obtain the third vibration velocity, and determining the maximum value of the third vibration velocity; correspondingly, determining the maximum value of the fourth vibration velocity of the linear motor can include: inputting the back electromotive force for the third integer half-cycle, the low-frequency pulse width modulation parameters of the linear motor, and the braking voltage for the second integer half-cycle into the motor model to obtain the fourth vibration velocity, and determining the maximum value of the fourth vibration velocity.

[0095] It should be noted that the motor model can be a pre-trained model.

[0096] For example, the motor model can be a second-order model of a linear motor.

[0097] It should be understood that when the linear motor is in a braking state, the vibration velocity of the linear motor continuously decreases. Therefore, the maximum value of the third vibration velocity is the peak value of the first spectral peak of the third vibration velocity, and the maximum value of the fourth vibration velocity is the peak value of the first spectral peak of the fourth vibration velocity.

[0098] This method improves the accuracy of the maximum values ​​of the third and fourth vibration velocities, making it easier to use these two maximum values ​​to calculate the gain parameters of the linear motor and thus optimize its braking performance.

[0099] In some embodiments, calculating the gain parameter for a fourth integer number of half-cycles based on the maximum value of the third vibration velocity and the maximum value of the fourth vibration velocity may include: calculating the ratio of the maximum value of the third vibration velocity to the maximum value of the fourth vibration velocity; and determining the negative of the ratio as the gain parameter for the fourth integer number of half-cycles.

[0100] For example, the gain parameter for the fourth integer half-cycle can be expressed by the following formula: (5) in, The gain parameter for the fourth integer half-cycle. This is the maximum value of the third vibration velocity. This is the maximum value of the fourth vibration velocity.

[0101] This method calculates the gain parameter for the fourth integer number of half cycles based on the maximum values ​​of the third and fourth vibration velocities. It can effectively use the changes in vibration velocity to dynamically adjust the braking voltage, thereby optimizing the braking performance of the linear motor.

[0102] It is understandable that if the maximum value of the back electromotive force in the third integer half-cycle is less than the preset back electromotive force, the linear motor can be considered to have stopped vibrating. Therefore, braking is no longer performed in the fourth integer half-cycle. This not only significantly reduces energy consumption but also effectively protects the linear motor from unnecessary wear, thereby extending the service life of the linear motor.

[0103] Figure 5 This is a schematic diagram illustrating the braking voltage and vibration velocity of a linear motor according to an embodiment of this application. Figure 5 As shown, the linear motor performs braking in two stages, with each stage generating braking voltage for half a cycle. Compared to Figure 1 The change in vibration speed of the linear motor when braking is not performed shows that the technical solution provided in this application can quickly reduce the vibration speed of the linear motor, thereby effectively reducing the residual vibration of the linear motor.

[0104] Figure 6 This is a schematic diagram illustrating the braking voltage and vibration velocity of another linear motor provided in this application embodiment. For example... Figure 6 As shown, the linear motor performs one stage of braking, and the duration of the braking voltage generation in this stage is one cycle. Compared to Figure 1The change in vibration speed of the linear motor when braking is not performed shows that the technical solution provided in this application can quickly reduce the vibration speed of the linear motor, thereby effectively reducing the residual vibration of the linear motor.

[0105] It is understandable that, on the one hand, considering the different operating states of the linear motor, in the technical solution provided in this application embodiment, the braking voltage of the linear motor can be adaptively adjusted according to the back electromotive force, thereby ensuring a relatively efficient braking effect and adapting to different application scenarios; on the other hand, the braking voltage of the second integer half-cycle can be obtained based on the product of the back electromotive force of the first integer half-cycle and the gain parameter of the second integer half-cycle, so that the braking will not cause noise due to sudden changes in braking voltage.

