Motor amplitude control device and method, and electronic device

Abstract

The invention provides a motor amplitude control device and method and electronic equipment, and the device comprises a motion feedback module which is used for outputting a motion feedback signal of a motor according to a working signal of the motor; the motion prediction module is used for outputting a motion prediction signal of the motor according to the input excitation signal; the control module is used for outputting a motion deviation signal according to the motion feedback signal and the motion prediction signal; and the motor driving module is used for outputting a driving signal of the motor according to the motion deviation signal so as to drive the motor to work according to the driving signal. According to the invention, the input motion prediction signal and the feedback motion prediction signal are compared to realize the feedback control of the motor vibration, so that the vibration effects of different linear motors are kept consistent.

Description

Technical Field

[0001] This application relates to the technical field of motors, and particularly to a motor amplitude control device, method, and electronic device. Background Art

[0002] A linear motor is a transmission device that directly converts electrical energy into linear motion mechanical energy without any intermediate conversion mechanism. Since a linear motor can provide short vibration (generally 10 to 20 milliseconds) or long vibration (generally greater than 20 milliseconds), currently, more and more electronic devices use linear motors to enhance the vibration feeling effect.

[0003] However, due to factors such as different production batches, individual performance differences between linear motors in the same batch, aging, and environment (such as temperature), the actual performance of linear motors in different electronic devices is not the same currently. Therefore, the vibration effects of linear motors in different electronic devices are actually different, which causes the problem of vibration feeling differences in electronic devices. Summary of the Invention

[0004] This application provides a motor amplitude control device, method, and electronic device, aiming to solve the above technical problems.

[0005] In a first aspect, this application provides a motor amplitude control device, including:

[0006] A motion feedback module, which is used to output a motion feedback signal of the motor according to the working signal of the motor;

[0007] A motion prediction module, which is used to output a motion prediction signal of the motor according to the input excitation signal;

[0008] A control module, which is used to output a motion deviation signal according to the motion feedback signal and the motion prediction signal;

[0009] A motor drive module, which is used to output a drive signal of the motor according to the motion deviation signal to drive the motor to work according to the drive signal.

[0010] In some embodiments, the motion feedback signal and the working signal of the motor satisfy a first transfer function;

[0011] The motion prediction signal and the input excitation signal satisfy a second transfer function;

[0012] Wherein, the first transfer function is related to the vibration parameters of the motor, and the second transfer function is not related to the vibration parameters of the motor.

[0013] In some embodiments, the product of the transfer function of the control module and the motion model of the motor satisfies the low-pass high-gain characteristic.

[0014] In some embodiments, the motion feedback module includes a signal measurement unit and a motion feedback prediction unit;

[0015] The signal measurement unit is configured to measure the working signal of the motor and output a measurement signal;

[0016] The motion feedback prediction unit is configured to output a motion feedback signal according to the measurement signal.

[0017] In some embodiments, the parameters of the motion feedback prediction unit are determined based on the vibration parameters of the motor.

[0018] In some embodiments, the measurement signal includes the measured current and / or measured voltage of the motor;

[0019] The motion feedback module determines the vibration speed of the motor according to the measurement signal, and determines the vibration displacement and / or vibration acceleration of the motor according to the vibration speed of the motor.

[0020] In some embodiments, the motion feedback signal includes a displacement feedback amount, an acceleration feedback amount, or a speed feedback amount of the motor;

[0021] The motion prediction signal includes a displacement prediction amount, an acceleration prediction amount, or a speed prediction amount of the motor.

[0022] In a second aspect, the present application provides a method for controlling the amplitude of a motor, including:

[0023] Receiving an input excitation signal and obtaining a measurement signal of the motor;

[0024] Outputting a motion feedback signal of the motor according to the measurement signal of the motor, and outputting a motion prediction signal of the motor according to the input excitation signal;

[0025] Outputting a motion deviation signal according to the motion feedback signal and the motion prediction signal;

[0026] Outputting a drive signal of the motor according to the motion deviation signal to drive the motor to work according to the drive signal.

