Drive control method and related device of linear motor

Abstract

The present application provides a drive control method and related device for a linear motor. The method comprises: applying a drive current to a winding during multiple consecutive time periods of a current control cycle, so that a vibrator moves under the action of the electromagnetic driving force of the winding, wherein the control cycle includes at least two vibration cycles; shutting off the drive 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; detecting the induced electromotive force generated by the winding during the power-off period; and adjusting the operating parameters of the linear motor in the next control cycle based on the induced electromotive force. In this way, the control cycle, which includes at least two vibration cycles, is divided into multiple consecutive power-on periods and one power-off period, thereby preventing the motor from generating loud noise due to frequent power on and off. Simultaneously, the induced electromotive force generated by the winding is detected during the power-off period, thereby dynamically adjusting the operating parameters of the linear motor in the next control cycle, thereby improving flexibility.

Description

Technical Field

[0001] The present application belongs to the field of motor control technology, and specifically relates to a drive control method and related devices for a linear motor. Background Art

[0002] A linear motor, also known as a linear motor, is a transmission device that converts electrical energy directly into mechanical energy for linear motion without the need for any intermediate conversion mechanism. Based on the working principle of linear motors, an increasing number of electric shavers are using linear motors to drive them, allowing the blade design to better fit facial contours while also improving shaving efficiency. However, existing electric shavers frequently power the linear motor's coils on and off to achieve dynamic amplitude adjustment. This results in high noise levels and accelerates the reduction of the linear motor's service life. Summary of the Invention

[0003] The embodiments of the present application provide a drive control method and related devices for a linear motor, in order to solve the problem in the prior art of frequent power on and off operations on the coils of the linear motor, which causes high noise in the linear motor, and to increase the service life of the linear motor.

[0004] In a first aspect, an embodiment of the present application provides a drive control method for a linear motor, which is applied to a linear motor, wherein the linear motor includes a driver and a vibrator, wherein 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, and the method includes:

[0005] applying a driving current to the winding during a plurality of consecutive power-on periods of a current control cycle, so that the vibrator moves under the action of an electromagnetic driving force of the winding, wherein the control cycle includes at least two vibration cycles of the vibrator;

[0006] During a 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;

[0007] detecting the induced electromotive force generated by the winding during the power-off period;

[0008] The operating parameters of the linear motor in the next control cycle are adjusted according to the induced electromotive force.

[0009] Furthermore, 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; and determining the start time point of the next control cycle according to the end time point of the current control cycle.

[0010] Furthermore, 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.

[0011] Furthermore, the driving currents applied to the windings in two adjacent power-on time periods of the same control cycle are in opposite directions, have the same duration, and have the same amplitude.

[0012] Furthermore, the number of the plurality of power-on time periods in the current control cycle is a preset fixed value.

[0013] Furthermore, 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, the load state including a light load state, a standard load state and a heavy load state; and adjusting the number of power-on time periods in the next control cycle according to the load state.

[0014] Furthermore, determining the load state of the linear motor based on 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.

[0015] Furthermore, 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.

[0016] In a second aspect, an embodiment of the present application provides a drive control device for a linear motor, which is applied to the linear motor. 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:

[0017] a first control unit, configured to apply a driving current to the winding during a plurality of consecutive power-on periods of a current control cycle, so that the vibrator moves under the action of an electromagnetic driving force of the winding, wherein the control cycle includes at least two vibration cycles of the vibrator;

[0018] a second control unit, configured to shut down the driving current during a power-off period of a current control cycle, so that the vibrator continues to move without the electromagnetic driving force of the winding;

[0019] a detection unit, configured to detect the induced electromotive force generated by the winding during the power-off period;

[0020] A parameter adjustment unit is used to adjust the operating parameters of the linear motor in the next control cycle according to the induced electromotive force.

[0021] In a third aspect, an embodiment of the present application provides a controller comprising a processor, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program comprises instructions for executing the steps in the method described in the first aspect of the present application.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect of the present application.