[0106] This application provides a braking method for a linear motor. By using the driving voltage prior to the current moment and the back electromotive force (EMF) of the linear motor for the first integer half-cycle after the current moment, the braking voltage of the linear motor for the second integer half-cycle can be calculated. Furthermore, when the maximum value of the back EMF of the linear motor for the third integer half-cycle is greater than or equal to a preset back EMF, the braking voltage of the linear motor for the fourth integer half-cycle can be calculated using the driving voltage prior to the current moment, the back EMF for the third integer half-cycle, and the braking voltage for the second integer half-cycle. This improves the accuracy of the braking voltage, effectively reduces the reverse acceleration problem caused by incorrect braking voltage adjustment, avoids sudden changes or harmonics in the braking voltage, and further enables the linear motor to achieve precise and rapid braking, improving the user experience. In addition, the braking voltage obtained using the back EMF and driving voltage can adapt to different vibration scenarios (such as button presses, sliding, heartbeats, explosions, etc.), exhibiting strong adaptability and robustness.

[0107] The preferred embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this application, various simple modifications can be made to the technical solutions of this application, and these simple modifications all fall within the protection scope of this application. For example, the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this application will not describe the various possible combinations separately. Furthermore, various different embodiments of this application can also be arbitrarily combined, as long as they do not violate the spirit of this application, they should also be considered as the content disclosed in this application. Moreover, without conflict, the various embodiments and / or the technical features in the various embodiments described in this application can be arbitrarily combined with related technologies, and the resulting technical solutions should also fall within the protection scope of this application.

[0108] It should also be understood that, in the various method embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0109] Based on the same inventive concept as the foregoing embodiments. Figure 7 This is a schematic diagram of the structural composition of a braking device for a linear motor provided in an embodiment of this application, as shown below. Figure 7 As shown, the braking device 700 of the linear motor may include a calculation module 710, a judgment module 720, and a determination module 730, wherein: The calculation module 710 is used to calculate the braking voltage of the linear motor in the second integer half-cycle if the driving voltage of the linear motor after the current moment is less than the preset driving voltage, based on 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, wherein the second integer half-cycle has the same time length as the first integer half-cycle. The judgment module 720 is used to 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 the preset back electromotive force. The determination module 730 is used to determine whether the linear motor should be braked based on the judgment result.

[0110] In some embodiments, the calculation module 710 is further configured to, if the determination result is yes, calculate the braking voltage 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, wherein the fourth integer half-cycle has the same time length as the third integer half-cycle; the determination module 730 is further configured to, if the determination result is no, stop the braking of the linear motor.

[0111] In some embodiments, the determining module 730 is further configured to determine that if both the first integer half-cycle and the second integer half-cycle are even-numbered half-cycles, the back electromotive force of the second integer half-cycle and the braking voltage of the first integer half-cycle are opposite in direction; or, if both the first integer half-cycle and the second integer half-cycle are odd-numbered half-cycles, the back electromotive force of the second integer half-cycle and the braking voltage of the first integer half-cycle are in the same direction.

[0112] In some embodiments, such as Figure 7 As shown, the braking device 700 of the linear motor may further include an adjustment module 740, wherein: The calculation module 710 is further used to calculate the slope of the back electromotive force of the linear motor at the beginning of the first integer half-cycle; the determination module 730 is further used to determine the first sign function value corresponding to the slope at the beginning of the first integer half-cycle; the calculation module 710 is further used to calculate the slope of the back electromotive force of the linear motor at the end of the first integer half-cycle; the determination module 730 is further used to determine the second sign function value corresponding to the slope at the end of the first integer half-cycle. The adjustment module 740 is used to adjust the direction of the back electromotive force for the first integer half-cycle based on the first symbol function value and the second symbol function value, so as to obtain the direction of the braking voltage for the second integer half-cycle.

[0113] In some embodiments, the calculation module 710 is further configured to calculate the gain parameter of the linear motor in the second integer half-cycle based on the driving voltage before the current moment and the back electromotive force of the first integer half-cycle; and to calculate the braking voltage of the linear motor in the second integer half-cycle based on the back electromotive force of the first integer half-cycle and the gain parameter of the second integer half-cycle.

