Motor parameter acquisition method and device, motor driving signal adjustment method and device and electronic equipment

Abstract

The invention provides a motor parameter acquisition method and device, a motor driving signal adjustment method and device and electronic equipment, and the method comprises the steps: driving a motor to vibrate through a mixed signal composed of a pilot signal and a driving signal, and collecting voltage detection data and current detection data, corresponding to each detection moment, of the motor; based on the voltage detection data and the current detection data of the motor corresponding to the detection moments, executing data extraction processing according to the signal frequency of the pilot signal, obtaining the pilot signal voltage and the pilot signal current of the motor corresponding to the pilot signal at the detection moments, and according to the pilot signal voltage and the pilot signal current at the detection moments, obtaining the pilot signal voltage and the pilot signal current of the motor corresponding to the pilot signal at the detection moments. Calculating a resistance fitting value and an inductance fitting value of the motor corresponding to each detection moment; according to the technical method disclosed by the invention, the pilot signal which does not cause the vibration of the motor is superposed in the driving signal of the motor, so that the resistance and inductance states of the motor can be tracked in real time under the condition that the vibration of the motor is not influenced, and the control precision of the motor is improved.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the technical field of motor control, and in particular, to a method, apparatus, electronic device, and storage medium for obtaining motor parameters and adjusting motor drive signals. Background Art

[0002] With the rapid development and wide popularity of electronic devices such as smart phones and wearable devices, the requirements for the user experience of electronic devices are also increasing day by day. Among them, the tactile experience, as an important user interaction feeling, has received more and more attention.

[0003] Currently, tactile feedback technology mainly relies on the vibration of a Linear Resonance Actuator (LRA, commonly known as a motor) to achieve. During the operation of an electronic device, the parameters of the motor drive signal play a crucial role in the performance of the motor movement. These signal parameters can directly affect the working efficiency, output force, and control accuracy of the motor, and thus determine the vibration effect of the motor.

[0004] Therefore, a motor drive signal adjustment technology is needed that can adaptively adjust various drive parameters of the motor drive signal in real time according to the actual operating state of the motor to improve the control accuracy of the motor. Summary of the Invention

[0005] In view of this, embodiments of the present disclosure provide a motor parameter acquisition solution, which can track the resistance and inductance of a motor according to the current and voltage response values of the motor, and improve the control accuracy of the motor.

[0006] According to a first aspect of the present disclosure, a method for obtaining motor parameters is provided, including: driving a motor to vibrate by using a mixed signal composed of a pilot signal and a drive signal, and collecting voltage detection data and current detection data of the motor corresponding to each detection moment, where the signal frequency of the pilot signal is higher than the signal frequency of the drive signal, and the actual vibration amplitude of the motor under the pilot signal is lower than the vibration amplitude threshold; based on the voltage detection data and current detection data of the motor corresponding to each detection moment, performing data extraction processing according to the signal frequency of the pilot signal to obtain the pilot signal voltage and pilot signal current corresponding to the pilot signal of the motor at each detection moment; calculating the voltage deviation value at each detection moment according to the pilot signal voltage and pilot signal current at each detection moment, and obtaining the resistance fitting value and inductance fitting value of the motor corresponding to each detection moment according to the voltage deviation value at each detection moment.

[0007] According to a second aspect of the present disclosure, there is provided a method for adjusting a motor drive signal, including: using the method as described in the first aspect to obtain the resistance fitting value and the inductance fitting value of the motor corresponding to each detection moment; and adjusting the signal parameters of the drive signal according to the resistance fitting value and the inductance fitting value of the motor corresponding to each detection moment.

[0008] According to a third aspect of the present disclosure, there is provided a device for obtaining motor parameters, including: a detection module configured to drive the motor to vibrate by using a mixed signal composed of a pilot signal and a drive signal, and collect voltage detection data and current detection data of the motor corresponding to each detection moment, wherein the signal frequency of the pilot signal is higher than the signal frequency of the drive signal, and the actual vibration amplitude of the motor under the pilot signal is lower than a vibration amplitude threshold; an extraction module configured to perform data extraction processing based on the voltage detection data and the current detection data of the motor corresponding to each detection moment according to the signal frequency of the pilot signal, and obtain the pilot signal voltage and the pilot signal current of the motor corresponding to the pilot signal at each detection moment; and a calculation module configured to calculate the voltage deviation value at each detection moment according to the pilot signal voltage and the pilot signal current at each detection moment, and obtain the resistance fitting value and the inductance fitting value of the motor corresponding to each detection moment according to the voltage deviation value at each detection moment.