[0023] It can be seen that in the embodiment of the present application, during multiple consecutive power-on periods of the current control cycle, a drive current is applied to the winding to cause the vibrator to move under the action of the electromagnetic driving force of the winding, wherein the control cycle includes at least two vibration cycles of the vibrator. During the power-off period of the current control cycle, the drive current is turned off to allow the vibrator to continue 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 based on 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 one power-off period, thereby avoiding the motor from generating large noise due to frequent power on and off. At the same time, the induced electromotive force generated by the winding is detected during the power-off period, thereby dynamically adjusting the operating parameters of the linear motor in the next control cycle, thereby improving flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 This is a structural block diagram of a vibration device provided in an embodiment of the present application;

[0026] Figure 2 1 is a flow chart of a linear motor drive control method provided in an embodiment of the present application;

[0027] Figure 3 This is a schematic diagram of the changes in displacement and driving current of a vibrator provided in an embodiment of the present application;

[0028] Figure 4 This is another schematic diagram of the change of the displacement and driving current of a vibrator provided in an embodiment of the present application;

[0029] Figure 5 is a graph showing the change of current amplitude over time provided in an embodiment of the present application;

[0030] Figure 6 This is a structural block diagram of a drive control device for a linear motor provided in an embodiment of the present application;

[0031] Figure 7 This is a structural block diagram of another linear motor drive control device provided in an embodiment of the present application;

[0032] Figure 8 A schematic diagram of the structure of a controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0035] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0036] See also Figure 1 , Figure 1 This is a structural block diagram of a vibration device provided by an embodiment of the present application. Figure 1 As shown, the vibration device 10 includes a controller 11 and a linear motor 12. The controller 11 can be implemented as a microcontroller unit (MCU). The linear motor 12 includes a driver 121 and a vibrator 122. The driver 121 includes one of a permanent magnet and a winding, while the vibrator includes the other of the permanent magnet and the winding. In this example, the driver 121 includes a winding 123, and the vibrator 122 includes a permanent magnet 124. The driver 121 and vibrator 122 are both disposed within a frame 125, with the ends of the vibrator 122 secured to the frame 125 via springs 126a and 126b, respectively. When the controller 11 applies a driving current to the winding 123, an electromagnetic field is generated, causing the vibrator 122 to reciprocate linearly under the electromagnetic driving force generated by the winding 123. In some embodiments, the vibration device 10 can be implemented as an electric shaver having a cutter head assembly connected to the vibrator, which drives the cutter head assembly to reciprocate linearly to achieve shaving.

[0037] The following describes a drive control method for a linear motor provided in an embodiment of the present application.

[0038] See also Figure 2 , Figure 2 is a flow chart of a linear motor drive control method provided in an embodiment of the present application, such as Figure 2 As shown, the method includes:

[0039] S201 , applying a driving current to the winding during a plurality of consecutive power-on periods of a current control cycle, so that the vibrator moves under the action of the electromagnetic driving force of the winding.

[0040] The control period includes at least two vibration periods of the vibrator, and the vibration period refers to the time required for the vibrator to complete one reciprocating linear motion.

[0041] S202 , during a power-off period of the current control cycle, turning off the driving current so that the vibrator continues to move without the electromagnetic driving force of the winding.

[0042] The power-off period is located after the plurality of consecutive power-on periods in terms of time sequence. In other embodiments, the power-off period may also be located before the plurality of consecutive power-on periods in terms of time sequence.

[0043] S203: Detecting the induced electromotive force generated by the winding during the power-off period.

[0044] S204: Adjust operating parameters of the linear motor in the next control cycle according to the induced electromotive force.

[0045] Among them, during the power-off period, the vibrator containing a permanent magnet generates a magnetic field. At this time, the vibrator continues to move, and the winding cuts the magnetic lines of force 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 status of the linear motor in the current control cycle, such as the amplitude, 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.

