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. The method comprises the following steps: detecting the change of an operation cycle of the linear motor; when it is detected that the linear motor enters the control period, the current applied to the winding is controlled, so that the vibrator conducts electromagnetic drive motion in the efficient path interval or conducts damping vibration in the low-efficient path interval; and when it is detected that the linear motor enters the detection period, current applied to the winding is cut off, and induced voltage generated by movement of the vibrator is collected. Thus, the vibrator is controlled to carry out electromagnetic driving motion in the high-efficiency path interval or carry out damping vibration in the low-efficiency path interval by controlling the current applied to the winding in the control period, sectional control over the linear motor is achieved, the overall driving efficiency is improved, and power consumption is reduced.

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] Compared with an electric shaver driven by a rotary motor, an electric shaver driven by a linear motor can make the design of the cutter head more conform to the facial contour, and can achieve more refined control to improve the shaving efficiency. However, in order to maintain the driving force, the existing electric shaver continuously applies a driving current during the power-on cycle, resulting in low driving efficiency and large power consumption during some power-on periods. Summary of the Invention

[0003] Embodiments of this application provide a driving control method and related device for a linear motor, aiming to optimize the driving control of the linear motor, improve the driving efficiency during the power-on period, and reduce the power consumption.

[0004] In a first aspect, embodiments of this application provide a driving control method for 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: Detecting a change in the operation cycle of the linear motor, where the operation cycle includes a plurality of control cycles and a detection cycle; When it is detected that the linear motor enters the control cycle, controlling the current applied to the winding so that the vibrator performs electromagnetic driving motion in the high-efficiency path interval or performs damped vibration in the low-efficiency path interval; When it is detected that the linear motor enters the detection cycle, cutting off the current applied to the winding and collecting the induced voltage generated by the motion of the vibrator, where the induced voltage is used to characterize the operation state of the linear motor.

[0005] Further, each operation cycle includes at least two vibration cycles of the vibrator, and the duration of each control cycle and each detection cycle is half of each vibration cycle.

[0006] Further, controlling the current applied to the winding so that the vibrator performs electromagnetic driving motion in the high-efficiency path interval or performs damped vibration in the low-efficiency path interval includes: detecting the path interval where the vibrator is located; when it is detected that the vibrator enters the high-efficiency path interval, outputting a first control signal, where the first control signal is used to apply a first current to the winding so that the vibrator performs electromagnetic driving motion; when it is detected that the vibrator enters the low-efficiency path interval, outputting a second control signal, where the second control signal is used to apply a second current to the winding so that the vibrator performs damped vibration.

[0007] Further, the control period includes a driving period and two non-driving periods before and after the driving period. The detecting the path interval where the vibrator is located includes: when it is detected that the movement time of the vibrator enters the first preset time interval corresponding to the driving period, it is determined that the vibrator enters the high-efficiency path interval; when it is detected that the movement time of the vibrator enters the second preset time interval corresponding to the non-driving period, it is determined that the vibrator enters the low-efficiency path interval.

[0008] Further, the detecting the path interval where the vibrator is located includes: setting the induced voltage collected during the detection period of the previous operating cycle as the virtual voltage at the same moment point within the control period of the current operating cycle; when it is detected that the virtual voltage is within the virtual voltage threshold interval, it is determined that the vibrator enters the high-efficiency path interval; when it is detected that the virtual voltage is not within the virtual voltage threshold interval, it is determined that the vibrator enters the low-efficiency path interval.

[0009] Further, after collecting the induced voltage generated by the movement of the vibrator, the method further includes: detecting whether there is an abnormal event in the linear motor according to the induced voltage, where the abnormal event includes a control abnormal event and a load abnormal event; when it is detected that there is an abnormal event in the linear motor, controlling the vibrator to stop moving.

[0010] Further, the detecting whether there is an abnormal event in the linear motor according to the induced voltage includes: when it is detected that the induced voltage is greater than a first preset value, it is determined that there is a control abnormal event in the linear motor; when it is detected that the induced voltage is less than a second preset value, it is determined that there is a load abnormal event in the linear motor.

[0011] Further, the detecting whether there is an abnormal event in the linear motor according to the induced voltage includes: when it is detected that the induced voltage is less than a third preset value, increasing the duty ratio of the current applied to the winding until the induced voltage is greater than or equal to the third preset value, where the third preset value is greater than the second preset value; if the duty ratio of the current is greater than a preset threshold, an alarm signal is output; if the output times of the alarm signal are greater than a preset number of times, or the output duration of the alarm signal is greater than a preset duration, it is determined that there is a load abnormal event in the linear motor.

[0012] Further, after collecting the induced voltage generated by the movement of the vibrator, the method further includes: determining the amplitude of the vibrator in the current operating cycle according to the induced voltage; adjusting the durations of the driving period and the non-driving period in the next operating cycle according to the amplitude of the vibrator in the current operating cycle.

