Drive control method of linear motor and related device

Abstract

The invention provides a driving control method of a linear motor and a related device, and the method comprises the steps: applying a driving current to a winding in a plurality of continuous time periods of a current control period, so as to enable a vibrator to move under the action of the electromagnetic driving force of the winding, and the control period comprises at least two vibration periods; in the power-off period of the current control cycle, the driving current is turned off, so that the vibrator continues to move under the action of the electromagnetic driving force without the winding; detecting induced electromotive force generated by the winding in the power-off period; and adjusting operation parameters of the linear motor in the next control period according to the induced electromotive force. Thus, the control period comprising at least two vibration periods is divided into a plurality of continuous power-on periods and a power-off period, the motor is prevented from generating large noise due to frequent power-on and power-off, and meanwhile, the induced electromotive force generated by the winding is detected in the power-off period, so that the operation parameters of the linear motor in the next control period are dynamically adjusted, and the operation efficiency of the linear motor is improved. And the flexibility is improved.

Description

Technical Field

[0001] This application belongs to the technical field of motor control, and particularly relates to a driving control method and related device for a linear motor. Background Art

[0002] A linear motor, also known as a linear electric motor or linear motor, is a transmission device that directly converts electrical energy into linear motion mechanical energy without any intermediate conversion mechanism. Based on the working principle of the linear motor, more and more electric shavers use linear motors for driving, enabling the cutter head design to better fit the facial contour and improving the shaving efficiency at the same time. However, in order to achieve dynamic adjustment of the amplitude, existing electric shavers perform frequent on-off operations on the coil of the linear motor, resulting in a relatively large noise of the linear motor and accelerating the reduction of the service life of the linear motor. Summary of the Invention

[0003] The embodiments of this application provide a driving control method and related device for a linear motor, aiming to solve the problem of relatively large noise of the linear motor caused by frequent on-off operations on the coil of the linear motor in the prior art and improve the service life of the linear motor.

[0004] In a first aspect, the embodiments of this application provide a driving control method for a linear motor, which is applied to a linear motor. The linear motor includes a driver and a vibrator. One of the driver is provided with a permanent magnet and a winding, and the other of the vibrator is provided with a permanent magnet and a winding. The method includes: During multiple consecutive energization periods in the current control period, apply a driving current to the winding to make the vibrator move under the action of the electromagnetic driving force of the winding, where the control period includes at least two vibration periods of the vibrator; During the power-off period in the current control period, turn off the driving current to make the vibrator continue to move without the action of the electromagnetic driving force of the winding; Detect the induced electromotive force generated by the winding during the power-off period; Adjust the operating parameters of the linear motor in the next control period according to the induced electromotive force.

[0005] Further, adjusting the operating parameters of the linear motor in the next control period according to the induced electromotive force includes: adjusting the driving current applied to the winding in the next control period according to the peak voltage of the induced electromotive force to keep the amplitude of the vibrator unchanged; determining the termination time point of the current control period according to the zero-crossing time point of the induced electromotive force; determining the start time point of the next control period according to the termination time point of the current control period.

[0006] Further, the duration of the power-off period is greater than or equal to one-half of the vibration period and less than or equal to eleven twentieths of the vibration period.

[0007] Further, the directions of the driving currents applied to the winding in two adjacent power-on periods of the same control period are opposite, the time is the same, and the amplitudes are the same.

[0008] Further, the number of power-on periods in the current control period is a preset fixed value.

[0009] Further, adjusting the operating parameters of the linear motor in the next control period according to the induced electromotive force includes: determining the load state of the linear motor according to the induced electromotive force, where the load state includes a light load state, a standard load state, and a heavy load state; adjusting the number of power-on periods in the next control period according to the load state.

[0010] Further, determining the load state of the linear motor according to the induced electromotive force includes: if the peak voltage of the induced electromotive force is greater than a first preset threshold, determining that the load state of the linear motor is a light load state; if the peak voltage of the induced electromotive force is less than or equal to the first preset threshold and greater than or equal to a second preset threshold, determining that the load state of the linear motor is a standard load state; if the peak voltage of the induced electromotive force is less than the second preset threshold, determining that the load state of the linear motor is a heavy load state.

[0011] Further, adjusting the number of power-on periods in the next control period according to the load state includes: if the load state is the light load state, reducing the number of power-on periods in the next control period; if the load state is the standard load state, keeping the number of power-on periods in the next control period unchanged; if the load state is the heavy load state, increasing the number of power-on periods in the next control period.