[0114] In some embodiments, the determining module 730 is further configured to determine the maximum value of the first vibration velocity of the linear motor based on the driving voltage prior to the current moment and the low-frequency pulse width modulation parameters of the linear motor; and to determine the maximum value of the second vibration velocity of the linear motor based on the back electromotive force of the first integer half-cycle and the low-frequency pulse width modulation parameters of the linear motor; the calculating module 710 is further configured to calculate the gain parameter of the second integer half-cycle based on the maximum value of the first vibration velocity and the maximum value of the second vibration velocity.

[0115] In some embodiments, the determining module 730 is further configured to input the driving voltage prior to the current moment and the low-frequency pulse width modulation parameters of the linear motor into the motor model to obtain a first vibration velocity and determine the maximum value of the first vibration velocity; input the back electromotive force of the first integer half-cycles and the low-frequency pulse width modulation parameters of the linear motor into the motor model to obtain a second vibration velocity and determine the maximum value of the second vibration velocity.

[0116] In some embodiments, the calculation module 710 is further configured to calculate the ratio of the maximum value of the first vibration velocity to the maximum value of the second vibration velocity; and to determine the negative of the ratio as the gain parameter for the second integer number of half cycles.

[0117] In some embodiments, the calculation module 710 is further configured to calculate the braking voltage for the second integer half-cycle based on the back electromotive force of the first integer half-cycle and the gain parameter of the second integer half-cycle if the gain parameter of the second integer half-cycle is less than a preset threshold; or, if the gain parameter of the second integer half-cycle is greater than or equal to the preset threshold, calculate the braking voltage for the second integer half-cycle based on the back electromotive force of the first integer half-cycle and the preset threshold.

[0118] In some embodiments, such as Figure 7 As shown, the braking device 700 of the linear motor may further include an acquisition module 750, wherein: The acquisition module 750 is used to acquire the maximum value of the absolute value of the back electromotive force over the second integer number of half-cycles; The determining module 730 is also used 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.

[0119] In some embodiments, the calculation module 710 is further configured to calculate the 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; and to calculate the braking voltage of the linear motor in the fourth integer half-cycle based on the back electromotive force of the third integer half-cycle and the gain parameter of the fourth integer half-cycle.

[0120] In some embodiments, the determining module 730 is further configured to determine the maximum value of the third vibration velocity of the linear motor based on the driving voltage before the current moment, the low-frequency pulse width modulation parameters of the linear motor, and the braking voltage of the second integer half-cycle; and to determine the maximum value of the fourth vibration velocity of the linear motor based on the back electromotive force of the third integer half-cycle, the low-frequency pulse width modulation parameters of the linear motor, and the braking voltage of the second integer half-cycle; the calculating module 710 is further configured to calculate the gain parameter of the fourth integer half-cycle based on the maximum value of the third vibration velocity and the maximum value of the fourth vibration velocity.

[0121] This application provides a braking device for a linear motor. By using the driving voltage prior to the current moment and the back electromotive force (EMF) of the linear motor for the first integer half-cycle after the current moment, the braking voltage of the linear motor for the second integer half-cycle can be calculated. Furthermore, when the maximum value of the back EMF of the linear motor for the third integer half-cycle is greater than or equal to a preset back EMF, the braking voltage of the linear motor for the fourth integer half-cycle can be calculated using the driving voltage prior to the current moment, the back EMF for the third integer half-cycle, and the braking voltage for the second integer half-cycle. This improves the accuracy of the braking voltage, effectively reduces the reverse acceleration problem caused by incorrect braking voltage adjustment, avoids sudden changes or harmonics in the braking voltage, and further enables the linear motor to achieve precise and rapid braking, improving the user experience. In addition, the braking voltage obtained using the back EMF and driving voltage can adapt to different vibration scenarios (such as button presses, sliding, heartbeats, explosions, etc.), exhibiting strong adaptability and robustness.

[0122] Those skilled in the art should understand that the description of the braking device of the linear motor in the embodiments of this application can be understood with reference to the description of the braking method of the linear motor in the embodiments of this application.

[0123] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this 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.

[0124] The processor 810, communication interface 820, and memory 830 communicate with each other via communication bus 840.