[0013] In a second aspect, an embodiment of the present application provides a drive control device for a 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: A detection unit, configured to detect a change in the operating cycle of the linear motor. The operating cycle includes a plurality of control cycles and a detection cycle; A first control unit, configured to control the current applied to the winding when it is detected that the linear motor enters the control cycle, so that the vibrator performs electromagnetic drive motion in the high-efficiency path interval or performs damped vibration in the low-efficiency path interval; A second control unit, configured to cut off the current applied to the winding when it is detected that the linear motor enters the detection cycle, and collect the induced voltage generated by the motion of the vibrator. The induced voltage is used to characterize the operating state of the linear motor.

[0014] 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 are 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.

[0015] 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.

[0016] It can be seen that in the embodiment of the present application, the controller detects a change in the operating cycle of the linear motor. When it is detected that the operating cycle of the linear motor enters the control cycle, the current applied to the winding is controlled, so that the vibrator performs electromagnetic drive motion in the high-efficiency path interval or performs damped vibration in the low-efficiency path interval. When it is detected that the linear motor enters the detection cycle, the current applied to the winding is cut off, and the induced voltage generated by the motion of the vibrator is collected for analyzing the motion state of the linear motor. In this way, by controlling the current applied to the winding within the control cycle to control the vibrator to perform electromagnetic drive motion in the high-efficiency path interval or perform damped vibration in the low-efficiency path interval, segmented control of the linear motor is achieved, improving the overall drive efficiency and reducing power consumption. Description of the Drawings

[0017] 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 use in 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, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] 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 3 is a schematic diagram of an example of a full-bridge chip driving a linear motor provided by an embodiment of the present application; Figure 4 is a schematic diagram of the division of a control period provided by an embodiment of the present application; Figure 5 is a schematic diagram of the changes in the displacement and driving current of a vibrator provided by an embodiment of the present application; Figure 6 is a structural block diagram of a driving control device for a linear motor provided by an embodiment of the present application; Figure 7 is a structural block diagram of another driving control device for a linear motor provided by an embodiment of the present application; Figure 8 is a structural schematic diagram of a controller provided by an embodiment of the present application. Detailed implementation manners

[0019] In order to enable those skilled in the art to better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0020] The terms "first", "second", etc. in the specification and claims of the present application and the above 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.

[0021] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments can 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 can be combined with other embodiments.

[0022] Please refer to Figure 1 , Figure 1 which is a structural block diagram of a vibration device provided by an embodiment of the present application. As Figure 1 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, the vibrator 122 is provided with a permanent magnet 124. The driver 121 and the vibrator 122 are jointly disposed in a frame 125. Both ends of the vibrator 122 are respectively fixed to the frame 125 or the driver 121 via springs 126a and 126b. When a driving current is applied to the winding 123, the winding 123 generates an electromagnetic field, and the vibrator 122 performs a 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 vibrator drives the cutter head assembly to perform a reciprocating linear motion to realize shaving.

[0023] Next, a driving control method for a linear motor provided by an embodiment of the present application is introduced.

[0024] 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 Figure 2 shown, the method includes: S201, detecting a change in the operating cycle of the linear motor.

[0025] Among them, the operation cycle includes a plurality of control cycles and a detection cycle. The control cycles are continuous in time sequence. In this example, the detection cycle is located after the plurality of control cycles in time sequence. In other embodiments, the detection cycle can also be located before the plurality of control cycles in time sequence. Before the start of each operation cycle, the controller can obtain the number of control cycles in this operation cycle. Based on this, the controller detects the change of the operation cycle by calculating the number of control cycles that have elapsed at the end of each control cycle. For example, the number of control cycles is 3. At the end of the second control cycle, the controller determines that two control cycles have elapsed at this time, and then determines that the linear motor enters the third control cycle. At the end of the third control cycle, the controller determines that three control cycles have elapsed at this time, and then determines that the linear motor enters the detection cycle.

[0026] S202. When it is detected that the linear motor enters the control cycle, control the current applied to the winding so that the vibrator performs electromagnetic drive motion in the high-efficiency path interval or performs damped vibration in the low-efficiency path interval.

[0027] Among them, the high-efficiency path interval refers to the motion interval where the electromagnetic drive efficiency is higher than the preset efficiency threshold, the low-efficiency path interval is the motion interval where the electromagnetic drive efficiency is lower than the preset efficiency threshold, the electromagnetic drive motion refers to the linear motion of the vibrator under the action of the electromagnetic driving force, and the damped vibration refers to the linear motion of the vibrator not under the action of the electromagnetic driving force. Among them, the linear motion not under the action of the electromagnetic driving force includes the linear motion under the action of the reverse electromagnetic force and the linear motion not under the action of the electromagnetic force.

[0028] S203. When it is detected that the linear motor enters the detection cycle, cut off the current applied to the winding and collect the induced voltage generated by the motion of the vibrator.

[0029] Among them, the induced voltage is used to characterize the operation state of the linear motor. The operation state includes, for example, the amplitude, load state, fault state, etc. of the linear motor. By collecting the induced voltage generated by the motion of the vibrator in the detection cycle of each operation cycle, the operation state of the linear motor is analyzed to achieve dynamic adjustment.