[0012] In a second aspect, an embodiment of the present application provides a driving control device for a linear motor, which is applied to a linear motor. The linear motor includes a driver and a vibrator. One of the driver is provided with a permanent magnet and a winding, and the other of the vibrator is provided with a permanent magnet and a winding. The device includes: A first control unit, configured to apply a driving current to the winding in a plurality of consecutive power-on periods of the current control period, so that the vibrator moves under the action of the electromagnetic driving force of the winding, where the control period includes at least two vibration periods of the vibrator; A second control unit, configured to turn off the driving current during a power-off period of the current control cycle, so that the vibrator continues to move without the electromagnetic driving force of the winding; A detection unit, configured to detect an induced electromotive force generated by the winding during the power-off period; A parameter adjustment unit, configured to adjust the operating parameters of the linear motor in the next control cycle according to the induced electromotive force.

[0013] In a third aspect, an embodiment of the present application provides a controller, including a processor, a memory, and one or more programs. The one or more programs are stored in the memory and configured to be executed by the processor. The programs include instructions for performing the steps in the method described in the first aspect of the present application.

[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program / instructions are stored. When the computer program / instructions are executed by a processor, the steps in the method described in the first aspect of the present application are implemented.

[0015] It can be seen that in the embodiment of the present application, during multiple consecutive power-on periods of the current control cycle, a driving current is applied to the winding so that the vibrator moves under the action of the electromagnetic driving force of the winding. The control cycle includes at least two vibration cycles of the vibrator. During the power-off period of the current control cycle, the driving current is turned off so that the vibrator continues to move without the electromagnetic driving force of the winding. During the power-off period, the induced electromotive force generated by the winding is detected, and the operating parameters of the linear motor in the next control cycle are adjusted according to the induced electromotive force. In this way, the control cycle including at least two vibration cycles is divided into multiple consecutive power-on periods and a power-off period, avoiding the generation of large noise due to frequent power-on and power-off of the motor. At the same time, the induced electromotive force generated by the winding is detected during the power-off period, so as to dynamically adjust the operating parameters of the linear motor in the next control cycle, improving flexibility. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 is a structural block diagram of a vibration device provided by an embodiment of the present application; Figure 2 is a schematic flowchart of a driving control method for a linear motor provided by an embodiment of the present application; Figure 3It is a schematic diagram showing the changes in the displacement and driving current of a vibrator provided by an embodiment of the present application; Figure 4 It is another schematic diagram showing the changes in the displacement and driving current of a vibrator provided by an embodiment of the present application; Figure 5 It is a curve graph showing the change of current amplitude with time provided by an embodiment of the present application; Figure 6 It is a structural block diagram of a driving control device for a linear motor provided by an embodiment of the present application; Figure 7 It is another structural block diagram of a driving control device for a linear motor provided by an embodiment of the present application; Figure 8 It is a structural schematic diagram of a controller provided by an embodiment of the present application. Detailed implementation manners

[0018] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present application.

[0019] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products or devices.

[0020] Referring to "embodiment" herein means that a specific feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments.

[0021] Please refer to Figure 1 , Figure 1 It is a structural block diagram of a vibration device provided by an embodiment of the present application. As Figure 1As shown, the vibration device 10 includes a controller 11 and a linear motor 12. The controller 11 can be specifically implemented as a Micro Controller Unit (MCU). The linear motor 12 includes a driver 121 and a vibrator 122. The driver 121 is provided with one of a permanent magnet and a winding, and the vibrator is provided with the other of the permanent magnet and the winding. In this example, the driver 121 is provided with a winding 123, and the vibrator 122 is provided with a permanent magnet 124. The driver 121 and the vibrator 122 are jointly arranged in a frame 125. Both ends of the vibrator 122 are respectively fixed to the frame 125 via springs 126a and 126b. When the controller 11 applies a driving current to the winding 123, an electromagnetic field will be generated, and the vibrator 122 will perform a reciprocating linear motion under the action of the electromagnetic driving force generated by the winding 123. In some embodiments, the vibration device 10 can be specifically implemented as an electric shaver, which has a cutter head assembly. The cutter head assembly is connected to the vibrator, and the cutter head assembly is driven by the vibrator to perform a reciprocating linear motion to realize shaving.

[0022] The following introduces a driving control method for a linear motor provided by an embodiment of the present application.

[0023] Please refer to Figure 2 , Figure 2 which is a schematic flowchart of a driving control method for a linear motor provided by an embodiment of the present application. As shown in Figure 2 , the method includes: S201, during multiple consecutive power-on periods in the current control cycle, apply a driving current to the winding so that the vibrator moves under the action of the electromagnetic driving force of the winding.

[0024] Among them, the control cycle includes at least two vibration cycles of the vibrator. The vibration cycle refers to the time required for the vibrator to complete one reciprocating linear motion.