[0027] In some embodiments, the motion feedback signal and the measurement signal of the motor satisfy a first transfer function;

[0028] The motion prediction signal and the input excitation signal satisfy a second transfer function;

[0029] Wherein, the first transfer function is related to the vibration parameters of the motor, and the second transfer function is independent of the vibration parameters of the motor.

[0030] In a third aspect, the present application provides an electronic device, characterized by including the motor amplitude control device as described in the first aspect.

[0031] The present application uses a motion feedback module to output a motion feedback signal of the motor according to the working signal of the motor, and uses a motion prediction module to output a motion prediction signal of the motor according to the input excitation signal. Therefore, the control module can output a motion deviation signal according to the motion feedback signal and the motion prediction signal, so that the motor drive module outputs a drive signal according to the motion deviation signal and drives the motor to work. That is to say, the present application realizes the feedback control of the motor vibration by comparing the actual vibration and the predicted vibration of the motor. The actual vibration effect of the motor is mainly controlled by the motion prediction signal and is not affected by the factors of the motor itself. Therefore, for different linear motors, the vibration effects of different motors can be made consistent, avoiding the phenomenon of vibration sensation differences caused by different production batches of linear motors, individual performance differences between linear motors in the same batch, aging, environment (such as temperature), etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those skilled in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0033] Figure 1 FIG. shows a schematic diagram of a motor amplitude control device in an embodiment of the present application;

[0034] Figure 2 FIG. shows another schematic diagram of a motor amplitude control device in an embodiment of the present application;

[0035] Figure 3 FIG. shows another schematic diagram of a motor amplitude control device in an embodiment of the present application;

[0036] Figure 4 FIG. shows another schematic diagram of a motor amplitude control device in an embodiment of the present application;

[0037] Figure 5 FIG. shows a schematic flowchart of a motor amplitude control method in an embodiment of the present application.

[0038] Wherein, 1 is a motor, 10 is a motion feedback module, 11 is a signal measurement unit, 12 is a motion feedback prediction unit, 20 is a motion prediction module, 30 is a control module, and 40 is a motor drive module;

[0039] Input excitation signal Vin, motion prediction signal A_pred, motion feedback signal A_sens, motion deviation signal Ae, drive signal Vc, measurement signal V_sens. Specific embodiments

[0040] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0041] In the description of the present invention, the term "exemplary" is used to mean "serving as an example, illustration, or description". Any embodiment described as "exemplary" in this application is not necessarily to be construed as more preferred or more advantageous than other embodiments. In order for any person skilled in the art to implement and use the present invention, the following description is given. In the following description, details are set forth for the purpose of explanation. It should be understood that those of ordinary skill in the art can recognize that the present invention can be implemented without the use of these specific details. In other instances, well-known structures and processes are not described in detail to avoid unnecessary details from obscuring the description of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed in this application.

[0042] Currently, due to problems such as different production batches of linear motors, individual performance differences between linear motors in the same batch, aging, and environment (such as temperature), the actual performance of the motors is not the same. Therefore, the vibration effects of different motors are different, resulting in differences in the vibration sensation. In the related art, in order to solve the problem of vibration differences of different linear motors, a resonance frequency calibration method is usually used for calibration.

[0043] The resonance frequency calibration method calibrates the waveform or the playback bit rate by detecting or tracking the resonance frequency f0 of the linear motor. However, this method is mainly applicable to waveforms with a vibration frequency of f0. As the requirement for the diversity of the vibration sensation of the motor increases, waveforms with a vibration frequency other than f0 are widely used. At this time, it is difficult for this method to ensure consistent vibration sensation, resulting in a drop in the vibration intensity or the braking effect is extremely likely to fail to meet the expected effect.

[0044] For this reason, the embodiments of the present application provide a motor amplitude control device, method, and electronic device, which will be described in detail below.

[0045] First, refer to Figure 1 , Figure 1Fig. 0 shows a schematic diagram of a motor amplitude control device in an embodiment of the present application. The motor amplitude control device includes a motion feedback module 10, a motion prediction module 20, a control module 30, and a motor drive module 40.

[0046] Specifically, the motion feedback module 10 can output a motion feedback signal A_sens of the motor 1 according to the working signal of the motor 1. The motion feedback signal A_sens includes at least one of the displacement feedback amount, acceleration feedback amount, or velocity feedback amount of the motor, that is, the motion amount of the motor is characterized by displacement, acceleration, and velocity.