[0046] In one possible example, the driving current applied during each power-on period causes the direction of the electromagnetic driving force generated by the winding to be consistent with the displacement direction of the vibrator. The displacement trajectory of the vibrator is represented from left to right as point A, point O, and point B, where point A is the maximum displacement point of the vibrator on the left, and point B is the maximum displacement point of the vibrator on the right. 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. Point O is the equilibrium position of the vibrator. In this example, Figure 3As shown, at time T1, after the vibrator turns at point B, a negative current is applied, and the vibrator performs variable speed linear motion that first accelerates and then decelerates under the action of the electromagnetic driving force and the spring force, until time T2 when the vibrator's speed at point A is reduced to 0 and it turns, and then it enters the next power-on period, that is, it switches to a positive current, until time T3 when the vibrator's speed at point B is reduced to 0 and it turns, and then it enters the next power-on period, that is, it switches to a negative current, until time T4 when the vibrator's speed at point A is reduced to 0 and it turns, and then it enters the power-off stage. At this time, the vibrator continues to move under the action of the electromagnetic force without the winding, until time T5 when the vibrator's speed at point B is reduced to 0 and it turns, and then it 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 appear as follows by flexibly adjusting the intensity of the driving current. Figure 3 The sinusoidal curve trend is shown in the figure. In this example, the direction of the electromagnetic driving force is consistent with the displacement direction of the vibrator throughout its entire process. Simply switching the power-on period when the vibrator reaches its extreme position and turns is sufficient. Complex parameter measurement and calculation are unnecessary, making this suitable for applications requiring relatively low control accuracy and focusing on system stability and simplicity.

[0047] In one possible example, the movement process of the vibrator in a single direction spans two power-on periods. The displacement trajectory of the vibrator is recorded 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, point B is the maximum displacement point of the vibrator on the right, the driving current corresponding to the electromagnetic driving force in the OB direction is positive, and the driving current corresponding to the electromagnetic driving force in the OA direction is negative. Point O is the equilibrium position of the vibrator. In this example, if Figure 4 As shown, at time T1, when the vibrator moves to point N, a negative current is applied, and the vibrator continues to decelerate under the action of the electromagnetic driving force and the spring force until the vibrator turns after its speed decreases to 0 at point B at time T2. Then, under the action of the above-mentioned electromagnetic driving force and the spring force, it performs a variable speed linear motion of first accelerating and then decelerating. Until time T3, when the vibrator moves to point M, it enters the next power-on period, that is, it switches to a positive current, and the vibrator continues to decelerate until the vibrator turns after its speed decreases to 0 at point A at time T4. Until time T5, when the vibrator moves to point N again, it enters the next power-on period, that is, it switches to a negative current. Until time T6, when the vibrator moves to point M, it enters a power-off period. At this time, the vibrator continues to move under the action of the electromagnetic force without the winding. Until time T7, when the vibrator moves to point N, it 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 appear as follows by flexibly adjusting the intensity of the driving current. Figure 4The sinusoidal curve shown in the figure shows a trend in the rotation of the oscillator. In this example, switching the power-on period at an intermediate point near the extreme position effectively prevents the vibrator from hitting the wall, improving positioning accuracy and motion smoothness. This makes it suitable for applications requiring high-precision start-stop control.

[0048] As can be seen, in the embodiment of the present application, during multiple consecutive power-on periods of the current control cycle, a drive current is applied to the winding to cause the vibrator to move under the action of the electromagnetic driving force of the winding, wherein the control cycle includes at least two vibration cycles of the vibrator. During the power-off period of the current control cycle, the drive current is turned off to allow the vibrator to continue 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 based on 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 one power-off period, thereby avoiding the motor from generating large noise due to frequent power on and off. At the same time, the induced electromotive force generated by the winding is detected during the power-off period, thereby dynamically adjusting the operating parameters of the linear motor in the next control cycle, thereby improving flexibility.

[0049] In one 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 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; and determining the start time point of the next control cycle according to the end time point of the current control cycle.