[0025] S202, during the power-off period in the current control cycle, turn off the driving current so that the vibrator continues to move without the action of the electromagnetic driving force of the winding.

[0026] Among them, the power-off period is temporally located after the multiple consecutive power-on periods. In other embodiments, the power-off period can also be temporally located before the multiple consecutive power-on periods.

[0027] S203, detect the induced electromotive force generated by the winding during the power-off period.

[0028] S204, adjust the operating parameters of the linear motor in the next control cycle according to the induced electromotive force.

[0029] Among them, during the power-off period, the vibrator containing the permanent magnet generates a magnetic field. At this time, the vibrator continues to move, and the winding cuts the magnetic induction line to generate an induced electromotive force. Since there is no electromagnetic driving force, the measured induced electromotive force can directly or indirectly reflect the operating state of the linear motor in the current control cycle, such as the amplitude size, cycle length, etc., so that the operating parameters of the linear motor in the next control cycle can be flexibly adjusted to dynamically adapt to various application scenarios.

[0030] In a possible example, the direction of the electromagnetic driving force generated by the winding due to the driving current applied during each power-on period is kept consistent with the displacement direction of the vibrator. Denote the displacement trajectory of the vibrator from left to right as point A, point O, and point B. Point A is the maximum displacement point of the vibrator on the left side, and point B is the maximum displacement point of the vibrator on the right side. The driving current corresponding to the electromagnetic driving force in the OB direction is a positive current, and the driving current corresponding to the electromagnetic driving force in the OA direction is a negative current, where point O is the equilibrium position of the vibrator. Then in this example, as Figure 3 shown, at time T1, after the vibrator turns at point B, a negative current is applied. The vibrator performs a variable-speed linear motion of accelerating first and then decelerating under the action of the electromagnetic driving force and the spring force until the speed of the vibrator at point A decreases to 0 and turns at time T2, and then enters the next power-on period, that is, switches to a positive current until the speed of the vibrator at point B decreases to 0 and turns at time T3, and then enters the next power-on period, that is, switches to a negative current until the speed of the vibrator at point A decreases to 0 and turns at time T4, and then enters the power-off stage. At this time, the vibrator continues to move without the electromagnetic force of the winding until the speed of the vibrator at point B decreases to 0 and turns at time T5, and then enters the next control cycle. Among them, based on the usage requirements in different application scenarios, the controller can flexibly adjust the intensity of the driving current. For example, in this example, the displacement of the vibrator can be made to show a sine curve change trend as Figure 3 shown by flexibly adjusting the intensity of the driving current. In this example, the direction of the electromagnetic driving force is consistent with the displacement direction of the vibrator throughout the process. It only needs to control the switching of the power-on period when it is detected that the vibrator reaches the limit position and turns, without complex parameter measurement and calculation, which is suitable for application scenarios with relatively low requirements for control accuracy and the pursuit of system stability and simplicity.

[0031] In a possible example, the movement process of the vibrator in a single direction spans two power-on periods. Denote the displacement trajectory of the vibrator from left to right as point A, point M, point O, point N, and point B. Point A is the maximum displacement point of the vibrator on the left side, and point B is the maximum displacement point of the vibrator on the right side. The driving current corresponding to the electromagnetic driving force in the OB direction is a positive current, and the driving current corresponding to the electromagnetic driving force in the OA direction is a negative current, where point O is the equilibrium position of the vibrator. Then in this example, asFigure 4 As shown in the figure, at time T1, when the vibrator moves to point N, a negative current is applied. Under the action of the electromagnetic driving force and the spring force, the vibrator continues to decelerate until the speed of the vibrator at point B is reduced to 0 at time T2 and then turns. Then, under the action of the above electromagnetic driving force and spring force, it performs a variable-speed linear motion of accelerating first and then decelerating until the vibrator moves to point M at time T3 and enters the next power-on period, that is, switches to a positive current, and the vibrator continues to decelerate until the speed of the vibrator at point A is reduced to 0 at time T4 and then turns. Until the vibrator moves to point N again at time T5 and enters the next power-on period, that is, switches to a negative current. Until the vibrator moves to point M at time T6 and enters the power-off period. At this time, the vibrator continues to move under the action of the electromagnetic force without windings until the vibrator moves to point N at time T7 and enters the next control cycle. Among them, based on the usage requirements in different application scenarios, the controller can flexibly adjust the intensity of the driving current. For example, in this example, the displacement of the vibrator can be made to show a sine curve change trend as Figure 4 shown. In this example, by switching the power-on period at the midpoint near the limit position, the vibrator can be effectively prevented from hitting the wall, improving the positioning accuracy and motion smoothness, and is applicable to application scenarios that require high-precision start-stop control.