[0047] In some embodiments of the present application, the working signal can be the working current and / or working voltage of the motor 1. The motion feedback module 10 can include an analog-to-digital converter, which converts the working current and / or working voltage of the motor 1 into a digital signal and uses it as a measurement signal V_sens, and then converts the measurement signal V_sens into a motion feedback signal A_sens through a preset circuit module. In some embodiments of the present application, the motion feedback module 10 can also include a signal amplification circuit of the motor 1, so as to amplify the working current and / or working voltage of the motor 1 through the amplification circuit and use it as the measurement signal V_sens, and finally convert the measurement signal V_sens into a motion feedback signal A_sens through a preset circuit module.

[0048] In some embodiments of the present application, the measurement signal V_sens can include the measurement current and / or measurement voltage of the motor 1. The motion feedback module 10 can determine the velocity feedback amount of the motor 1 according to the measurement signal V_sens. For example, according to the Lorentz force calculation formula, the motion feedback module 10 can calculate the velocity feedback amount according to the working voltage and working current of the motor 1 as follows:

[0049]

[0050] Where v is the velocity feedback amount, V is the measurement voltage of the motor 1, I is the measurement current of the motor 1, R is the impedance of the motor 1, L is the inductance of the motor 1, B is the magnetic induction intensity, and l is the effective length of the conductor of the motor 1 in the magnetic field.

[0051] In some embodiments of the present application, the motion feedback module can first determine the velocity feedback amount of the motor 1 according to the measurement signal V_sens, and then determine the displacement feedback amount and / or acceleration feedback amount of the motor 1 according to the vibration velocity of the motor 1.

[0052] For example, if the motion feedback signal A_sens includes the displacement feedback amount of the motor 1, after obtaining the velocity feedback amount of the motor 1, the displacement feedback amount of the motor 1 can be obtained by integrating the velocity according to the following formula:

[0053]

[0054] where s is the displacement feedback amount.

[0055] For another example, if the motion feedback signal A_sens can include the acceleration feedback amount of the motor 1, after obtaining the speed feedback amount of the motor 1, differentiating the speed according to the following formula can obtain the acceleration feedback amount of the motor 1:

[0056]

[0057] where a is the acceleration feedback amount.

[0058] It can be understood that in some possible embodiments, the measurement signal V_sens can also be input into a corresponding mathematical model (such as a voltage-displacement mathematical model constructed according to the parameters of the motor 1), and the displacement feedback amount and the acceleration feedback amount are output by the mathematical model.

[0059] The motion prediction module 20 can output a motion prediction signal A_pred of the motor 1 according to the input excitation signal Vin. The motion prediction signal A_pred includes at least one of the displacement prediction amount, the acceleration prediction amount, or the speed prediction amount of the motor, so as to characterize the motion control amount (such as acceleration, displacement, or speed, etc.) of the motor 1 through the motion prediction signal A_pred. Generally, the input excitation signal Vin can be an analog voltage signal or a digital signal representing the magnitude of the voltage, or the input excitation signal Vin can also be an analog current signal or a digital signal representing the magnitude of the current.

[0060] In some embodiments of the present application, for example, in an embodiment where the motion feedback signal A_sens includes the displacement feedback amount of the motor 1, the motion prediction signal A_pred can include the displacement prediction amount of the motor 1. The displacement prediction amount of the motor 1 can be determined according to the motor model. For example, when the input excitation signal Vin is an analog voltage signal or a digital signal representing the magnitude of the voltage, assume that the displacement and the voltage satisfy the following set transfer function H(s):

[0061]

[0062] It can be known that the displacement prediction amount of the motor 1 is calculated according to the following formula:

[0063] X(s) = V(s) * H(s)

[0064] For another example, when the input excitation signal Vin is an analog current signal or a digital signal representing the magnitude of the current, assume that the displacement and the current satisfy the following set transfer function H(s):

[0065]

[0066] It can be known that the displacement prediction amount of the motor 1 is calculated according to the following formula:

[0067] X(s) = V(s) * I(s)

[0068] It should be noted that to ensure the consistency of the vibration effect, the above transfer function H(s) is consistent in all batches of the motor 1. Therefore, the parameters in the above transfer function H(s) are independent of the parameters of a single motor 1 (such as impedance, inductance, etc.). Furthermore, those skilled in the art can set the parameter values in the transfer function H(s) according to actual needs, for example, set according to the amplitude size, amplitude frequency, etc. The present application does not make specific limitations.