[0030] It can be seen that in the embodiment of the present application, the controller detects the change in the operating cycle of the linear motor. When it detects that the operating cycle of the linear motor enters the control cycle, it controls the current applied to the winding so that the vibrator performs electromagnetic drive motion within the high-efficiency path interval or performs damped vibration within the low-efficiency path interval. When it detects that the linear motor enters the detection cycle, it cuts off the current applied to the winding and collects the induced voltage generated by the motion of the vibrator for analyzing the motion state of the linear motor. In this way, by controlling the current applied to the winding within the control cycle to control the vibrator to perform electromagnetic drive motion within the high-efficiency path interval or perform damped vibration within the low-efficiency path interval, segmented control of the linear motor is achieved, improving the overall drive efficiency and reducing power consumption.

[0031] In a possible example, each operating cycle includes at least two vibration cycles of the vibrator, and the duration of each control cycle and each detection cycle is half of each vibration cycle.

[0032] Wherein, the vibration cycle refers to the time required for the vibrator to complete one reciprocating linear motion. Within each control cycle and detection cycle, the vibrator moves from one end of the motion stroke to the other end. Based on this, the change in the operating cycle can be determined by detecting the time point when the vibrator turns at the extreme position. That is to say, when the vibrator moves to the extreme position at the end point, the speed reduces to 0 and it turns, which marks the end of the current control cycle or detection cycle of the vibrator and the entry into the next control cycle or detection cycle. Specifically, it can be determined whether the next half vibration cycle is a control cycle or a detection cycle according to the preset number of control cycles and the number of control cycles that have passed. Specifically, when the speed of the vibrator is 0, the corresponding induced voltage is 0. Therefore, the time point when the vibrator moves to the extreme position and turns can be determined by detecting the time point when the induced voltage is 0, thereby determining the start time point of the control cycle and / or detection cycle.

[0033] Exemplarily, it is recorded that the operating cycle includes 2 vibration cycles, where the first 3.5 cycles are control cycles and the 4th half cycle is a detection cycle. The vibrator moves during the 2nd control cycle until it detects that the induced voltage is 0, at which time it is determined that the vibrator moves to the extreme position at the end point, decelerates to 0 and turns. At this time, it is detected that 2 control cycles have passed. Therefore, it is determined that the next half vibration cycle is the 3rd control cycle, that is, it is determined that the linear motor enters the 3rd control cycle.

[0034] It can be seen that in this example, the operating cycle of the linear motor includes at least two vibration cycles, and the duration of each control cycle and each detection cycle is half of each vibration cycle. That is, a power-off detection is performed after multiple control cycles, avoiding large noise generated by the motor due to frequent power-on and power-off, and improving the equipment stability.

[0035] In a possible example, the control is applied to the winding current to cause the vibrator to perform electromagnetic driving motion within the high-efficiency path interval or damped vibration within the low-efficiency path interval, including: detecting the path interval where the vibrator is located; when it is detected that the vibrator enters the high-efficiency path interval, outputting a first control signal, where the first control signal is used to apply a first current to the winding to cause the vibrator to perform electromagnetic driving motion; when it is detected that the vibrator enters the low-efficiency path interval, outputting a second control signal, where the second control signal is used to apply a second current to the winding to cause the vibrator to perform damped vibration. Among them, the control signal can be applied through a full-bridge chip. The first control signal is used to control the forward or reverse rotation of the linear motor (depending on the displacement direction of the vibrator) within the high-efficiency path interval, and the second control signal is used to control the braking and stopping of the linear motor within the low-efficiency path interval. Exemplarily, please refer to Figure 3 , Figure 3 which is a schematic diagram of a full-bridge chip driving a linear motor provided by an embodiment of the present application. As Figure 3 shown, the full-bridge chip 30 includes 8 pins. The first pin 1 is BI, which is an input pin for realizing the reverse rotation of the motor. The second pin 2 is FI, which is an input pin for realizing the forward rotation of the motor. The third pin 3 is GND, which is used for grounding. The fourth pin 4 is VCC, which is used for inputting a power supply. The fifth pin 5 and the sixth pin 6 are BO, which are output pins for realizing the reverse rotation of the motor. The seventh pin 7 and the eighth pin 8 are FO, which are output pins for realizing the forward rotation of the motor. Among them, the fifth pin 5 and the sixth pin 6 are commonly connected to one end of the linear motor 12, and the seventh pin 7 and the eighth pin 8 are commonly connected to the other end of the linear motor 12.

[0036] Specifically, assuming that it is detected that the vibrator enters the high-efficiency path interval, if the displacement direction is the positive direction, then outputting the first control signal includes: applying a low-level signal to BI and a high-level signal to FI, then BO outputs a low-level signal and FO outputs a high-level signal to drive the linear motor to rotate forward; if the displacement direction is the reverse direction, then outputting the first control signal includes: applying a high-level signal to BI and a low-level signal to FI, then BO outputs a high-level signal and FO outputs a low-level signal to drive the linear motor to rotate in reverse. Assuming that it is detected that the vibrator enters the low-efficiency path interval, then outputting the second control signal includes: applying high-level signals to both BI and FI, then BO and FO output high-level signals, and the current circulates internally and is consumed to realize the braking of the linear motor. In addition, when it is detected that the linear motor enters the detection period, at this time, a third control signal is output to cut off the driving current applied to the linear motor and control the linear motor to be suspended. Among them, outputting the third control signal includes: applying low-level signals to both BI and FI, then BO and FO are in an open state (Open) to realize the suspension and stop of the linear motor.