[0032] It can be seen that in the embodiment of the present application, during multiple consecutive power-on periods of the current control cycle, a driving current is applied to the winding to make the vibrator move under the action of the electromagnetic driving force of the winding. The control cycle includes at least two vibration cycles of the vibrator. During the power-off period of the current control cycle, the driving current is turned off to make the vibrator continue to move under the action of the electromagnetic driving force without windings. During the power-off period, the induced electromotive force generated by the winding is detected, and the operating parameters of the linear motor in the next control cycle are adjusted according to the induced electromotive force. In this way, the control cycle including at least two vibration cycles is divided into multiple consecutive power-on periods and a power-off period, avoiding the generation of large noise due to frequent on-off of the motor. At the same time, the induced electromotive force generated by the winding is detected during the power-off period, so as to dynamically adjust the operating parameters of the linear motor in the next control cycle, improving flexibility.

[0033] In a possible example, adjusting the operating parameters of the linear motor in the next control cycle according to the induced electromotive force includes: adjusting the driving current applied to the winding in the next control cycle according to the peak voltage of the induced electromotive force to keep the amplitude of the vibrator unchanged; determining the end time point of the current control cycle according to the zero-crossing time point of the induced electromotive force; determining the start time point of the next control cycle according to the end time point of the current control cycle.

[0034] Among them, the relevant data of the induced electromotive force detected during the power-off period includes the peak voltage of the induced electromotive force and the zero-crossing time point. The peak voltage can indirectly reflect the amplitude of the vibrator in the current control cycle, and the zero-crossing time point is used to characterize the cycle length of the current control cycle. In a linear motor, the induced electromotive force E = BLv, where B is the magnetic induction intensity, L is the conductor length, and v is the speed. Based on this, in some embodiments, when the vibrator passes through the equilibrium position during the power-off period, the speed of the vibrator is the maximum at this time, and the corresponding induced electromotive force is the maximum, that is, the peak voltage is obtained; when the speed of the vibrator is reduced to 0 during the power-off period, the induced electromotive force is 0 at this time, that is, the zero-crossing time point is obtained. Further, when a single-motor system is adopted, the starting time point of the next control cycle is the termination time point of the current control cycle; when a multi-motor system is adopted, due to the phase difference that may exist in the control cycles of multiple motors due to various factors, the cycle lengths of different motors are different. In this case, it is necessary to comprehensively determine the common starting time point of all motors in the next control cycle to ensure the synchronous operation of the motors.

[0035] It can be seen that in this example, the drive current applied in the next control cycle is adjusted according to the peak voltage of the induced electromotive force to ensure that the amplitude remains unchanged, and the starting time point of the next control cycle is determined according to the zero-crossing time point of the induced electromotive force to ensure the synchronous operation of the motors, improving the stability of the system.

[0036] In a possible example, the duration of the power-off period is greater than or equal to one-half of the vibration period and less than or equal to eleven-twentieths of the vibration period.

[0037] Among them, restricting the duration T of the power-off period within is beneficial to improving the detection accuracy and at the same time avoiding the influence of too long power-off period on the drive efficiency.

[0038] In a possible example, the directions of the drive currents applied to the winding in two adjacent power-on periods of the same control cycle are opposite, the time is the same, and the amplitudes are the same.

[0039] Among them, please refer to Figure 5 , Figure 5 which is a curve graph of the current amplitude changing with time provided by an embodiment of the present application. As Figure 5 shown, the current control cycle is the time period from T0 to T4. Among them, the time periods from T0 to T1, from T1 to T2, and from T2 to T3 are power-on periods with the same time length, and the drive currents in two adjacent power-on periods are opposite in direction and the same in amplitude, both being Im. The time period from T3 to T4 is the power-off detection period, and the vibrator continues to move to generate an induced electromotive force. In this example, the time point T4 is the termination time point of the current control cycle.

[0040] Furthermore, since the time and amplitude of the driving current remain unchanged, the electromagnetic driving force received by the vibrator during the energization period is also constant, specifically F = 2kx, where x refers to the distance between the vibrator and the starting position O point when the vibrator acceleration is 0, and k is the spring coefficient.

[0041] It can be seen that in this example, the driving current directions applied in two adjacent energization periods of the same control cycle are opposite, the time is the same, and the amplitude is the same, which can provide balanced excitation, thereby reducing the noise of the motor.

[0042] In a possible example, the number of energization periods in the current control cycle is a preset fixed value.

[0043] Among them, it is recorded that the current control cycle includes 2 vibration periods, and the preset fixed value is, for example, 3.5 vibration periods. Further, the duration of the energization period is greater than or equal to 80% of half a vibration period. In this half vibration period, there is a braking period before and after the energization period, and the duration of the braking period is less than or equal to 10% of half a vibration period. In this way, the driving efficiency can be effectively improved. It can be understood that the duration of the energization period and the braking period in each half vibration period can be flexibly adjusted according to the actual situation.