[0009] According to a fourth aspect of the present disclosure, there is provided a device for adjusting a motor drive signal, including: a parameter acquisition module configured to obtain the resistance fitting value and the inductance fitting value of the motor corresponding to each detection moment by using the method as described in the first aspect or by using the device as described in the second aspect; and a signal adjustment module configured to adjust the signal parameters of the drive signal according to the resistance fitting value and the inductance fitting value of the motor corresponding to each detection moment.

[0010] According to a fifth aspect of the present disclosure, there is provided an electronic device, including: a processor, a communication interface, a memory, and a bus, where the processor, the communication interface, and the memory complete communication with each other through the bus; the memory is configured to store at least one executable instruction, and the executable instruction causes the processor to perform the operations corresponding to the method as described in the first aspect or the second aspect.

[0011] According to a sixth aspect of the present disclosure, there is provided a computer-readable storage medium, where computer instructions are stored on the computer-readable storage medium, and when the computer instructions are executed by a processor, the processor is caused to perform the method as described in the first aspect or the second aspect.

[0012] The motor parameter acquisition solutions provided by the embodiments of the present disclosure superimpose a pilot signal on the drive signal, track the pilot signal current and pilot signal voltage corresponding to the pilot signal at each detection moment of the motor, and estimate the resistance and inductance of the motor corresponding to each detection moment, so as to achieve the purpose of real-time tracking of the motor motion state.

[0013] In addition, the motor drive signal adjustment solutions provided by the embodiments of the present disclosure can improve the control accuracy of the motor and the tactile feedback effect of the electronic device by tracking the real-time changes of the motor resistance and inductance and dynamically adjusting the signal parameters of the motor drive signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] To more clearly illustrate the technical solutions in the embodiments of the present disclosure 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 recorded in the embodiments of the present disclosure, and those of ordinary skill in the art can also obtain other drawings based on these drawings.

[0015] Figure 1 It is a processing flow chart of the motor parameter acquisition method according to an exemplary embodiment of the present disclosure.

[0016] Figures 2A to 2D It is a schematic diagram of a mixed signal composed of a pilot signal and a drive signal according to an exemplary embodiment of the present disclosure.

[0017] Figure 3 It is a processing flow chart of the motor parameter acquisition method according to another exemplary embodiment of the present disclosure.

[0018] Figure 4A and Figure 4B It is a fitting effect diagram of the motor resistance and inductance according to an exemplary embodiment of the present disclosure.

[0019] Figure 5 It is a processing flow chart of the motor drive signal adjustment method according to an exemplary embodiment of the present disclosure.

[0020] Figure 6 It is a structural block diagram of the motor parameter acquisition device according to an exemplary embodiment of the present disclosure.

[0021] Figure 7 It is a structural block diagram of the motor drive signal adjustment device according to an exemplary embodiment of the present disclosure.

[0022] Figure 8 It is a framework diagram of the electronic device according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the following will clearly and detailedly describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art shall fall within the scope protected by the embodiments of the present invention.

[0024] Reference is made to the accompanying drawings in the following detailed description, which form a part of the detailed description and illustrate exemplary embodiments. Additionally, it should be understood that other embodiments may be utilized and structural and / or logical changes may be made without departing from the scope of the claimed subject matter. It should also be noted that directions and references (such as up, down, top, bottom, etc.) may be used solely for the convenience of describing features in the drawings. Therefore, the following detailed description will not be understood in a limiting sense, and the scope of the claimed subject matter is defined only by the appended claims and their equivalents.

[0025] In the following description, numerous details are set forth. However, it will be apparent to those skilled in the art that the embodiments herein may be practiced without these specific details. In some instances, well-known methods and apparatuses are shown in block diagram form rather than in detail to avoid obscuring the embodiments herein. References throughout this specification to "an embodiment" or "one embodiment" or "some embodiments" mean that a particular feature, structure, function, or characteristic described in connection with the embodiment is included in at least one embodiment herein. Thus, the appearances of the phrases "in an embodiment" or "in one embodiment" or "some embodiments" throughout this specification are not necessarily referring to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, functions, or characteristics may be combined in any suitable manner. For example, a first embodiment may be combined with a second embodiment in any case where the particular features, structures, functions, or characteristics associated with the two embodiments are not mutually exclusive.