[0037] It can be seen that in this example, the path interval where the vibrator is located is detected. When it is detected that the vibrator is in the high-efficiency path interval, a first control signal is output, and a first current is applied to the winding to enable the vibrator to perform electromagnetic drive motion. When it is detected that the vibrator is in the low-efficiency path interval, a second control signal is output, and a second current is applied to the winding to enable the vibrator to perform damped vibration, thereby improving the overall drive efficiency of the control period.

[0038] In a possible example, the control period includes a drive period and two non-drive periods located before and after the drive period. The detecting the path interval where the vibrator is located includes: when it is detected that the movement time of the vibrator enters the first preset time interval corresponding to the drive period, it is determined that the vibrator enters the high-efficiency path interval; when it is detected that the movement time of the vibrator enters the second preset time interval corresponding to the non-drive period, it is determined that the vibrator enters the low-efficiency path interval.

[0039] Among them, the drive period corresponds to the high-efficiency drive path, and the non-drive period corresponds to the low-efficiency drive path. Specifically, the duration of the drive period is greater than or equal to 8 / 20 of the vibration period, that is, the duration of the drive period is equal to 8 / 10 of the control period, and the duration of the non-drive period is less than or equal to 1 / 20 of the vibration period, that is, the duration of each non-drive period is equal to 1 / 10 of the control period. Exemplarily, as Figure 4 shown, if the total duration of the vibrator moving from the leftmost end to the rightmost end is denoted as T, when the vibrator turns at the extreme position, the movement time of the vibrator is started to be counted. Then the first preset time interval corresponding to the drive period is [0.1T, 0.9T], and the second preset time interval corresponding to the non-drive period is [0, 0.1T) and (0.9T, T]. When the movement time of the vibrator does not reach 0.1T, it is determined that the vibrator is in the non-drive period, that is, the low-efficiency path interval. When the movement time of the vibrator reaches 0.1T, it is determined that the vibrator enters the high-efficiency path interval, and a first control signal is output. Until the movement time of the vibrator exceeds 0.9T, it is determined that the vibrator enters the low-efficiency path interval, and a second control signal is output.

[0040] It can be seen that in this example, by dividing the control period into corresponding drive periods and non-drive periods according to the high-efficiency / low-efficiency path intervals, and detecting the path interval where the vibrator is located according to the movement time of the vibrator, the implementation method is simple, the data acquisition difficulty is low, the system can respond in time and output control signals, and the detection efficiency is improved.

[0041] In a possible example, detecting the path interval where the vibrator is located includes: setting the induced voltage collected during the detection period of the previous operating cycle as the virtual voltage at the same moment in the control period of the current operating cycle; when it is detected that the virtual voltage is within the virtual voltage threshold interval, determining that the vibrator enters the efficient path interval; when it is detected that the virtual voltage is not within the virtual voltage threshold interval, determining that the vibrator enters the inefficient path interval.

[0042] Among them, when the vibrator moves during the motion stroke, the induced voltage generated by the winding is positively correlated with the motion speed of the vibrator. Therefore, the induced voltage during the motion process can also reflect the path interval where the vibrator is located. However, when the vibrator moves under the action of the driving current, due to the coupling of multiple acting factors, it is difficult to measure the induced voltage and the accuracy is lacking. In this example, the time lengths of the detection period and the control period are the same, both being half of the vibration period. Therefore, by using the induced voltage at a certain moment in the previous operating cycle as the virtual voltage at the same moment in each control period of the current operating cycle, and combining the corresponding virtual voltage threshold interval to detect the path interval where the vibrator is located, it can not only ensure the accuracy but also improve the detection efficiency.

[0043] It can be seen that in this example, by setting the induced voltage collected during the detection period of the previous operating cycle as the virtual voltage at the same moment in the control period of the current operating cycle, and combining the corresponding virtual voltage threshold interval to detect the path interval where the vibrator is located, the detection accuracy is improved.

[0044] In a possible example, after collecting the induced voltage generated by the motion of the vibrator, the method further includes: detecting whether there is an abnormal event in the linear motor according to the induced voltage, where the abnormal event includes a control abnormal event and a load abnormal event; when it is detected that the linear motor has an abnormal event, controlling the vibrator to stop moving.

[0045] Among them, due to the influence of the linear motor parameters, the induced voltage generated by the motion of the vibrator should be within a reasonable range. If it is not within the reasonable range, it indicates that an abnormal event may occur in the linear motor. Among them, the control abnormal event is used to indicate that the operating parameters of the linear motor exceed the reasonable range, such as the situation where the motion speed of the vibrator increases abnormally; the load abnormal event is used to indicate that the load of the linear motor increases abnormally, resulting in an abnormal decrease in the amplitude and unable to achieve effective vibration work. When the above abnormal events occur, it is necessary to control the vibrator to stop moving in time to avoid damage to the linear motor due to a fault.