[0069] In some embodiments of the present application, for example, in the embodiments where the motion feedback signal A_sens includes the speed feedback amount of the motor 1, the motion prediction signal A_pred may include the speed prediction amount of the motor 1. For example, after obtaining the displacement prediction amount of the motor 1, differentiating the displacement can obtain the speed prediction amount of the motor 1. In some embodiments of the present application, for example, in the embodiments where the motion feedback signal A_sens includes the acceleration feedback amount of the motor 1, the motion prediction signal A_pred may include the acceleration prediction amount of the motor 1. For example, after obtaining the speed prediction amount of the motor 1, differentiating the speed can obtain the acceleration prediction amount of the motor 1.

[0070] The control module 30 can output a motion deviation signal Ae according to the motion feedback signal A_sens and the motion prediction signal A_pred. The motion deviation signal Ae is proportional to the signal difference between the motion feedback signal A_sens and the motion prediction signal A_pred. For example, the motion feedback signal A_sens, the motion prediction signal A_pred, and the motion deviation signal Ae may satisfy the relational expression: Ae = A_pred - A_sens; or for another example, the signal difference is proportional. For example, the motion feedback signal A_sens, the motion prediction signal A_pred, and the motion deviation signal Ae may satisfy the relational expression: Ae = k * (A_pred - A_sens), where k is a coefficient.

[0071] In some embodiments of the present application, for embodiments where the motion feedback signal A_sens and the motion prediction signal A_pred are digital signals, the motion deviation signal Ae can be a digital signal. The control module 30 includes a subtractor, so that the subtractor outputs the motion deviation signal Ae according to the motion feedback signal A_sens and the motion prediction signal A_pred. In some embodiments of the present application, for embodiments where the motion feedback signal A_sens and the motion prediction signal A_pred are analog signals, the motion deviation signal Ae can also be an analog signal. The control module 30 can include an analog differential circuit, so that the analog differential circuit outputs the motion deviation signal Ae according to the motion feedback signal A_sens and the motion prediction signal A_pred.

[0072] The motor drive module 40 is used to output the drive signal Vc of the motor 1 according to the motion deviation signal Ae, so as to drive the motor 1 to work according to the drive signal Vc. At the same time, combined with Figure 1 It can be seen that since the control module 30, the motor drive module 40, and the motion feedback module 10 form a negative feedback control loop for the motor 1, when there is a deviation between the motion feedback signal A_sens and the motion prediction signal A_pred, under the negative feedback control of the negative feedback control loop, the amplitude of the motor 1 can be gradually stabilized to the amplitude corresponding to the motion prediction signal A_pred.

[0073] In some embodiments of the present application, the product of the transfer function of the motor drive module 40 and the motion model of the motor 1 satisfies the low-pass high-gain characteristic, that is, the transfer function of the motor drive module 40 and the actual motion model of the motor 1 satisfy the following relationship:

[0074] G(s)·H′(s)~LPF

[0075] Wherein, G(s) is the transfer function of the motor drive module 40, and H’(S) is the actual motion model of the motor 1.

[0076] In the above embodiments, since the product of the transfer function of the motor drive module 40 and the actual motion model of the motor 1 satisfies the low-pass high-gain characteristic, during the process of driving the motor 1 by the motor drive module 40, the energy of the high-frequency part in the motion deviation signal Ae can be filtered out, so as to ensure that the motor 1 operates in the preset low-frequency frequency domain.

[0077] In some embodiments of the present application, referring to Figure 2 , Figure 2 shows another schematic diagram of the motor amplitude control device in the embodiments of the present application. The motor drive module 40 can include a PID controller, and the transfer function of the PID controller can be expressed by the following formula:

[0078]

[0079] Wherein, P is the proportional gain parameter of the PID controller, I is the integral gain parameter of the PID controller, and D is the derivative gain parameter of the PID controller.