[0026] As used in the description and the appended claims, the singular forms "a" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0027] The terms "coupled" and "connected" along with their derivatives may be used herein to describe a functional or structural relationship between components. It should be understood that these terms are not intended as synonyms for each other. Instead, in a particular embodiment, "connected" may be used to indicate that two or more than two elements are in direct physical, optical, or electrical contact with each other. "Coupled" may be used to indicate that two or more than two elements are in direct or indirect physical contact or electrical contact with each other (with other intermediate elements therebetween), and / or two or more than two elements cooperate or interact with each other (e.g., as in a causal relationship).

[0028] As used herein, the terms "above", "below", "between", and "on" refer to the relative position of one component or material with respect to other components or materials, where such physical relationships are notable. For example, in the context of materials, a material or materials disposed above or below another material may be in direct contact, or may have one or more intermediate materials. Also, a material disposed between two materials or materials may be in direct contact with the two layers, or may have one or more intermediate layers. In contrast, a first material or materials "on" a second material or materials is in direct contact with that second material / material. Similar distinctions are to be made in the context of component assembly.

[0029] As described throughout herein and as used in the claims, a list of items joined by the terms "at least one of" or "one or more of" may mean any combination of the listed items. For example, the phrase "at least one of A, B, or C" may mean A; B; C; A and B; A and C; B and C; or A, B, and C.

[0030] The term "circuit" or "module" may refer to one or more passive and / or active components that are arranged to cooperate with each other to provide a desired function. The term "signal" may refer to at least one current signal, voltage signal, or magnetic signal. The terms "substantially", "near", "approximate", "close to", and "about" generally refer to within + / - 10% of a target value.

[0031] The tactile experience of an electronic device, as an important user interaction feeling, has received increasing attention. During the operation of an electronic device, the motor drive signal parameters play a crucial role in the performance of the motor movement. These signal parameters can directly affect the working efficiency, output force, and control accuracy of the motor, and thus determine the effect of the motor vibration. In the prior art, the methods for measuring motor parameters are mainly divided into two types: offline testing and online testing.

[0032] Offline measurement is usually carried out manually through specific instruments when the motor leaves the factory or before use to obtain the operating parameters of the motor. Although this method is relatively simple to implement and does not require complex control theory, due to individual differences between different motor units, offline testing cannot adaptively adjust technical parameters according to these differences. In addition, when the motor is assembled into an electronic device, it becomes extremely inconvenient to conduct offline testing, and it is difficult to achieve real-time monitoring and adjustment of motor parameters.

[0033] Online testing mainly includes two methods. The first is to input a driving signal to the motor to drive it to vibrate, and then analyze the back electromotive force of the motor's after-vibration to obtain the operating parameters of the motor. Another solution is to add a low-frequency pilot signal to the driving signal to achieve real-time estimation of the motor's resistance. However, the above online testing solutions mainly have the following problems:

[0034] First, the above methods need to drive the motor to vibrate to obtain parameters, which are generally only applicable to the startup or production testing process (standard environment). However, during actual use, motor parameters will change with various factors, and some parameters are closely related to the ambient temperature. For example, when the ambient temperature decreases, the motor resistance becomes smaller; when the ambient temperature increases, the motor resistance becomes larger. If the motor drive signal is adjusted only based on the test results in the standard environment, it will inevitably affect the control accuracy of the motor and cause the final vibration effect of the motor to fail to meet the expectations.

[0035] Second, the existing methods for real-time obtaining the operating parameters of the motor can, while the motor is vibrating, track the resistance parameters of the motor in real time and dynamically adjust the motor drive signal accordingly, which improves the control accuracy of the motor to a certain extent. However, this solution cannot estimate the inductance. However, the inductance of the motor can be used to reflect the phase delay between the motor current and voltage. Therefore, the inductance parameter of the motor has a greater impact on controlling the performance of the motor to start and stop quickly, etc. The existing parameter tracking methods have certain limitations.

[0036] Aiming at the problem that the existing technologies cannot comprehensively update and adjust various electrical parameters of the motor in real time, the present disclosure provides a real-time tracking solution for motor electrical parameters. By superimposing a high-frequency pilot signal on the motor drive signal, it is possible to achieve real-time tracking of the motor resistance and inductance without affecting the normal vibration of the motor, and improve the control accuracy of the motor.

[0037] The following will describe in detail the specific implementation of each embodiment of the present disclosure in conjunction with the respective drawings.

[0038] Method for obtaining motor parameters

[0039] Figure 1The following is a flowchart of the method for obtaining motor parameters according to an exemplary embodiment of the present disclosure, which mainly includes the following steps:

[0040] Step 102: Drive the motor to vibrate using a mixed signal composed of a pilot signal and a drive signal, and collect voltage detection data and current detection data corresponding to the motor at each detection moment.