[0044] In some embodiments, if it is detected that the current control cycle is the first control cycle after the motor starts, then determine that the number of energization periods in the current control cycle is the preset fixed value; if it is detected that the current control cycle is not the first control cycle after the motor starts, then the number of energization periods in the current control cycle can be determined according to the induced electromotive force detected during the power-off period of the previous control cycle. In other embodiments, the number of energization periods in different control cycles is always a preset fixed value to meet the application requirements of different scenarios.

[0045] It can be seen that in this example, the number of energization periods in each control cycle is a preset fixed value. By means of performing a power-off detection after multiple consecutive energization periods, a complete operation cycle is constructed, avoiding the motor from generating excessive noise due to frequent power-on and power-off, and improving the service life of the linear motor.

[0046] In a possible example, the adjusting the operating parameters of the linear motor in the next control cycle according to the induced electromotive force includes: determining the load state of the linear motor according to the induced electromotive force, where the load state includes a light load state, a standard load state, and a heavy load state; adjusting the number of energization periods in the next control cycle according to the load state.

[0047] Among them, the operating parameters of the linear motor in the next control cycle further include the number of energized periods in the next control cycle. In practical applications, different beard concentrations will result in different loads on the linear motor. When the beard concentration is large, i.e., the load is large, more high-efficiency driving reciprocating motions are required to shear the beard. Frequent on-off operations will obviously affect the shaving efficiency in this application scenario. When the beard concentration is small, i.e., the load is small, while meeting the high-efficiency shaving requirement, power consumption also needs to be taken into account. Based on this, in this example, after the induced electromotive force is collected during the power-off period in the current control cycle, the load state of the linear motor is determined based on the induced electromotive force, and then the number of energized periods in the next control cycle is adjusted in real time according to the load state to adapt to the dynamic change of the load, improve the shaving efficiency or save power.

[0048] It can be seen that in this example, the load state of the linear motor is determined according to the induced electromotive force, and then the number of energized periods in the next control cycle is dynamically adjusted according to the load state to flexibly adapt to the load change, improving the flexibility of the device.

[0049] In a possible example, determining the load state of the linear motor according to the induced electromotive force includes: if the peak voltage of the induced electromotive force is greater than a first preset threshold, it is determined that the load state of the linear motor is a light load state; if the peak voltage of the induced electromotive force is less than or equal to the first preset threshold and greater than or equal to a second preset threshold, it is determined that the load state of the linear motor is a standard load state; if the peak voltage of the induced electromotive force is less than the second preset threshold, it is determined that the load state of the linear motor is a heavy load state.

[0050] Among them, the peak voltage of the induced electromotive force is negatively correlated with the load state of the linear motor. If the peak voltage of the induced electromotive force is larger, it indicates that the amplitude of the linear motor is larger, which means the load is smaller. If the peak voltage of the induced electromotive force is smaller, it indicates that the amplitude of the linear motor is smaller, which means the load is larger. In this example, the first preset threshold E1 and the second preset threshold E2 are calibrated through experimental data. After the peak voltage E of the induced electromotive force is collected peak for threshold comparison. If E peak > E1, it is determined to be a light load state; if E2 ≤ E peak ≤ E1, it is determined to be a standard load state; if E peak < E2, it is determined to be a heavy load state.

[0051] It can be seen that in this example, the load state of the linear motor is determined by comparing the peak voltage of the induced electromotive force detected during the power-off period with the threshold, without consuming a large amount of computing resources, and can respond in a timely manner and adjust the number of energized periods in the next control cycle based on the load state, improving the flexibility of the device.

[0052] In a possible example, determining the load state of the linear motor according to the induced electromotive force includes: determining the peak voltage, decay half-time, and energy integral of the induced electromotive force, where the decay half-time is the time required for the induced electromotive force to decay from the peak voltage to half of the peak voltage, and the energy integral is used to characterize the mechanical energy of the vibrator of the linear motor during the power-off period; determining the load state of the linear motor according to the peak voltage, the decay half-time, the energy integral, and a preset fuzzy logic rule.

[0053] Among them, the decay half-time t 1 / 2 refers to the time required for the induced electromotive force to decay from E peak to E peak / 2. The greater the load, the smaller the decay half-time, which can be obtained from the waveform data of the induced electromotive force. The energy integral Q is equivalent to the total energy of the vibrator during the movement in the power-off period, which can be measured by calculating the area of the waveform curve of the induced electromotive force. The greater the load, the smaller the energy integral. Specifically, the energy integral Q can be calculated by the following calculation formula:

[0054] where t is a time variable representing the time sampling point in the process of calculating the energy integral; T is the total duration of the power-off period; E(t) is a function of time t, representing the induced electromotive force at time t, and E(t) ∈ [0, T]; ∆t is equivalent to dividing the time into several small time intervals in the numerical integration process, which is used to approximately calculate the area under the curve.