[0125] The communication interface 820 is used to communicate with other electronic devices or servers.

[0126] The processor 810 is used to execute program 850, specifically to perform the relevant steps in the above method embodiments.

[0127] Specifically, program 850 may include program code that includes one or more executable computer operation instructions.

[0128] The processor 810 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0129] Memory 830 is used to store one or more executable instructions. Memory 830 may include high-speed RAM, and may also include non-volatile memory, such as one or more disk storage devices.

[0130] One or more executable instructions may be used to cause the processor 810 to execute the methods provided in the embodiments of this application.

[0131] Furthermore, the specific implementation of each step in one or more executable instructions can be found in the corresponding descriptions of the steps and units in the above method embodiments, and will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the devices and modules described above can be referred to the corresponding process descriptions in the foregoing method embodiments, and will not be repeated here.

[0132] This application also provides a computer-readable storage medium for storing computer programs.

[0133] In some embodiments, the computer-readable storage medium may be applied to the electronic device in the embodiments of this application, and when the computer program is executed by one or more processors, it implements the corresponding processes implemented by the electronic device in the various methods of the embodiments of this application. For the sake of brevity, these will not be described in detail here.

[0134] This application also provides a computer program product, including computer program instructions.

[0135] In some embodiments, the computer program product can be applied to the electronic device in the embodiments of this application, and the computer program instructions cause the computer to execute the corresponding processes implemented by the electronic device in the various methods of the embodiments of this application. For the sake of brevity, they will not be described in detail here.

[0136] This application also provides a computer program.

[0137] In some embodiments, the computer program can be applied to the electronic device in the embodiments of this application. When the computer program is run on a computer, it causes the computer to execute the corresponding processes implemented by the electronic device in the various methods of the embodiments of this application. For the sake of brevity, it will not be described in detail here.

[0138] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application.

[0139] It should be noted that, in this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0140] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0141] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0142] The features disclosed in the several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0143] The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0144] The above embodiments are only used to illustrate the embodiments of this application, and are not intended to limit the embodiments of this application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this application, and the patent protection scope of the embodiments of this application should be defined by the claims.

Claims

1. A braking method for a linear motor, characterized in that, Applied to electronic devices, including: If the driving voltage of the linear motor after the current moment is less than the 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 half-cycle after the current moment, the braking voltage of the linear motor in the second integer half-cycle is calculated, wherein the second integer half-cycle has the same time length as the first integer half-cycle. 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 the preset back electromotive force, and determine whether the linear motor should brake based on the determination result; The step of determining whether the linear motor should brake based on the judgment result includes: if the judgment result is yes, then calculating the 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; calculating the braking voltage of the linear motor in the fourth integer half-cycle based on the back electromotive force of the third integer half-cycle and the gain parameter of the fourth integer half-cycle; wherein the fourth integer half-cycle has the same time length as the third integer half-cycle; if the judgment result is no, then stopping the braking of the linear motor.

2. The method according to claim 1, characterized in that, The method further includes: If both the first integer half-cycle and the second integer half-cycle are even-numbered half-cycles, then the back electromotive force of the first integer half-cycle and the braking voltage of the second integer half-cycle are determined to be in opposite directions; or, If both the first integer half-cycle and the second integer half-cycle are odd numbers of half-cycles, then the back electromotive force of the first integer half-cycle and the braking voltage of the second integer half-cycle are determined to have the same direction.

3. The method according to claim 1, characterized in that, The method further includes: Calculate the slope of the back electromotive force of the linear motor at the beginning of the first integer number of half-cycles, and determine the first sign function value corresponding to the slope at the beginning of the first integer number of half-cycles. Calculate the slope of the back electromotive force of the linear motor at the end of the first integer number of half cycles, and determine the 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 for the first integer half-cycle is adjusted to obtain the direction of the braking voltage for the second integer half-cycle.