[0041] In this embodiment, the signal frequency of the pilot signal needs to be higher than the signal frequency of the drive signal, and the actual vibration amplitude of the motor under the pilot signal needs to be lower than a given vibration amplitude threshold, so that the motor does not vibrate or vibrates weakly under the pilot signal and can be ignored. Thus, the real-time tracking of the motor motion state can be realized without affecting the vibration of the motor driven by the drive signal.

[0042] In some embodiments, the vibration amplitude threshold can be set to 0.01g, that is, the actual vibration amplitude of the motor under the pilot signal is lower than 0.01g.

[0043] In some embodiments, the waveform of the pilot signal can include, but is not limited to, a sine wave.

[0044] In this embodiment, the start moment of the pilot signal in the mixed signal should be earlier than the start moment of the drive signal in the mixed signal. Here, the start moment refers to the moment of the first non-zero data in the drive signal that can cause the motor to vibrate in the mixed signal.

[0045] In some embodiments, the data in the drive signal that does not fall within a given zero data range can be determined as non-zero data. The value range of the given zero data range can be determined according to the above vibration amplitude threshold (for example, 0.01g).

[0046] In some embodiments, the time difference between the start moment of the pilot signal in the mixed signal and the start moment of the drive signal in the mixed signal is not less than a preset time difference.

[0047] In practical applications, on the premise of ensuring the accuracy of motor parameter tracking, the preset time difference t1 can be set as small as possible to avoid affecting the user's perception experience. In some embodiments, the preset time difference t1 between the start moment and the start moment is not less than 2 milliseconds. Exemplarily, the preset time difference t1 between the start moment and the start moment of the drive signal can be set to 5 milliseconds.

[0048] In this embodiment, the signal frequency of the pilot signal should be much greater than the operating frequency of the motor, so that the pilot signal will not affect the vibration effect of the drive signal on the motor. In some embodiments, the signal frequency of the pilot signal is not less than 2 times the maximum operating frequency of the motor (i.e., the signal frequency of the pilot signal is T times the maximum operating frequency of the motor, where T ≥ 2). Exemplarily, when the maximum operating frequency of the motor is 500 Hz, the signal frequency of the pilot signal is generally not less than 1200 Hz. Exemplarily, the signal frequency of the pilot signal can be set to 3 times the maximum operating frequency of the motor. For example, when the maximum operating frequency of the motor is 500 Hz, the signal frequency of the pilot signal can be set to 1500 Hz.

[0049] As described above, since the motor does not vibrate or the vibration amplitude is negligible under the pilot signal, the peak value of the pilot signal also needs to meet the condition of not causing the motor to vibrate. In some embodiments, the peak value of the pilot signal is not greater than 10% of the drive voltage of the drive signal. In practical applications, the absolute value of the peak value of the pilot signal should not be greater than 0.3 V. Exemplarily, the absolute value of the peak value of the pilot signal can be set to 0.5 V.

[0050] In some embodiments, the mixed signal can be obtained in the following manner:

[0051] Generate a pilot signal through a waveform generating device and determine the starting moment t' of the drive signal. The preset time difference t1 can be compared with the starting moment t'. If the preset time difference is greater than the starting moment (t1 > t'), the difference between the preset time difference and the starting moment is determined as the pre-play duration of the pilot signal (i.e., pre-play duration = t1 - t'). If the preset time difference is equal to or less than the starting moment (t1 ≤ t'), the pre-play duration of the pilot signal is determined to be zero (pre-play duration = 0).

[0052] Play the pilot signal, and when it is detected that the actual play duration of the pilot signal meets the pre-play duration, superimpose the pilot signal and the drive signal through an adder to obtain a mixed signal.

[0053] Figures 2A to 2D Shows different embodiment diagrams of the mixed signal.

[0054] Refer to Figure 2A , when there is a zero data segment in the startup stage of the drive signal and the duration t' of the zero data segment is ≥ t1 (e.g., 5 milliseconds), the pilot signal and the drive signal can be directly superimposed through an adder (superimpose the pilot signal on the zero data segment of the drive signal) to generate a mixed signal.

[0055] Refer to Figure 2B, when there is a segment of zero data in the startup phase of the drive signal, but the duration t' of the zero data segment < t1 (for example, 5 milliseconds), after the pilot signal is played for t1 - t' milliseconds, the pilot signal can be superimposed on the drive signal through an adder (a part of the pilot signal is superimposed on the zero data segment of the drive signal) to generate a mixed signal.