[0080] In some embodiments of the present application, for example, in the embodiment where the motion deviation signal Ae is an analog signal, the motor drive module 40 may include an analog PID controller, so as to directly output the drive signal Vc of the motor 1 according to the motion deviation signal Ae through the analog PID controller. In some embodiments of the present application, for example, in the embodiment where the motion deviation signal Ae is a digital signal, the motor drive module 40 includes a digital PID controller and a digital-to-analog converter. The digital PID controller can output a digital control signal according to the motion deviation signal Ae, so that the digital-to-analog converter can output the drive signal Vc of the motor 1 (such as an analog voltage or an analog current) according to the digital control signal.

[0081] In some embodiments of the present application, refer to Figure 3 , Figure 3 shows another schematic diagram of the motor amplitude control device in the embodiment of the present application. The motor drive module 40 may include at least one low-pass filter (or control filter). Since the low-pass filter can filter out the energy of the high-frequency part in the input signal and only retain the energy of the low-frequency part, it can ensure that the motor 1 operates under the voltage signal corresponding to the low-frequency part (such as less than 500 Hz, less than 600 Hz, etc.).

[0082] In some embodiments of the present application, the transfer function of at least one low-pass filter can be expressed by the following formula:

[0083]

[0084] It can be understood that those skilled in the art can select at least one low-pass filter as a digital low-pass filter or an analog low-pass filter according to actual needs in the above embodiments, and the present application does not make specific limitations.

[0085] In some embodiments of the present application, the motion feedback signal A_sens and the measurement signal V_sens of the motor 1 satisfy a first transfer function; the motion prediction signal A_pred and the input excitation signal Vin satisfy a second transfer function; wherein, the first transfer function is related to the vibration parameters of the motor 1, and the second transfer function is not related to the vibration parameters of the motor 1.

[0086] It should be noted that since the first transfer function is related to the vibration parameters of the motor 1, the motion feedback module 10 outputs a motion feedback signal A_sens that accurately represents the motion amount of the motor 1 according to the measurement signal V_sens of the motor 1. For example, if the motion feedback signal A_sens includes the speed feedback amount of the motor 1, the first transfer function can be expressed by the following formula:

[0087]

[0088] It can be seen that after measuring the impedance R of the motor 1, the inductance L of the motor 1, the magnetic induction intensity B, and the effective length l of the conductor of the motor 1 in the magnetic field, the sizes of the corresponding electronic components (such as capacitors, resistors, etc.) in the motion feedback module 10 can be controlled, so that the motion feedback signal A_sens and the measurement signal V_sens of the motor 1 finally satisfy the above function, so that the motion feedback module 10 outputs a motion feedback signal A_sens that accurately represents the motion amount of the motor 1.

[0089] At the same time, since the second transfer function has nothing to do with the vibration parameters of the motor 1 itself, the same second transfer function can be set for all batches of the motor 1. For the same input excitation signal Vin, different batches of the motor 1 can control the amplitude of the motor 1 to gradually stabilize to the amplitude corresponding to the motion prediction signal A_pred through feedback control, so that the amplitudes of different motors 1 are the same during operation and have the same vibration effect.

[0090] In the embodiments of the present application, the present application uses the motion feedback module 10 to output the motion feedback signal A_sens of the motor 1 according to the measurement signal V_sens of the motor 1, and uses the motion prediction module 20 to output the motion prediction signal A_pred of the motor 1 according to the input excitation signal Vin. Therefore, the control module 30 can output a motion deviation signal Ae according to the motion feedback signal A_sens and the motion prediction signal A_pred, so that the motor drive module 40 outputs a drive signal Vc according to the motion deviation signal Ae and drives the motor 1 to work. That is to say, the present application realizes the feedback control of the motor vibration by comparing the actual vibration and the predicted vibration of the motor. The actual vibration effect of the motor is mainly controlled by the motion prediction signal A_pred and is not affected by the factors of the motor itself. Therefore, for different linear motors 1, the vibration effects of different motors 1 can be made consistent, and the phenomenon of vibration sensation difference caused by different production batches of linear motors 1, individual performance differences between linear motors 1 in the same batch, aging, environment (such as temperature), etc. can be avoided.