[0055] Further, the construction process of the preset fuzzy logic rule includes: constructing a three-dimensional input fuzzy set. For example, the value range of the peak voltage E peak is defined as five states: {VL, L, M, H, VH}, representing very low, low, medium, high, and very high respectively; similarly, the value ranges of the decay half-time t 1 / 2 and the energy integral Q are also defined as five states. Formulating multiple fuzzy rules. For example, when E peak =H and t 1 / 2 =L and Q = H, it is determined that the load is in a light load state; when E peak =L and t 1 / 2 =S and Q = E, it is determined that the load is in a heavy load state. Matching the obtained peak voltage, decay half-time, and energy integral as inputs with the preset fuzzy logic rule, so as to determine the load state of the linear motor.

[0056] It can be seen that in this example, by combining multiple characteristic parameters that can reflect the load state with preset fuzzy logic rules to comprehensively determine the load state, the accuracy of the detection result is improved, thereby improving the accuracy of adjusting the operating parameters of the next control cycle based on the load state.

[0057] In a possible example, the adjusting the number of power-on periods in the next control cycle according to the load state includes: if the load state is the light load state, reducing the number of power-on periods in the next control cycle; if the load state is the standard load state, keeping the number of power-on periods in the next control cycle unchanged; if the load state is the heavy load state, increasing the number of power-on periods in the next control cycle.

[0058] Among them, exemplarily, in the application scenario of the electric shaver driven by the linear motor, if the number of power-on periods in the current control cycle is recorded as 3, when the load state of the linear motor is detected to be the light load state, the number of power-on periods in the next control cycle can be reduced to 1, that is, enter the power-off period after one power-on period, so as to reduce power consumption on the basis of meeting the high-efficiency shaving requirement; when the load state of the linear load is detected to be the high load state, the number of power-on periods in the next control cycle can be increased to 5, that is, enter the power-off period after five power-on periods, so as to maintain the effective cutting force and improve the shaving efficiency; when the load state of the linear load is detected to be the standard load state, keep the number of power-on periods in the next control cycle still 3 to avoid obvious device vibration caused by frequent adjustment of operating parameters.

[0059] It can be seen that in this example, the controller dynamically adjusts the number of power-on periods in the next control cycle according to the load state to flexibly adapt to the load change and improve the flexibility of the device.

[0060] Consistent with the above-described embodiment, please refer to Figure 6 , Figure 6 is a structural block diagram of a driving control device for a linear motor provided by an embodiment of the present application. The driving control device 60 of the linear motor includes: a first control unit 601, configured to apply a driving current to the winding during multiple consecutive power-on periods of the current control cycle, so that the vibrator moves under the action of the electromagnetic driving force of the winding, where the control cycle includes at least two vibration cycles of the vibrator; a second control unit 602, configured to turn off the driving current during the power-off period of the current control cycle, so that the vibrator continues to move without the action of the electromagnetic driving force of the winding; a detection unit 603, configured to detect the induced electromotive force generated by the winding during the power-off period; a parameter adjustment unit 604, configured to adjust the operating parameters of the linear motor in the next control cycle according to the induced electromotive force.

[0061] In a possible example, in terms of adjusting the operating parameters of the linear motor in the next control cycle according to the induced electromotive force, the parameter adjustment unit 604 is specifically configured to: adjust the drive current applied to the winding in the next control cycle according to the peak voltage of the induced electromotive force, so as to keep the amplitude of the vibrator unchanged; determine the termination time point of the current control cycle according to the zero-crossing time point of the induced electromotive force; and determine the start time point of the next control cycle according to the termination time point of the current control cycle.

[0062] In a possible example, the duration of the power-off period is greater than or equal to one-half of the vibration period and less than or equal to eleven twentieths of the vibration period.

[0063] In a possible example, the directions of the drive currents applied to the winding in two adjacent power-on periods of the same control cycle are opposite, the time is the same, and the amplitudes are the same.

[0064] In a possible example, the number of power-on periods in the current control cycle is a preset fixed value.

[0065] In a possible example, in terms of adjusting the operating parameters of the linear motor in the next control cycle according to the induced electromotive force, the parameter adjustment unit 604 is specifically configured to: determine the load state of the linear motor according to the induced electromotive force, where the load state includes a light load state, a standard load state, and a heavy load state; and adjust the number of power-on periods in the next control cycle according to the load state.