[0056] Reference Figure 2C , when the startup moment of the drive signal is the oscillation startup moment (that is, the first data in the drive signal is non-zero data), after the pilot signal is played for t1 milliseconds, the pilot signal can be superimposed on the drive signal through an adder to generate a mixed signal and drive the motor to vibrate (reference Figure 2D ).

[0057] It should be noted that those skilled in the art can make corresponding adjustments to parameters such as the frequency and amplitude of the pilot signal based on the setting principles of the above parameters, the actual model of the motor, the actual application scenario, etc. The present disclosure places no restrictions on this.

[0058] In some embodiments, the detection moments of the motor can be determined based on a given sampling frequency. Among them, the given sampling frequency should be no less than twice the signal frequency of the drive signal.

[0059] In some embodiments, a high-precision resistor connected in series with the motor can be set. By collecting the voltages at both ends of the motor corresponding to each detection moment, the voltage detection data of the motor corresponding to each detection moment can be obtained, and the voltages of the high-precision resistor corresponding to each detection moment can be collected. And according to the resistance value of the high-precision resistor and the voltage detection data of the high-precision resistor corresponding to each detection moment, current conversion is performed to obtain the current detection data of the motor corresponding to each detection moment.

[0060] Specifically, a high-precision resistor (for example, a high-precision resistor with a resistance value of 0.1 ohm) can be added between the power amplifier and the motor. By collecting the response power supply of the high-precision resistor corresponding to each detection moment, according to the conversion formula of current = voltage / resistance, the current detection data of the high-precision resistor corresponding to each detection moment can be calculated. Since the current value in a series circuit is the same everywhere, the current detection data of the high-precision resistor corresponding to each detection moment is the current detection data of the motor corresponding to each detection moment.

[0061] It should be understood that the acquisition methods for the motor voltage and current are not limited to the above methods. Those skilled in the art can use other methods to obtain them. For example, methods such as directly collecting the motor current using a detector are used. The present disclosure places no restrictions on this.

[0062] In practical applications, analog-to-digital conversion can be performed on the voltage detection data and current detection data of the motor corresponding to each detection moment for subsequent data extraction and processing.

[0063] Step 104: Based on the voltage detection data and current detection data of the motor corresponding to each detection moment, perform data extraction processing according to the signal frequency of the pilot signal to obtain the pilot signal voltage and pilot signal current corresponding to the pilot signal of the motor at each detection moment.

[0064] In some embodiments, a filter can be used to perform filtering processing according to the signal frequency of the pilot signal, and the pilot signal voltage U_pilot and pilot signal current I_pilot corresponding to the pilot signal of the motor at each detection moment can be obtained from the voltage detection data and current detection data.

[0065] Specifically, since the signal frequency of the pilot signal is significantly different from the signal frequency of the drive signal, a low-pass filter can be used to perform filtering processing on the mixed signal to extract the voltage detection data and current detection data of the motor corresponding to the drive signal, and indirectly obtain the pilot signal voltage U_pilot and pilot signal current I_pilot corresponding to the pilot signal of the motor at each detection moment.

[0066] It should be noted that when extracting the pilot signal voltage corresponding to the pilot signal of the motor at each detection moment through a filter, the error between the amplitude of the pilot signal and the amplitude of the pilot signal voltage should be lower than a given voltage error threshold to avoid affecting the accuracy of motor parameter estimation due to excessive signal attenuation by the filter.

[0067] In some embodiments, the given voltage error threshold can be set to 3%. In practical applications, when it is determined that the error between the amplitude of the pilot signal and the amplitude of the pilot signal voltage exceeds 3%, the device parameters of the filter need to be adjusted, and the data extraction processing of the pilot signal voltage and pilot signal current needs to be performed again.

[0068] Step 106: Calculate the voltage deviation value at each detection moment according to the pilot signal voltage and pilot signal current at each detection moment, and obtain the resistance fitting value and inductance fitting value of the motor corresponding to each detection moment according to the voltage deviation value at each detection moment.

[0069] In some embodiments, for any current moment among each detection moment, the voltage deviation value at the current moment can be estimated according to the pilot signal voltage and pilot signal current at the current moment, and the resistance estimation value and inductance estimation value at the current moment can be updated according to the voltage deviation value at the current moment. This step can be repeatedly executed to iteratively update the resistance estimation value and inductance estimation value at the current moment until the actual update times of the resistance estimation value and inductance estimation value meet the preset update times, and the resistance fitting value and inductance fitting value of the motor corresponding to the current moment are obtained.