[0091] In some embodiments of the present application, refer to Figure 4 , Figure 4Another schematic diagram of the motor amplitude control device in the embodiment of the present application is shown. Among them, the motion feedback module 10 includes a signal measurement unit 11 and a motion feedback prediction unit 12; the signal measurement unit 11 is used to measure the drive signal Vc of the motor 1 and output a measurement signal V_sens; the motion feedback prediction unit 12 is used to output a motion feedback signal A_sens according to the measurement signal V_sens.

[0092] Specifically, the signal measurement unit 11 may include a voltage sensor and a current sensor. The working voltage magnitude of the motor 1 can be measured through the voltage sensor, and the working current magnitude of the motor 1 can be measured through the current sensor, so that the motion feedback prediction unit 12 can calculate the motion amount (such as speed, displacement or acceleration) of the motor 1 according to the working voltage and working current of the motor 1.

[0093] The parameters of the motion feedback prediction unit 12 are determined based on the vibration parameters of the motor 1. The vibration parameters of the motor 1 include but are not limited to the impedance R of the motor 1, the inductance L of the motor 1, the magnetic induction intensity B, the effective length l of the conductor of the motor 1 in the magnetic field, etc. After measuring the vibration parameters of the motor 1, the parameters of the motion feedback prediction unit 12 can be set, and finally the motion feedback signal A_sens and the measurement signal V_sens of the motor 1 satisfy the following function (that is, the aforementioned first transfer function):

[0094]

[0095] It should be noted that the above content about the motor amplitude control device is intended to clearly illustrate the implementation verification process of the present application. Those skilled in the art can also make equivalent modified designs under the guidance of the present application. For example, the motor model for determining the motion prediction signal A_pred is not limited to the motor displacement (amplitude) model. In some possible embodiments, the motor model for determining the motion prediction signal A_pred can also be a motor speed model, so as to directly obtain the speed displacement amount of the motor 1 according to the input excitation signal Vin through the motor speed model.

[0096] Furthermore, in order to better implement the motor amplitude control device in the embodiment of the present application, on the basis of the motor amplitude control device, another embodiment of the present application further provides a motor amplitude control method. Refer to Figure 5 , Figure 5 A flowchart of a motor amplitude control method in the embodiment of the present application is shown. Among them, the motor amplitude control method includes:

[0097] Step S501, receiving the input excitation signal Vin and obtaining the measurement signal V_sens of the motor 1;

[0098] The motion prediction module 20 of the motor amplitude control device in this application can receive the input excitation signal Vin, and the motion feedback module 10 can obtain the measurement signal V_sens of the motor 1. For example, the motion feedback module 10 can include a voltage sensor and a current sensor. The working voltage magnitude of the motor 1 can be measured through the voltage sensor, and the working current magnitude of the motor 1 can be measured through the current sensor.

[0099] Step S502: Output the motion feedback signal A_sens of the motor 1 according to the measurement signal V_sens of the motor 1, and output the motion prediction signal A_pred of the motor 1 according to the input excitation signal Vin;

[0100] The motion prediction module 20 of the motor amplitude control device in this application can output the motion feedback signal A_sens of the motor 1 according to the measurement signal V_sens of the motor 1. For example, the measurement signal V_sens can include the measured current and measured voltage of the motor 1; the motion feedback module 10 can first determine the speed feedback amount of the motor 1 according to the measurement signal V_sens, and then perform differentiation and / or integration on the vibration speed of the motor 1 to determine the displacement feedback amount and / or acceleration feedback amount of the motor 1.

[0101] The motion prediction module 20 of the motor amplitude control device in this application can output the motion prediction signal A_pred of the motor 1 according to the input excitation signal Vin. The motion prediction signal A_pred corresponds to the motion amount characterized by the motion feedback signal A_sens. For example, for an embodiment where the motion feedback signal A_sens includes the displacement feedback amount of the motor 1, the motion prediction signal A_pred can include the displacement prediction amount of the motor 1; for another example, for an embodiment where the motion feedback signal A_sens includes the speed feedback amount of the motor 1, the motion prediction signal A_pred can include the speed prediction amount of the motor 1; for yet another example, for an embodiment where the motion feedback signal A_sens includes the acceleration feedback amount of the motor 1, the motion prediction signal A_pred can include the acceleration prediction amount of the motor 1.