[0050] The relevant data of the induced electromotive force detected during the power-off period includes the peak voltage and zero-crossing time of the induced electromotive force. The peak voltage can indirectly reflect the amplitude of the vibrator in the current control cycle, and the zero-crossing time 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 velocity. Based on this, in some embodiments, when the vibrator passes through the equilibrium position during the power-off period, the vibrator's velocity is maximum, and the corresponding induced electromotive force is maximum, i.e., the peak voltage is obtained; when the vibrator's velocity decreases to zero during the power-off period, the induced electromotive force is zero, i.e., the zero-crossing time is obtained. Furthermore, when a single-motor system is used, the starting time of the next control cycle is the ending time of the current control cycle. When a multi-motor system is used, since the control cycles of multiple motors may have phase differences due to various factors, resulting in different cycle lengths for different motors, it is necessary to comprehensively determine a common starting time for all motors in the next control cycle to ensure synchronous operation of the motors.

[0051] It can be seen that in this example, the driving 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 motor, thereby improving the stability of the system.

[0052] 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.

[0053] The duration of the power outage period T is limited to It is beneficial to improve the accuracy of detection and avoid the influence of long power-off period on driving efficiency.

[0054] In a possible example, the driving currents applied to the winding in two adjacent power-on periods of the same control cycle are in opposite directions, have the same duration, and have the same amplitude.

[0055] Among them, see Figure 5 , Figure 5 This is a graph showing the change of current amplitude over time provided by an embodiment of the present application. Figure 5 As shown in the figure, the current control cycle is from T0 to T4. The periods T0 to T1, T1 to T2, and T2 to T3 are all equal power-on periods, with the driving currents in adjacent power-on periods in opposite directions and with the same amplitude of Im. The period T3 to T4 is a power-off detection period, during which the vibrator continues to generate induced electromotive force. In this example, time T4 marks the end of the current control cycle.

[0056] Furthermore, since the time and amplitude of the driving current remain unchanged, the electromagnetic driving force exerted on the vibrator during the power-on period is also constant, specifically F=2kx, where x refers to the distance between the vibrator and the starting position O when the vibrator acceleration is 0, and k is the spring coefficient.

[0057] It can be seen that in this example, the driving currents applied in two adjacent power-on periods of the same control cycle have opposite directions, the same duration, and the same amplitude, which can provide balanced excitation, thereby reducing the noise of the motor.

[0058] In a possible example, the number of the plurality of power-on periods in the current control cycle is a preset fixed value.

[0059] Here, the current control cycle includes two vibration cycles, and the preset fixed value is, for example, three half-vibration cycles. Furthermore, the duration of the power-on period is greater than or equal to 80% of half a vibration cycle. Within this half vibration cycle, there is a braking period before and after the power-on period, and the duration of the braking period is less than or equal to 10% of half a vibration cycle. In this way, the driving efficiency can be effectively improved. It is understood that the duration of the power-on period and the braking period in each half vibration cycle can be flexibly adjusted according to actual conditions.

[0060] In some embodiments, if the current control cycle is detected to be the first control cycle after the motor is started, the number of power-on periods in the current control cycle is determined to be a predetermined fixed value. If the current control cycle is detected to be not the first control cycle after the motor is started, the number of power-on periods in the current control cycle may be determined based on the induced electromotive force detected during the power-off period of the previous control cycle. In other embodiments, the number of power-on periods in different control cycles is always a predetermined fixed value to meet the application requirements of different scenarios.

[0061] It can be seen that in this example, the number of multiple power-on periods in each control cycle is a preset fixed value. By performing a power-off detection after multiple consecutive power-on periods, a complete operating cycle is constructed to avoid the motor generating loud noise due to frequent power on and off, thereby improving the service life of the linear motor.

[0062] In one possible example, 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, the load state including a light load state, a standard load state and a heavy load state; and adjusting the number of power-on time periods in the next control cycle according to the load state.