[0070] In some embodiments, the resistance fitting value and inductance fitting value of the motor corresponding to the current moment can be obtained through the Least Mean Squares (LMS) algorithm or the Recursive Least Squares (RLS) algorithm, so that only a small number of multiplication operations and addition operations need to be performed for each data iteration update process, thereby reducing the system operation load and improving the system operation efficiency.

[0071] In summary, for the motor parameter acquisition method according to the embodiments of the present disclosure, by superimposing a pilot signal that does not cause motor vibration on the drive signal, and collecting the pilot signal voltage and pilot signal current corresponding to the pilot signal of the motor at each detection moment, and accordingly fitting the inductance and resistance of the motor corresponding to each detection moment, the resistance and inductance states of the motor can be tracked in real time without affecting the vibration state of the motor, which is beneficial to improving the real-time performance and accuracy of motor state monitoring and improving the control accuracy of the motor.

[0072] Specifically, the change in the inductance of the motor reflects the phase delay between the motor current and voltage. By tracking the inductance value of the motor in real time in this embodiment, the control accuracy for the performance such as fast start and fast stop of the motor can be significantly improved. In addition, the change in the resistance of the motor can be used to measure the change in the internal temperature of the motor. By tracking the resistance value of the motor in real time in this embodiment, the control accuracy of the motor in the scenario of environmental parameter change can be improved.

[0073] In addition, for the motor parameter acquisition method according to the embodiments of the present disclosure, only the current data and voltage data of the motor need to be collected to realize the real-time tracking of the resistance and inductance of the motor. This method has no limitation on the type of drive signal (long vibration and short vibration), and can be applied to the monitoring scenarios of various types of motors and drive signals, and has the advantages of wide application range and easy implementation.

[0074] Figure 3 It is a processing flowchart of the motor parameter acquisition method according to another exemplary embodiment of the present disclosure. This embodiment is a specific implementation solution for the above step 106. As shown in the figure, this embodiment mainly includes the following steps:

[0075] Step 302: According to the previous moment among each detection moment, determine the next detection moment following the previous moment as the current moment.

[0076] In this embodiment, each detection moment of the motor can be determined based on a given sampling frequency. Among them, the given sampling frequency should be not less than twice the signal frequency of the drive signal.

[0077] Exemplarily, when the previous moment is the (n - 1)-th detection moment, the current moment is the n-th detection moment.

[0078] Step 304: Determine the pilot signal voltage and pilot signal current at the current moment, and the pilot signal current at the previous moment. Assign the initial inductor value and initial resistor value to the inductor estimation value and resistor estimation value at the current moment.

[0079] In this embodiment, the initial inductor value and initial resistor value are usually set to 0 or a small random value, which can be adjusted by those skilled in the art based on actual needs.

[0080] Step 306: Obtain the voltage estimation value at the current moment according to the pilot signal current, inductor estimation value, resistor estimation value at the current moment, and the pilot signal current at the previous moment.

[0081] In some embodiments, the pilot signal current at the current moment, the inductor estimation value at the current moment, the resistor estimation value at the current moment, the pilot signal current at the previous moment, and the given sampling frequency can be substituted into the voltage estimation formula to calculate the voltage estimation value at the current moment.

[0082] Among them, the voltage estimation formula can be expressed as Formula 1 below:

[0083]

[0084] In Formula 1, represents the voltage estimation value at the nth detection moment (current moment), poiot represents the pilot signal, I_poiot n represents the pilot signal current at the nth detection moment, I_pilot n-1 represents the pilot signal current at the (n - 1)th detection moment (previous moment), represents the resistor estimation value at the nth detection moment, represents the inductor estimation value at the nth detection moment, fs represents the given sampling frequency.

[0085] Step 308: Update the inductor estimation value and resistor estimation value at the current moment according to the voltage deviation value between the voltage estimation value at the current moment and the pilot signal voltage.

[0086] In some embodiments, the voltage deviation calculation formula can be used to calculate the difference between the voltage estimation value at the current moment and the pilot signal voltage to obtain the voltage deviation value at the current moment. And the resistor update formula can be used to update the resistor estimation value at the current moment according to the voltage deviation value at the current moment, the given step size, and the pilot signal current at the current moment to obtain the new resistor estimation value at the current moment.

[0087] Among them, the voltage deviation calculation formula is expressed as Formula 2 below:

[0088]

[0089] In Formula 2, U_pilot n represents the pilot signal voltage at the nth detection moment (current moment), represents the voltage estimation value at the nth detection moment, e n represents the voltage deviation value at the nth detection moment.