[0102] Step S503: Output the motion deviation signal Ae according to the motion feedback signal A_sens and the motion prediction signal A_pred;

[0103] The control module 30 of the motor amplitude control device in this application can output a motion deviation signal Ae based on the motion feedback signal A_sens and the motion prediction signal A_pred. The motion deviation signal Ae is proportional to the signal difference between the motion feedback signal A_sens and the motion prediction signal A_pred. For example, the motion feedback signal A_sens, the motion prediction signal A_pred, and the motion deviation signal Ae can satisfy the relationship: Ae = A_pred - A_sens; Another example is that the signal difference is proportional. For example, the motion feedback signal A_sens, the motion prediction signal A_pred, and the motion deviation signal Ae can satisfy the relationship: Ae = k * (A_pred - A_sens), where k is a coefficient.

[0104] Step S504: Output a driving signal Vc for the motor 1 based on the motion deviation signal Ae, so as to drive the motor 1 to operate according to the driving signal Vc.

[0105] The motor driving module 40 of the motor amplitude control device in this application can output a driving signal Vc for the motor 1 according to the motion deviation signal Ae, so as to drive the motor 1 to operate according to the driving signal Vc. Since the control module 30, the motor driving module 40, and the motion feedback module 10 form a negative feedback control loop for the motor 1, when there is a deviation between the motion feedback signal A_sens and the motion prediction signal A_pred, under the negative feedback control of the negative feedback control loop, the amplitude of the motor 1 can be gradually stabilized to the amplitude corresponding to the motion prediction signal A_pred.

[0106] In the embodiment of this application, this application uses the motion feedback module 10 to output the motion feedback signal A_sens of the motor 1 based on the measurement signal V_sens of the motor 1, and uses the motion prediction module 20 to output the motion prediction signal A_pred of the motor 1 according to the input excitation signal Vin. Therefore, the control module 30 can output the motion deviation signal Ae based on the motion feedback signal A_sens and the motion prediction signal A_pred, so that the motor driving module 40 outputs the driving signal Vc according to the motion deviation signal Ae and drives the motor 1 to operate. That is to say, this application realizes the feedback control of the motor vibration by comparing the actual vibration and the predicted vibration of the motor. The actual vibration effect of the motor is mainly controlled by the motion prediction signal A_pred, rather than being affected by the factors of the motor itself. Therefore, for different linear motors 1, the vibration effects of different motors 1 can be made consistent, avoiding the phenomenon of vibration feeling differences caused by problems such as different production batches of linear motors 1, individual performance differences between linear motors 1 in the same batch, aging, and environment (such as temperature).

[0107] In some embodiments of the present application, the motion feedback signal A_sens and the measurement signal V_sens of the motor 1 satisfy a first transfer function; the motion prediction signal A_pred and the input excitation signal Vin satisfy a second transfer function; wherein, the first transfer function is related to the vibration parameters of the motor 1, and the second transfer function is independent of the vibration parameters of the motor 1.

[0108] It should be noted that, since the first transfer function is related to the vibration parameters of the motor 1, the motion feedback module 10 outputs the motion feedback signal A_sens that accurately represents the motion amount of the motor 1 according to the measurement signal V_sens of the motor 1; at the same time, since the second transfer function is independent of the vibration parameters of its own motor 1, the same second transfer function can be set for all batches of the motor 1. For the same input excitation signal Vin, different batches of the motor 1 can control the amplitude of the motor 1 to gradually stabilize to the amplitude corresponding to the motion prediction signal A_pred through feedback control, so that different motors 1 have the same amplitude and the same vibration effect during operation.

[0109] In order to better implement the motor amplitude control device in the embodiments of the present application, based on the motor amplitude control device, another embodiment of the present application further provides an electronic device, wherein the electronic device includes the motor amplitude control device provided in any of the above embodiments. Since the electronic device in the embodiments of the present application is provided with the motor amplitude control device in the above embodiments, it has all the beneficial effects of the above motor amplitude control device, which will not be elaborated here.