[0063] Among them, the operating parameters of the linear motor in the next control cycle also include the number of power-on periods in the next control cycle. In actual applications, different beard densities will cause the linear motor to have different loads. When the beard density is large, that is, the load is large, more efficient driven reciprocating motions are required to cut the beard. Frequent power on and off operations will obviously affect the shaving efficiency in this application scenario. When the beard density is small, that is, the load is small, while meeting the requirements of efficient shaving, power consumption must also 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 power-on periods in the next control cycle is adjusted in real time according to the load state to adapt to the dynamic changes in the load, improve shaving efficiency or save power.

[0064] 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 power-on periods in the next control cycle is dynamically adjusted according to the load state to flexibly adapt to load changes, thereby improving the flexibility of the equipment.

[0065] In one possible example, determining the load state of the linear motor based on 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.

[0066] 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, the amplitude of the linear motor is larger, and the load is smaller. If the peak voltage of the induced electromotive force is smaller, the amplitude of the linear motor is smaller, and the load is larger. In this example, the first preset threshold E1 and the second preset threshold E2 are calibrated by experimental data. When the peak voltage E1 of the induced electromotive force is collected, the first preset threshold E1 and the second preset threshold E2 are calibrated. peak Then perform threshold comparison, if E peak >E1, it is determined to be a light load state; if E2≤E peak ≤E1, it is judged to be standard load state; if E peak <E2, it is judged to be a heavy load state.

[0067] 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 a threshold. This does not require a large amount of computing resources, and can respond in a timely manner and adjust the number of power-on periods in the next control cycle based on the load state, thereby improving the flexibility of the equipment.

[0068] In one possible example, determining the load state of the linear motor based on the induced electromotive force includes: determining the peak voltage, decay half time and energy integral of the induced electromotive force, the decay half time refers to 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 moving during the power-off period; determining the load state of the linear motor based on the peak voltage, the decay half time, the energy integral and preset fuzzy logic rules.

[0069] Among them, the decay half time t 1 / 2 The induced electromotive force is E peak Down to E peakThe time required for the vibrator to decay half-time is 2 / 3. The greater the load, the smaller the decay half-time, which can be obtained through the waveform data of the induced electromotive force. The energy integral Q is equivalent to the total amount of energy possessed by the vibrator during the movement during the power-off period. It 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 using the following formula:

[0070]

[0071] Where t is the time variable, representing the time sampling point in the energy integral calculation process; T is the total duration of the power outage period; E(t) is a function of time t, representing the induced electromotive force at time t, E(t)∈[0,T]; ∆t is equivalent to dividing time into several small time intervals during the numerical integration process, which is used to approximate the area under the curve.

[0072] Furthermore, the process of constructing the preset fuzzy logic rules includes: constructing a three-dimensional input fuzzy set, for example, the peak voltage E peak The value range of is defined as five states: {VL, L, M, H, VH}, representing very low, low, medium, high, and very high respectively; similarly, the attenuation half time t 1 / 2 The value range of the energy integral Q is also defined as five states. Formulate multiple fuzzy rules, such as when E peak =H and t 1 / 2 =L and Q=H, the load is judged to be light load state; when E peak =L and t 1 / 2 = S and Q = E, it is determined to be a heavy load state. The obtained peak voltage, decay half time and energy integral are used as inputs and matched with the preset fuzzy logic rules to determine the load state of the linear motor.

[0073] It can be seen that in this example, the load state is comprehensively determined by combining multiple characteristic parameters that can reflect the load state with preset fuzzy logic rules, thereby improving the accuracy of the detection results, thereby improving the accuracy of adjusting the operating parameters of the next control cycle based on the load state.

[0074] In one possible example, 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.

[0075] Among them, for example, in the application scenario of the electric shaver driven by the linear motor, 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 a light load state, the number of power-on periods in the next control cycle can be reduced to 1, that is, after one power-on period, it enters a power-off period, so as to reduce power consumption on the basis of meeting the needs of efficient shaving; when the load state of the linear load is detected to be a high load state, the number of power-on periods in the next control cycle can be increased to 5, that is, after five power-on periods, it enters a power-off period, so as to maintain effective cutting force and improve shaving efficiency; when the load state of the linear load is detected to be a standard load state, the number of power-on periods in the next control cycle is maintained at 3 to avoid frequent adjustment of operating parameters causing obvious equipment vibration.