4. The method according to any one of claims 1 to 3, characterized in that, The calculation of the braking voltage of the linear motor in the second integer half-cycle includes: Based on the driving voltage prior to the current moment and the back electromotive force of the first integer half-cycle, calculate the gain parameter of the linear motor in the second integer half-cycle; Based on the back electromotive force of the first integer half-cycle and the gain parameter of the second integer half-cycle, the braking voltage of the linear motor in the second integer half-cycle is calculated. The calculation of the braking voltage of the linear motor in the second integer half-cycle includes: determining the maximum value of the first vibration velocity of the linear motor based on the driving voltage before the current moment and the low-frequency pulse width modulation parameters of the linear motor; determining the maximum value of the second vibration velocity of the linear motor based on the back electromotive force of the first integer half-cycle and the low-frequency pulse width modulation parameters of the linear motor; determining the negative of the ratio of the maximum value of the first vibration velocity and the maximum value of the second vibration velocity as the gain parameter of the second integer half-cycle; and calculating the braking voltage of the linear motor in the second integer half-cycle based on the back electromotive force of the first integer half-cycle and the gain parameter of the second integer half-cycle.

5. The method according to claim 4, characterized in that, Determining the maximum value of the first vibration velocity of the linear motor includes: The driving voltage prior to the current moment and the low-frequency pulse width modulation parameters of the linear motor are input into the motor model to obtain the first vibration velocity and determine the maximum value of the first vibration velocity. Accordingly, determining the maximum value of the second vibration velocity of the linear motor includes: The back electromotive force of the first integer number of half cycles and the low-frequency pulse width modulation parameters of the linear motor are input into the motor model to obtain the second vibration velocity, and the maximum value of the second vibration velocity is determined.

6. The method according to any one of claims 1 to 3, characterized in that, The calculation of the braking voltage of the linear motor in the second integer half-cycle includes: Based on the driving voltage prior to the current moment and the back electromotive force of the first integer half-cycle, calculate the gain parameter of the linear motor in the second integer half-cycle; Based on the back electromotive force of the first integer half-cycle and the gain parameter of the second integer half-cycle, the braking voltage of the linear motor in the second integer half-cycle is calculated. The calculation of the braking voltage of the linear motor in the second integer half-cycle includes: If the gain parameter of the second integer half-cycle is less than a preset threshold, then 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 half-cycle is greater than or equal to the preset threshold, then 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 preset threshold.

7. The method according to claim 6, characterized in that, The method further includes: Obtain the maximum value of the absolute value of the back electromotive force for 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.

8. The method according to claim 1, characterized in that, The calculation of the gain parameter of the linear motor in the fourth integer half-cycle includes: Based on the driving voltage prior to the current moment, the low-frequency pulse width modulation parameters of the linear motor, and the braking voltage for the second integer number of half cycles, the maximum value of the third vibration velocity of the linear motor is determined. The maximum value of the fourth vibration velocity of the linear motor is determined based on the back electromotive force of the third integer half-cycle, the low-frequency pulse width modulation parameters of the linear motor, and the braking voltage of the second integer half-cycle. Based on the maximum value of the third vibration velocity and the maximum value of the fourth vibration velocity, the gain parameter for the fourth integer number of half cycles is calculated.

9. A braking device for a linear motor, characterized in that, include: The calculation module is used to calculate the braking voltage of the linear motor in the second integer half-cycle if the driving voltage of the linear motor after the current moment is less than the preset driving voltage, based on 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, wherein the second integer half-cycle has the same time length as the first integer half-cycle. The judgment module is used to 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 the preset back electromotive force. The determining module is used to determine whether the linear motor should brake based on the judgment result. Specifically, if the judgment result is yes, it calculates the 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; and calculates the braking voltage of the linear motor in the fourth integer half-cycle based on the back electromotive force of the third integer half-cycle and the gain parameter of the fourth integer half-cycle; wherein the fourth integer half-cycle has the same time length as the third integer half-cycle; if the judgment result is no, it stops the braking of the linear motor.

10. An electronic device, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store one or more executable instructions that cause the processor to perform the method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer storage medium stores a computer program that, when executed by one or more processors, implements the method as described in any one of claims 1 to 8.

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