[0046] It can be seen that in this example, after the induced voltage is collected within the detection period, it is detected whether there is an abnormal event in the linear motor according to the induced voltage, and when an abnormal event is detected, the vibrator is timely controlled to stop moving, improving the safety of the linear motor.

[0047] In a possible example, the detecting whether there is an abnormal event in the linear motor according to the induced voltage includes: when it is detected that the induced voltage is greater than a first preset value, determining that there is a control abnormal event in the linear motor; when it is detected that the induced voltage is less than a second preset value, determining that there is a load abnormal event in the linear motor.

[0048] Among them, when the induced voltage is greater than the first preset value, it indicates that the speed of the vibrator exceeds a reasonable range. In the embodiment of the present application, the maximum value of the vibrator speed appears at the midpoint position and is predictable within a certain range. At this time, exceeding the reasonable range indicates that there is a control abnormal event resulting in abnormal acceleration. If it continues to run, it may cause the vibrator to collide with the frame. Among them, the first preset value may be greater than or equal to the maximum value of the virtual voltage threshold interval.

[0049] Among them, when the induced voltage is less than the second preset value, it indicates that the load is huge, far exceeding the normal working load of the linear motor. If it continues to run, it may cause the tool head to deform or the motor body to malfunction. Further, when the motor starts, if it is detected that there is an induced voltage less than a fourth preset value, it is determined that the linear motor is open-circuited, the power supply is timely cut off and a signal is output, and the fourth preset value is less than the second preset value.

[0050] It can be seen that in this example, different abnormal events are determined through the value range of the induced voltage, and the vibrator is timely controlled to stop moving, improving the safety of the linear motor.

[0051] In a possible example, the detecting whether there is an abnormal event in the linear motor according to the induced voltage includes: when it is detected that the induced voltage is less than a third preset value, increasing the duty ratio of the current applied to the winding until the induced voltage is greater than or equal to the third preset value, where the third preset value is greater than the second preset value; if the duty ratio of the current is greater than a preset threshold, an alarm signal is output; if the output times of the alarm signal are greater than a preset number of times, or the output duration of the alarm signal is greater than a preset duration, it is determined that there is a load abnormal event in the linear motor.

[0052] Among them, when the induced voltage is less than the third preset value, the load condition of the linear motor may be abnormal load or large load at this time, such as excessive beard density. For accurate judgment, the controller increases the duty cycle of the current applied to the winding to increase the electromagnetic driving force and try to maintain effective vibration until the induced voltage is greater than or equal to the third preset value. Further, when the duty cycle of the current increases to the preset threshold, there is a safety hazard. At this time, a reminder signal is output, and when the output frequency of the reminder signal is greater than the preset frequency or the output duration is greater than the preset duration, it is determined that there is an abnormal load event in the linear motor, avoiding the blind increase of the duty cycle of the current and causing danger, and improving safety.

[0053] It can be seen that in this example, when it is detected that the induced voltage is less than the third preset value, the duty cycle of the current applied to the winding is increased until the induced voltage is greater than or equal to the third preset value, and a reminder signal is output when the duty cycle of the current is greater than the preset threshold, and when the output frequency of the reminder signal is greater than the preset frequency or the output duration of the reminder signal is greater than the preset duration, it is determined that there is an abnormal load event in the linear motor. In this way, the detection accuracy is improved, and the blind increase of the duty cycle of the driving current can be avoided when the load is large, improving the safety of the linear motor.

[0054] In a possible example, after collecting the induced voltage generated by the movement of the vibrator, the method further includes: determining the amplitude of the vibrator in the current operating cycle according to the induced voltage; adjusting the durations of the driving period and the non-driving period in the next operating cycle according to the amplitude of the vibrator in the current operating cycle.

[0055] Among them, the determining the amplitude of the vibrator in the current operating cycle according to the induced voltage includes: performing a moving average filter on the induced voltage to eliminate high-frequency noise interference; calculating the instantaneous speed of the vibrator according to the filtered voltage signal; integrating the instantaneous speed to obtain the amplitude of the vibrator. The amplitude of the vibrator reflects the load condition of the linear motor in the current operating cycle, such as the average load caused by the user's beard, so that the durations of the driving period and the non-driving period in the next operating cycle can be adjusted based on this to flexibly change the high-efficiency / low-efficiency path interval.

[0056] In other embodiments, the method further includes: adjusting the virtual voltage threshold interval in the next operating cycle according to the amplitude of the vibrator in the current operating cycle to flexibly change the high-efficiency / low-efficiency path interval.

[0057] It can be seen that in this example, after the induced voltage is collected in the detection period, the amplitude of the vibrator in the current operation period is determined according to the induced voltage, and based on this, the durations of the driving period and the non-driving period in the next operation period are adjusted, so as to flexibly change the high-efficiency / low-efficiency path interval according to the actual operation situation, improving the flexibility.