[0076] 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 status to flexibly adapt to load changes, thereby improving the flexibility of the device.

[0077] In accordance with the above-mentioned embodiment, please refer to Figure 6 , Figure 6 This is a structural block diagram of a drive control device for a linear motor provided in an embodiment of the present application, wherein the drive control device 60 for the linear motor includes: a first control unit 601, for applying a drive current to the winding during multiple consecutive power-on periods of 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 cycles of the vibrator; a second control unit 602, for turning off the drive 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, for detecting the induced electromotive force generated by the winding during the power-off period; and a parameter adjustment unit 604, for adjusting the operating parameters of the linear motor in the next control cycle according to the induced electromotive force.

[0078] In one 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 used to: adjust 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; determine the end 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 end time point of the current control cycle.

[0079] 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.

[0080] In a possible example, the driving currents applied to the winding in two adjacent power-on periods of the same control cycle are in opposite directions, have the same duration, and have the same amplitude.

[0081] In a possible example, the number of the plurality of power-on periods in the current control cycle is a preset fixed value.

[0082] In one 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 used to: determine the load state of the linear motor according to the induced electromotive force, the load state including a light load state, a standard load state and a heavy load state; and adjust the number of power-on time periods in the next control cycle according to the load state.

[0083] In one possible example, in determining the load state of the linear motor based on the induced electromotive force, the parameter adjustment unit 604 is specifically used to: if the peak voltage of the induced electromotive force is greater than a first preset threshold, then the load state of the linear motor is determined to be 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, then the load state of the linear motor is determined to be a standard load state; if the peak voltage of the induced electromotive force is less than the second preset threshold, then the load state of the linear motor is determined to be a heavy load state.

[0084] In one 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 used 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.

[0085] 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 repeated here.

[0086] In the case of integrated units, such as Figure 7 As shown, Figure 7 This is a structural block diagram of another linear motor drive control device provided in an embodiment of the present application. Figure 7In the embodiment, the linear motor drive control device 60 includes: a processing module 62 and a communication module 61. The processing module 62 is used to control and manage the actions of the linear motor drive control device, for example, executing 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 other processes for executing the technology described herein. The communication module 61 is used to support the interaction between the linear motor drive control device and other devices. Figure 7 As shown, the drive control device for the linear motor may further include a storage module 63, and the storage module 63 is used to store program codes and data of the drive control device for the linear motor.

[0087] Among them, all relevant contents of each scenario involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here. The above linear motor drive control device 60 can execute the above Figure 2 The drive control method of the linear motor shown in FIG.

[0088] Based on the description of the above method embodiment and device embodiment, please refer to Figure 8 , Figure 8 A schematic diagram of the structure of a controller provided in an embodiment of the present application. Figure 8 The controller shown includes a memory 801 , a processor 802 , a communication interface 803 and a bus 804 . The memory 801 , the processor 802 and the communication interface 803 are connected to each other via the bus 804 .

[0089] The memory 801 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM).

[0090] The memory 801 can store programs. 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 the various steps of the linear motor drive control method of the embodiment of the present application.

[0091] The processor 802 can adopt a general central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), a graphics processing unit (GPU) or one or more integrated circuits to execute relevant programs to implement the functions required to be performed by the units in the controller of the embodiment of the present application, or to execute the drive control method of the linear motor of the method embodiment of the present application.

[0092] Processor 802 can also be an integrated circuit chip with signal processing capabilities. During implementation, each step of the linear motor drive control method of the present application can be completed by hardware integrated logic circuits or software instructions in processor 802. The aforementioned processor 802 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The 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 to be performed by the units included in the controller of the embodiment of the present application, or executes the drive control method of the linear motor of the method embodiment of the present application.

[0093] 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 a communication network. For example, data can be obtained through the communication interface 803.