[0090] Among them, the resistance update formula is expressed as the following Formula 3:

[0091]

[0092] In Formula 3, represents the resistance estimation value at the nth detection moment (current moment), μ represents the given step size, e n represents the voltage deviation value at the nth detection moment, I_pilot n represents the pilot signal current at the nth detection moment.

[0093] In some embodiments, the inductance update formula can be used to update the inductance estimation value at the current moment according to the voltage deviation value at the current moment, the given step size, the pilot signal current at the current moment, the pilot signal current at the previous moment, and the given sampling frequency, so as to obtain a new inductance estimation value at the current moment.

[0094] Among them, the inductance update formula is expressed as the following Formula 4:

[0095]

[0096] Among them, represents the inductance estimation value at the nth detection moment (current moment), μ represents the given step size, e n represents the voltage deviation value at the nth detection moment, I_pilot n represents the pilot signal current at the nth detection moment, I_pilot n-1 represents the pilot signal current at the (n - 1)th detection moment (previous moment), and fs represents the given sampling frequency.

[0097] In this embodiment, the given step size μ determines the convergence speed and stability. Among them, 0 < μ < 1.

[0098] Step 310, determine whether the actual update times of the inductance estimation value and the resistance estimation value at the current moment meet the preset update times.

[0099] Specifically, the update times of the inductance estimation value and the resistance estimation value for the current moment in step 308 can be accumulated to obtain the actual update times of the inductance estimation value and the resistance estimation value at the current moment. Compare the actual update times with the preset update times. If the actual update times are equal to the preset update times, execute step 312. If the actual update times are less than the preset update times, return to execute step 306.

[0100] Step 312: Determine the latest inductance estimation value and resistance estimation value as the resistance fitting value and inductance fitting value of the motor corresponding to the current moment.

[0101] Specifically, the inductance estimation value and resistance estimation value of the current moment obtained by the last update in step 308 can be determined as the resistance fitting value and inductance fitting value of the motor corresponding to the current moment.

[0102] Reference Figure 4A and Figure 4B , which respectively show the resistance fitting effect diagrams ( Figure 4A ) and inductance fitting effect diagrams ( Figure 4B ) of the motor corresponding to each detection moment obtained according to the processing steps of this embodiment. Among them, both the resistance and inductance of the motor quickly converge to a relatively stable value, saving calculation time and resources and improving calculation efficiency.

[0103] In summary, in this embodiment, by performing a small number of addition operations and multiplication operations to iteratively estimate the resistance value and inductance value of the motor corresponding to each detection moment, it is possible to improve the system operation efficiency and reduce the system operation load while ensuring the accuracy of the motor electrical parameter estimation, thereby reducing the hardware cost of the device.

[0104] Method for adjusting motor drive signal

[0105] Figure 5 The following shows the motor drive signal adjustment method of an exemplary embodiment of the present disclosure, which mainly includes the following steps:

[0106] Step 502: Obtain the resistance fitting value and inductance fitting value of the motor corresponding to each detection moment.

[0107] In this embodiment, the steps described in the embodiments of each motor parameter acquisition method can be executed. By detecting the current response value and voltage response value of the motor corresponding to each detection moment, calculate the resistance fitting value and inductance fitting value of the motor corresponding to each detection moment, so as to achieve the purpose of real-time tracking of the motor electrical parameters.

[0108] Step 504: Adjust the signal parameters of the drive signal according to the resistance fitting value and inductance fitting value of the motor corresponding to each detection moment.

[0109] In some embodiments, the voltage parameter and / or current parameter of the drive signal is adjusted according to the resistance fitting value and inductance fitting value of the motor corresponding to each detection moment.

[0110] In summary, in this embodiment, by collecting the current detection data and voltage detection data of the motor, the resistance and inductance of the motor are estimated, and based on the estimated resistance and inductance, the signal parameters of the drive signal are adjusted in reverse. Through this closed-loop control method, the control accuracy of the motor can be improved in various application scenarios such as motor displacement protection and brake configuration.

[0111] Device for obtaining motor parameters

[0112] Figure 6 The following is a structural block diagram of a motor parameter acquisition device according to an exemplary embodiment of the present disclosure. As shown in the figure, the motor parameter acquisition device 600 of this embodiment mainly includes:

[0113] A detection module 602, configured to drive the motor to vibrate by using a mixed signal composed of a pilot signal and a drive signal, and collect the voltage detection data and current detection data of the motor corresponding to each detection moment. Among them, the signal frequency of the pilot signal is higher than the signal frequency of the drive signal, and the actual vibration amplitude of the motor under the pilot signal is lower than a given vibration amplitude threshold;

[0114] An extraction module 604, configured to perform data extraction processing based on the voltage detection data and current detection data of the motor corresponding to each detection moment, and execute according to the signal frequency of the pilot signal, to obtain the pilot signal voltage and pilot signal current corresponding to the pilot signal of the motor at each detection moment;

[0115] A calculation module 606, configured to calculate the voltage deviation value at each detection moment according to the pilot signal voltage and pilot signal current at each detection moment, and obtain the resistance fitting value and inductance fitting value of the motor corresponding to each detection moment according to the voltage deviation value at each detection moment.