[0058] In a possible example, the adjusting the durations of the driving period and the non-driving period of the linear motor in the next operation period according to the amplitude of the vibrator in the current operation period includes: calculating the difference between the amplitude of the vibrator in the current operation period and the target amplitude; if the difference is greater than the preset difference, adjusting the durations of the driving period and the non-driving period in the next operation period proportionally; if the difference is less than the preset difference, keeping the driving period and the non-driving period unchanged.

[0059] Wherein, exemplarily, if the current amplitude is lower than 90% of the target amplitude, the first preset time interval corresponding to the driving period is increased, the second preset time interval corresponding to the non-driving period is shortened, and the high-efficiency path interval is extended; if the current amplitude is higher than 110% of the target amplitude, the second preset time interval corresponding to the driving period is shortened, the first preset time interval corresponding to the non-driving period is increased to limit the amplitude to avoid hitting the wall; if the difference interval does not exceed 10%, it remains unchanged. The target amplitude is a preset standard value.

[0060] It can be seen that in this example, by calculating the difference between the current amplitude and the target amplitude, and by comparing the difference with the preset difference, the durations of the driving period and the non-driving period in the next operation period are adjusted or remain unchanged, improving the flexibility.

[0061] Please refer to Figure 5 , Figure 5 is a schematic diagram of the changes in the displacement and driving current of a vibrator provided by an embodiment of the present application. 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, 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 the positive current, and the driving current corresponding to the electromagnetic driving force in the OA direction is the negative current. Among them, point O is the equilibrium position of the vibrator, and the number of control cycles is 3. Then in this example, as Figure 5As shown, at time T1, the vibrator turns from point B and moves to point N, detects that it enters the high-efficiency path interval, outputs a first control signal to apply a negative current, and the vibrator moves in the reverse direction under the action of the electromagnetic driving force and the spring force. Until at time T2 when the vibrator moves to point M, it detects that it enters the low-efficiency path interval, outputs a second control signal, decelerates to 0 at point A and turns to accelerate under the action of the spring force. At time T3, when the vibrator moves to point M, it detects that it enters the high-efficiency path interval, outputs a first control signal to apply a positive current, and the vibrator moves in the forward direction under the action of the electromagnetic driving force and the spring force. Until at time T4 when the vibrator moves to point N, it detects that it enters the low-efficiency path interval, outputs a second control signal. Until at time T5 when the vibrator passes point B and turns to move to point N again, it detects that it enters the high-efficiency path interval, outputs a first control signal to apply a negative current. Until at time T6 when the vibrator moves to point M, it detects that it enters the low-efficiency path interval, outputs a second control signal. Until at time T7 when the vibrator passes point A and turns, at this time it detects that the linear motor enters the detection period, then continues to keep the drive current off until at time T8 it decelerates to 0 at point B and turns to enter the next operation cycle. Among them, based on the usage requirements in different application scenarios, the controller can flexibly adjust the intensity of the drive current. For example, in this example, the displacement of the vibrator can be made to show a sine curve change trend as shown in Figure 5 . In the embodiment of the present application, by dividing the operation cycle into multiple control cycles and one detection cycle, and dividing the control cycle into a drive stage and a non-drive stage according to the high-efficiency / low-efficiency path interval, segmented control of the linear motor is achieved, improving the overall drive efficiency and reducing power consumption.

[0062] Consistent with the above-described embodiment, please refer to Figure 6 , Figure 6 is a structural block diagram of a drive control device for a linear motor provided by an embodiment of the present application. The drive control device 60 of the linear motor includes: a detection unit 601 for detecting changes in the operation cycle of the linear motor, where the operation cycle includes multiple control cycles and one detection cycle; a first control unit 602 for controlling the current applied to the winding when it detects that the linear motor enters the control cycle, so that the vibrator performs electromagnetic drive movement in the high-efficiency path interval or performs damped vibration in the low-efficiency path interval; a second control unit 603 for cutting off the current applied to the winding when it detects that the linear motor enters the detection cycle, and collecting the induced voltage generated by the movement of the vibrator, where the induced voltage is used to characterize the operation state of the linear motor.

[0063] In a possible example, each operation cycle includes vibration cycles of at least two vibrators, and the duration of each control cycle and each detection cycle is half of that of each vibration cycle.

[0064] In a possible example, in terms of controlling the current applied to the winding to enable the vibrator to perform electromagnetic driving motion in the high-efficiency path interval or damping vibration in the low-efficiency path interval, the first control unit 602 is specifically configured to: detect the path interval where the vibrator is located; when it is detected that the vibrator enters the high-efficiency path interval, output a first control signal, where the first control signal is used to apply a first current to the winding to enable the vibrator to perform electromagnetic driving motion; when it is detected that the vibrator enters the low-efficiency path interval, output a second control signal, where the second control signal is used to apply a second current to the winding to enable the vibrator to perform damping vibration.