[0094] The bus 804 may include a path for transmitting information between various components of the controller (eg, the memory 801 , the processor 802 , and the communication interface 803 ).

[0095] It should be noted that although Figure 8The controller shown only shows the memory 801, the processor 802, and the communication interface 803. However, in the specific implementation process, those skilled in the art will 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 will understand that the controller may also include hardware devices that implement other additional functions. In addition, those skilled in the art will understand that the controller may also include only the devices necessary to implement the embodiments of the present application, and does not necessarily include Figure 8 All devices shown in .

[0096] An embodiment of the present application also provides a computer-readable storage medium, which stores instructions. When the computer-readable storage medium is executed on a computer or a processor, the computer or processor executes one or more steps in any of the above methods.

[0097] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the division of the units is only a logical functional 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 mutual coupling, direct coupling, or communication connection shown or discussed can be through some interface, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0098] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0099] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product comprises one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted via the computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium accessible by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be read-only memory, random access memory, magnetic media such as floppy disks, hard disks, magnetic tape, magnetic disks, optical media such as digital versatile disks, or semiconductor media such as solid-state drives.

[0100] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

[0101] The device embodiments described above are merely illustrative, wherein the units and modules described as separate components may or may not be physically separate. Furthermore, some or all of the units and modules may be selected based on actual needs to achieve the objectives of the present embodiment. Those skilled in the art can understand and implement the present invention without inventive effort.

[0102] Although the present application discloses the above, the present application is not limited thereto. Any person skilled in the art may readily conceive of variations or substitutions, and may make various changes and modifications, including combinations of the above-mentioned functions and implementation steps, including software and hardware implementations, without departing from the spirit and scope of the present application, and all are within the scope of protection of the present application.

Claims

1. A linear motor drive control method, 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, and the method includes: applying a driving current to the winding during a plurality of consecutive power-on periods of a current control cycle, so that the vibrator moves under the action of an electromagnetic driving force of the winding, wherein the control cycle includes at least two vibration cycles of the vibrator; During a 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; detecting the induced electromotive force generated by the winding during the power-off period; The operating parameters of the linear motor in the next control cycle are adjusted according to the induced electromotive force, and the operating parameters include the starting time point of the next control cycle and / or the number of power-on time periods in the next control cycle.

2. The method according to claim 1, characterized in that The step of 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 as to keep the amplitude of the vibrator unchanged; Determining the termination time point of the current control cycle according to the zero-crossing time point of the induced electromotive force; The starting time point of the next control cycle is determined according to the ending time point of the current control cycle.

3. The method according to claim 2, characterized in that 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 power-on time periods of the same control cycle are opposite in direction, have the same duration and the same amplitude.

5. The method according to claim 1, wherein The number of the plurality of power-on periods in the current control cycle is a preset fixed value.

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

7. The method according to claim 6, characterized in that 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 the 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 power-on time 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 power-on time periods in the next control cycle; If the load state is the standard load state, keeping the number of the power-on time periods in the next control cycle unchanged; If the load state is the heavy load state, the number of the power-on periods in the next control cycle is increased.

9. A linear motor drive control device, characterized in that: The linear motor includes a driver and a vibrator, wherein 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, and the device includes: a first control unit, configured to apply a driving current to the winding during a plurality of consecutive power-on periods of a current control cycle, so that the vibrator moves under the action of an electromagnetic driving force of the winding, wherein the control cycle includes at least two vibration cycles of the vibrator; a second control unit, configured to shut down the driving current during a power-off period of a current control cycle, so that the vibrator continues to move without the electromagnetic driving force of the winding; a detection unit, configured to detect the induced electromotive force generated by the winding during the power-off period; A parameter adjustment unit is used to adjust the operating parameters of the linear motor in the next control cycle according to the induced electromotive force, and the operating parameters include the starting time point of the next control cycle and / or the number of power-on time periods in the next control cycle.

10. A controller, characterized in that: The method comprises a processor, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for executing the steps in the method according to any one of claims 1 to 8.

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