[0066] In a possible example, in terms of determining the load state of the linear motor according to the induced electromotive force, the parameter adjustment unit 604 is specifically configured to: if the peak voltage of the induced electromotive force is greater than a first preset threshold, determine that the load state of the linear motor is a light load state; if the peak voltage of the induced electromotive force is less than or equal to the first preset threshold and greater than or equal to a second preset threshold, determine that the load state of the linear motor is a standard load state; and if the peak voltage of the induced electromotive force is less than the second preset threshold, determine that the load state of the linear motor is a heavy load state.

[0067] In a possible example, in terms of adjusting the number of power-on periods in the next control cycle according to the load state, the parameter adjustment unit 604 is specifically configured to: if the load state is the light load state, reduce the number of power-on periods in the next control cycle; if the load state is the standard load state, keep the number of power-on periods in the next control cycle unchanged; if the load state is the heavy load state, increase the number of power-on periods in the next control cycle.

[0068] It can be understood that since the method embodiment and the device embodiment are different presentation forms of the same technical concept, the content of the method embodiment part in this application should be synchronously adapted to the device embodiment part, and will not be elaborated here.

[0069] In the case of adopting an integrated unit, as Figure 7 shown, Figure 7 is a structural block diagram of another driving control device for a linear motor provided by an embodiment of the present application. In Figure 7 , the driving control device 60 of the linear motor includes: a processing module 62 and a communication module 61. The processing module 62 is used to control and manage the actions of the driving control device of the linear motor. For example, it executes the steps of the first control unit 601, the second control unit 602, the detection unit 603, and the parameter adjustment unit 604, and / or is used to execute other processes of the technologies described herein. The communication module 61 is used to support the interaction between the driving control device of the linear motor and other devices. As Figure 7 shown, the driving control device of the linear motor may further include a storage module 63, and the storage module 63 is used to store the program code and data of the driving control device of the linear motor.

[0070] Among them, all relevant contents of each scenario involved in the above method embodiment can be cited in the function description of the corresponding functional module, and will not be elaborated here. The above driving control device 60 of the linear motor can execute the above Figure 2 shown driving control method of the linear motor.

[0071] Based on the descriptions of the above method embodiment and device embodiment, please refer to Figure 8 , Figure 8 which is a structural schematic diagram of a controller provided by an embodiment of the present application. Figure 8 The shown controller includes a memory 801, a processor 802, a communication interface 803, and a bus 804. Among them, the memory 801, the processor 802, and the communication interface 803 are communicatively connected to each other through the bus 804.

[0072] The memory 801 may be a Read Only Memory (ROM), a static storage device, a dynamic storage device, or a Random Access Memory (RAM).

[0073] The memory 801 may store a program. When the program stored in the memory 801 is executed by the processor 802, the processor 802 and the communication interface 803 are used to execute each step of the driving control method of the linear motor according to the embodiments of the present application.

[0074] The processor 802 may be a general-purpose Central Processing Unit (CPU), a microprocessor, an Application Specific Integrated Circuit (ASIC), a graphics processing unit (GPU), or one or more integrated circuits, and is used to execute relevant programs to implement the functions required by the units in the controller according to the embodiments of the present application, or to execute the driving control method of the linear motor according to the method embodiments of the present application.

[0075] The processor 802 may also be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the driving control method of the linear motor according to the present application may be completed by the integrated logic circuit in the hardware of the processor 802 or by instructions in software form. The above-mentioned processor 802 may also be a general-purpose processor, a Digital Signal Processing (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application may be directly embodied as being executed and completed by the hardware decoding processor, or by a combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 801, and the processor 802 reads the information in the memory 801 and combines its hardware to complete the functions required by the units included in the controller according to the embodiments of the present application, or to execute the driving control method of the linear motor according to the method embodiments of the present application.

[0076] The communication interface 803 uses a transceiver device such as, but not limited to, a transceiver to implement communication between the controller and other devices or communication networks. For example, data can be obtained through the communication interface 803.

[0077] The bus 804 may include a path for transmitting information between various components of the controller (e.g., the memory 801, the processor 802, the communication interface 803).

[0078] It should be noted that although Figure 8 the controller shown only shows the memory 801, the processor 802, and the communication interface 803, in the specific implementation process, those skilled in the art should understand that the controller also includes other devices necessary for normal operation. At the same time, according to specific needs, those skilled in the art should understand that the controller may also include hardware devices for implementing other additional functions. In addition, those skilled in the art should understand that the controller may also only include the devices necessary for implementing the embodiments of the present application, and do not have to include Figure 8 all the devices shown in

[0079] The embodiments of the present application also provide a computer-readable storage medium, in which instructions are stored. When they run on a computer or a processor, the computer or the processor is caused to execute one or more steps in any of the above methods.