[0065] In a possible example, the control cycle includes a driving period and two non-driving periods before and after the driving period. In terms of detecting the path interval where the vibrator is located, the first control unit 602 is specifically configured to: when it is detected that the movement time of the vibrator enters the first preset time interval corresponding to the driving period, determine that the vibrator enters the high-efficiency path interval; when it is detected that the movement time of the vibrator enters the second preset time interval corresponding to the non-driving period, determine that the vibrator enters the low-efficiency path interval.

[0066] In a possible example, in terms of detecting the path interval where the vibrator is located, the first control unit 602 is specifically configured to: set the induced voltage collected during the detection cycle of the previous operation cycle as the virtual voltage at the same moment in the control cycle of the current operation cycle; when it is detected that the virtual voltage is within the virtual voltage threshold interval, determine that the vibrator enters the high-efficiency path interval; when it is detected that the virtual voltage is not within the virtual voltage threshold interval, determine that the vibrator enters the low-efficiency path interval.

[0067] In a possible example, after collecting the induced voltage generated by the movement of the vibrator, the drive control device 60 of the linear motor is further configured to: detect whether there is an abnormal event in the linear motor according to the induced voltage, where the abnormal event includes a control abnormal event and a load abnormal event; when it is detected that there is an abnormal event in the linear motor, control the vibrator to stop moving.

[0068] In a possible example, in terms of detecting whether there is an abnormal event in the linear motor based on the induced voltage, the drive control device 60 of the linear motor is specifically configured to: when it is detected that the induced voltage is greater than a first preset value, determine that there is a control abnormal event in the linear motor; when it is detected that the induced voltage is less than a second preset value, determine that there is a load abnormal event in the linear motor.

[0069] In a possible example, in terms of detecting whether there is an abnormal event in the linear motor based on the induced voltage, the drive control device 60 of the linear motor is specifically configured to: when it is detected that the induced voltage is less than a third preset value, increase the duty ratio of the current applied to the winding until the induced voltage is greater than or equal to the third preset value, where the third preset value is greater than the second preset value; if the duty ratio of the current is greater than a preset threshold, output a reminder signal; if the output times of the reminder signal are greater than a preset number of times, or the output duration of the reminder signal is greater than a preset duration, determine that there is a load abnormal event in the linear motor.

[0070] In a possible example, after collecting the induced voltage generated by the movement of the vibrator, the drive control device 60 of the linear motor is further configured to: determine the amplitude of the vibrator in the current operation cycle according to the induced voltage; adjust the durations of the drive period and the non-drive period in the next operation cycle according to the amplitude of the vibrator in the current operation cycle.

[0071] In the case of adopting an integrated unit, as Figure 7 shown, Figure 7 is a structural block diagram of another drive control device of a linear motor provided by an embodiment of the present application. In Figure 7 , the drive 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 drive control device of the linear motor. For example, it executes the steps of the detection unit 601, the first control unit 602, and the second control unit 603, 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 drive control device of the linear motor and other devices. As Figure 6 shown, the drive 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 drive control device of the linear motor.

[0072] Among them, all relevant contents of each scenario involved in the above method embodiments can be cited in the function descriptions of the corresponding functional modules, and will not be elaborated here. The above drive control device 60 of the linear motor can all execute the drive control method of the linear motor shown above Figure 2 shown.

[0073] Based on the descriptions of the above method embodiments and apparatus embodiments, please refer to Figure 8 , Figure 8 which is a schematic structural diagram of a controller provided by 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. Among them, the memory 801, the processor 802, and the communication interface 803 are communicatively connected to each other through the bus 804.

[0074] The memory 801 can be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM).

[0075] The memory 801 can 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 in the embodiment of the present application.

[0076] The processor 802 can 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 to be executed by the units in the controller of the embodiment of the present application, or to execute the driving control method of the linear motor in the method embodiment of the present application.

[0077] The processor 802 can also be an integrated circuit chip with the ability to process signals. In the implementation process, each step of the driving control method of the linear motor in this application can be completed by the integrated logic circuit in the hardware of the processor 802 or the instructions in the form of software. The above-mentioned 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 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 this application. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of this application can be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by the combination of the hardware and software modules in the decoding processor. The software module can 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 to be executed by the units included in the controller in the embodiments of this application, or execute the driving control method of the linear motor in the method embodiments of this application.

[0078] The communication interface 803 uses a transceiver device such as, but not limited to, a transceiver to implement the communication between the controller and other devices or communication networks. For example, data can be obtained through the communication interface 803.

[0079] The bus 804 can include a path for transmitting information between various components of the controller (for example, the memory 801, the processor 802, the communication interface 803).

[0080] 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 this application, and do not necessarily include Figure 8 all the devices shown in

[0081] The embodiments of the present application also provide a computer-readable storage medium. Computer programs / instructions are stored in the computer-readable storage medium. 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.

[0082] 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. In actual implementation, there may be other division methods. 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. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0083] The units described as separate components may or may not be physically separated. 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.

[0084] 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 a website, computer, server, or data center to another website, computer, server, or data center in a wired (such as coaxial cable, optical fiber, digital subscriber line) or wireless (such as infrared, wireless, microwave, etc.) manner. 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, data center, etc. that contains one or more integrated available media. The available medium can be a read-only memory, a random access memory, or 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.