[0110] Exemplarily, the electronic device may be, but is not limited to, an automobile, a smart wearable device, a mobile terminal, a smart home device, etc. Among them, the smart wearable device includes, but is not limited to, a smart watch, a smart bracelet, and a cervical massager. The mobile terminal includes, but is not limited to, a smart phone, a laptop computer, a tablet computer, and a point of sales terminal (POS). The smart home device includes, but is not limited to, a smart socket, a smart rice cooker, a smart sweeper, and a smart lamp.

[0111] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For the parts not elaborated in a certain embodiment, reference may be made to the detailed descriptions of other embodiments above, which will not be elaborated here.

[0112] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only an example and does not constitute a limitation to the present application. Although not explicitly stated here, those skilled in the art may make various modifications, improvements, and corrections to the present application. Such modifications, improvements, and corrections are proposed in the present application, so such modifications, improvements, and corrections still fall within the spirit and scope of the exemplary embodiments of the present application.

[0113] Meanwhile, specific terms are used in this application to describe the embodiments of this application. For example, "an embodiment", "one embodiment", and / or "some embodiments" mean a certain feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that the "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more at different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this application can be appropriately combined.

[0114] The above has introduced in detail a motor amplitude control device, method, and electronic device provided by the embodiments of this application. Specific examples are used herein to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A motor amplitude control device, characterized in that: include: A motion feedback module, the motion feedback module is used to output a motion feedback signal of the motor according to the working signal of the motor; A motion prediction module, the motion prediction module is used to output a motion prediction signal of the motor according to the input excitation signal; A control module, the control module is used to output a motion deviation signal according to the motion feedback signal and the motion prediction signal; A motor driving module is used to output a driving signal of the motor according to the motion deviation signal, so as to drive the motor to work according to the driving signal.

2. The motor amplitude control device according to claim 1, characterized in that: The motion feedback signal and the working signal of the motor satisfy a first transfer function; The motion prediction signal and the input excitation signal satisfy a second transfer function; The first transfer function is related to the vibration parameters of the motor, and the second transfer function is independent of the vibration parameters of the motor.

3. The motor amplitude control device according to claim 1, characterized in that: The product of the transfer function of the motor driving module and the actual motion model of the motor satisfies a low-pass high-gain characteristic.

4. The motor amplitude control device according to claim 1, characterized in that: The motion feedback module includes a signal measurement unit and a motion feedback prediction unit; The signal measuring unit is used to measure the working signal of the motor and output a measurement signal; The motion feedback prediction unit is used to output the motion feedback signal according to the measurement signal.

5. The motor amplitude control device according to claim 4, characterized in that: Parameters of the motion feedback prediction unit are determined based on vibration parameters of the motor.

6. The motor amplitude control device according to claim 4, characterized in that: The measurement signal comprises a measured current and / or a measured voltage of the motor; The motion feedback module determines the vibration speed of the motor according to the measurement signal, and determines the vibration displacement and / or vibration acceleration of the motor according to the vibration speed of the motor.

7. The motor amplitude control device according to claim 1, characterized in that: The motion feedback signal includes at least one of a displacement feedback amount, an acceleration feedback amount, or a speed feedback amount of the motor; The motion prediction signal includes at least one of a displacement prediction amount, an acceleration prediction amount, or a speed prediction amount of the motor.

8. A motor amplitude control method, characterized in that: include: receiving an input excitation signal and obtaining a measurement signal of the motor; Outputting a motion feedback signal of the motor according to a measurement signal of the motor, and outputting a motion prediction signal of the motor according to an input excitation signal; Outputting a motion deviation signal according to the motion feedback signal and the motion prediction signal; A driving signal of the motor is output according to the motion deviation signal, so as to drive the motor to work according to the driving signal.

9. The motor amplitude control method according to claim 8, characterized in that: The motion feedback signal and the measurement signal of the motor satisfy a first transfer function; The motion prediction signal and the input excitation signal satisfy a second transfer function; The first transfer function is related to the vibration parameters of the motor, and the second transfer function is independent of the vibration parameters of the motor.

10. An electronic device, characterized in that: Comprising the motor amplitude control device as claimed in any one of claims 1 to 7.

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