[0080] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the division of the unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The couplings, direct couplings, or communication connections shown or discussed with each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0081] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they can be located in one place, or can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0082] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a read-only memory, a random access memory, a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape, a magnetic disk, or an optical medium, such as a digital versatile disc, or a semiconductor medium, such as a solid-state drive, etc.

[0083] As described above, the above is only the specific implementation manner of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the embodiments of the present application should be covered by the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application should be subject to the protection scope of the claims.

[0084] The device embodiments described above are merely illustrative. The units and modules described as separate components may or may not be physically separated. Additionally, some or all of the units and modules can be selected according to actual needs to achieve the objectives of the solutions of this embodiment. A person of ordinary skill in the art can understand and implement this without creative effort.

[0085] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the present application, and can make various modifications and changes, including combinations of the above different functions and implementation steps, including software and hardware implementation methods, all within the protection scope of the present application.

Claims

1. A driving control method for a linear motor, characterized in that, The linear motor includes a driver and a vibrator. The driver is provided with one of a permanent magnet and a winding, and the vibrator is provided with the other of the permanent magnet and the winding. The method includes: Applying a driving current to the winding during a plurality of consecutive energization periods in the current control cycle, so that the vibrator moves under the action of the electromagnetic driving force of the winding, where the control cycle includes at least two vibration periods of the vibrator; Turning off the driving current during the power-off period in the current control cycle, so that the vibrator continues to move without the action of the electromagnetic driving force of the winding; Detecting the induced electromotive force generated by the winding during the power-off period; Adjusting the operating parameters of the linear motor in the next control cycle according to the induced electromotive force.

2. The method according to claim 1, characterized in that The adjusting the operating parameters of the linear motor in the next control cycle according to the induced electromotive force includes: Adjusting the driving current applied to the winding in the next control cycle according to the peak voltage of the induced electromotive force, so that the amplitude of the vibrator remains unchanged; Determining the end time point of the current control cycle according to the zero-crossing time point of the induced electromotive force; Determining the start time point of the next control cycle according to the end time point of the current control cycle.

3. The method according to claim 2, wherein The duration of the power-off period is greater than or equal to one-half of the vibration period and less than or equal to eleven twentieths of the vibration period.

4. The method according to claim 1, wherein The driving currents applied to the winding in two adjacent energization periods in the same control cycle have opposite directions, the same time, and the same amplitude.

5. The method according to claim 1, characterized in that The number of the plurality of energization periods in the current control cycle is a preset fixed value.

6. The method according to any one of claims 1-5, characterized in that The adjusting the operating parameters of the linear motor in the next control cycle according to the induced electromotive force includes: Determining the load state of the linear motor according to the induced electromotive force, where the load state includes a light load state, a standard load state, and a heavy load state; Adjusting the number of the energization periods in the next control cycle according to the load state.

7. The method according to claim 6, wherein The determining the load state of the linear motor according to the induced electromotive force includes: If the peak voltage of the induced electromotive force is greater than a first preset threshold, it is determined that the load state of the linear motor is a light load state; If the peak voltage of the induced electromotive force is less than or equal to the first preset threshold and greater than or equal to a second preset threshold, it is determined that the load state of the linear motor is a standard load state; If the peak voltage of the induced electromotive force is less than the second preset threshold, it is determined that the load state of the linear motor is a heavy load state.

8. The method according to claim 7, characterized in that, The adjusting the number of the energization periods in the next control cycle according to the load state includes: If the load state is the light load state, reducing the number of the energization periods in the next control cycle; If the load state is the standard load state, keeping the number of the energization periods in the next control cycle unchanged; If the load state is the heavy load state, increasing the number of the energization periods in the next control cycle.

9. A driving control device for a linear motor, characterized in that, The linear motor includes a driver and a vibrator. The driver is provided with one of a permanent magnet and a winding, and the vibrator is provided with the other of the permanent magnet and the winding. The device includes: A first control unit for applying a driving current to the winding during a plurality of consecutive energization periods in a current control cycle, so that the vibrator moves under the action of the electromagnetic driving force of the winding, wherein the control cycle includes at least two vibration periods of the vibrator; A second control unit for turning off the driving current during a power-off period in the current control cycle, so that the vibrator continues to move without the action of the electromagnetic driving force of the winding; A detection unit for detecting an induced electromotive force generated by the winding during the power-off period; A parameter adjustment unit for adjusting the operating parameters of the linear motor in the next control cycle according to the induced electromotive force.

10. A controller, characterized in that, Comprising a processor, a memory, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps in the method according to any one of claims 1-8.

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