[0085] As described above, it 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 change or replacement within the technical scope disclosed in the embodiments of the present application shall be covered by the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application shall be subject to the protection scope of the claims.

[0086] 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 purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0087] 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 replacements without departing from the spirit and scope of the present application, and can make various modifications and alterations, including combinations of the above different functions and implementation steps, including software and hardware implementation manners, 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: Detecting a change in the operating cycle of the linear motor, where the operating cycle includes a plurality of control cycles and a detection cycle; When it is detected that the linear motor enters the control cycle, controlling the current applied to the winding so that the vibrator performs electromagnetic driving motion within the high-efficiency path interval or performs damped vibration within the low-efficiency path interval; When it is detected that the linear motor enters the detection cycle, cutting off the current applied to the winding and collecting the induced voltage generated by the motion of the vibrator, where the induced voltage is used to characterize the operating state of the linear motor.

2. The method according to claim 1, wherein Each operating cycle includes at least two vibration cycles of the vibrator, and the duration of each control cycle and each detection cycle is half of each vibration cycle.

3. The method according to claim 2, wherein The controlling the current applied to the winding so that the vibrator performs electromagnetic driving motion within the high-efficiency path interval or performs damped vibration within the low-efficiency path interval includes: Detecting the path interval where the vibrator is located; When it is detected that the vibrator enters the high-efficiency path interval, outputting a first control signal, where the first control signal is used to apply a first current to the winding so that the vibrator performs electromagnetic driving motion; When it is detected that the vibrator enters the low-efficiency path interval, outputting a second control signal, where the second control signal is used to apply a second current to the winding so that the vibrator performs damped vibration.

4. The method according to claim 3, wherein The control cycle includes a driving period and two non-driving periods before and after the driving period. The detecting the path interval where the vibrator is located includes: When it is detected that the motion time of the vibrator enters the first preset time interval corresponding to the driving period, determining that the vibrator enters the high-efficiency path interval; When it is detected that the motion time of the vibrator enters the second preset time interval corresponding to the non-driving period, determining that the vibrator enters the low-efficiency path interval.

5. The method according to claim 3, wherein The detecting the path interval where the vibrator is located includes: Setting the induced voltage collected during the detection cycle of the previous operating cycle as the virtual voltage at the same moment in the control cycle of the current operating cycle; When it is detected that the virtual voltage is within the virtual voltage threshold interval, determining that the vibrator enters the high-efficiency path interval; When it is detected that the virtual voltage is not within the virtual voltage threshold interval, determining that the vibrator enters the low-efficiency path interval.

6. The method according to any one of claims 1-5, characterized in that, After the collecting the induced voltage generated by the motion of the vibrator, the method further includes: Detecting whether there is an abnormal event in the linear motor according to the induced voltage, where the abnormal event includes a control abnormal event and a load abnormal event; When it is detected that there is an abnormal event in the linear motor, controlling the vibrator to stop moving.

7. The method according to claim 6, wherein The detecting whether there is an abnormal event in the linear motor according to the induced voltage includes: When it is detected that the induced voltage is greater than a first preset value, determining that there is a control abnormal event in the linear motor; When it is detected that the induced voltage is less than a second preset value, it is determined that there is a load abnormal event in the linear motor.

8. The method according to claim 7, wherein The method for detecting whether there is an abnormal event in the linear motor according to the induced voltage includes: When it is detected that the induced voltage is less than a third preset value, increase the duty ratio of the current applied to the winding until the induced voltage is greater than or equal to the third preset value, where the third preset value is greater than the second preset value; If the duty ratio of the current is greater than a preset threshold, an alarm signal is output; If the output times of the alarm signal are greater than a preset number of times, or the output duration of the alarm signal is greater than a preset duration, it is determined that there is a load abnormal event in the linear motor.

9. The method according to claim 4, wherein After collecting the induced voltage generated by the movement of the vibrator, the method further includes: Determining the amplitude of the vibrator in the current operating cycle according to the induced voltage; Adjusting the durations of the driving period and the non-driving period in the next operating cycle according to the amplitude of the vibrator in the current operating cycle.

10. 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 detection unit for detecting a change in the operating cycle of the linear motor, where the operating cycle includes a plurality of control cycles and a detection cycle; A first control unit for controlling the current applied to the winding when it is detected that the linear motor enters the control cycle, so that the vibrator performs electromagnetic driving motion in the high-efficiency path interval or performs damped vibration in the low-efficiency path interval; A second control unit for cutting off the current applied to the winding and collecting the induced voltage generated by the movement of the vibrator when it is detected that the linear motor enters the detection cycle, where the induced voltage is used to characterize the operating state of the linear motor.

11. A controller, characterized in that, It includes a processor, a memory, and one or more programs. The one or more programs are stored in the memory and are configured to be executed by the processor. The programs include instructions for performing the steps in the method according to any one of claims 1-9.

12. A computer-readable storage medium having computer programs / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, the steps of the method according to any one of claims 1-9 are implemented.

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