[0116] In some embodiments, the start moment of the pilot signal in the mixed signal is earlier than the start vibration moment of the drive signal in the mixed signal, where the start vibration moment is the moment of the first non-zero data in the drive signal in the mixed signal; the signal frequency of the pilot signal is not less than the maximum operating frequency of the motor.

[0117] In some embodiments, the time difference between the start time of the pilot signal in the mixed signal and the start oscillation time of the drive signal in the mixed signal is not less than a preset time difference; the motor parameter acquisition device 600 is further configured to: generate the pilot signal through a waveform generation device (not shown), and determine the start oscillation time of the drive signal; compare the preset time difference with the start oscillation time, if the preset time difference is greater than the start oscillation time, determine the difference between the preset time difference and the start oscillation time as the pre-play duration of the pilot signal, if the preset time difference is equal to or less than the start oscillation time, determine the pre-play duration of the pilot signal as zero; play the pilot signal, and when it is detected that the actual play duration of the pilot signal meets the pre-play duration, superimpose the pilot signal and the drive signal through an adder (not shown) to obtain the mixed signal.

[0118] In some embodiments, the motor is connected in series with a high-precision resistor; the extraction module 604 is further configured to: collect the voltages at both ends of the motor corresponding to each detection moment to obtain the voltage detection data of the motor corresponding to each detection moment; collect the voltages of the high-precision resistor corresponding to each detection moment, and perform current conversion according to the resistance value of the high-precision resistor and the voltages of the high-precision resistor corresponding to each detection moment to obtain the current detection data of the motor corresponding to each detection moment.

[0119] In some embodiments, the calculation module 606 is configured to: according to the previous moment among each detection moment, determine a detection moment following the previous moment as the current moment, determine the pilot signal voltage and pilot signal current at the current moment, and the pilot signal current at the previous moment, and assign the initial inductor value and the initial resistor value to the inductor estimation value and the resistor estimation value at the current moment; perform a voltage estimation step, and obtain the voltage estimation value at the current moment according to the pilot signal current at the current moment, the inductor estimation value, the resistor estimation value at the current moment, and the pilot signal current at the previous moment; update the inductor estimation value and the resistor estimation value at the current moment according to the voltage deviation value between the voltage estimation value at the current moment and the pilot signal voltage, and return to perform the voltage estimation step based on the updated inductor estimation value and resistor estimation value until the actual update times of the inductor estimation value and the resistor estimation value at the current moment meet the preset update times; determine the latest inductor estimation value and resistor estimation value as the resistor fitting value and the inductor fitting value of the motor corresponding to the current moment.

[0120] In some embodiments, the calculation module 606 is configured to: use a voltage estimation formula to calculate the voltage estimation value at the current moment according to the pilot signal current at the current moment, the inductor estimation value at the current moment, the resistor estimation value at the current moment, the pilot signal current at the previous moment, and a given sampling frequency.

[0121] The voltage estimation formula is expressed as:

[0122]

[0123] Wherein, represents the voltage estimation value at the nth detection moment, pilot represents the pilot signal, and I_pilot n represents the pilot signal current at the nth detection moment, and I_pilot n-i represents the pilot signal current at the (n - 1)th detection moment, represents the resistance estimation value at the nth detection moment, represents the inductance estimation value at the nth detection moment, and fs represents the given sampling frequency.

[0124] In some embodiments, the given sampling frequency is not less than twice the signal frequency of the drive signal.

[0125] In some embodiments, the calculation module 606 is configured to: calculate the voltage deviation value at the current moment according to the voltage estimation value and the pilot signal voltage at the current moment; update the resistance estimation value at the current moment by using the resistance update formula according to the voltage deviation value at the current moment, the given step size, and the pilot signal current at the current moment to obtain a new resistance estimation value at the current moment; update the inductance estimation value at the current moment by using the inductance update formula according to the voltage deviation value at the current moment, the given step size, the pilot signal current at the current moment, the pilot signal current at the previous moment, and the given sampling frequency to obtain a new inductance estimation value at the current moment;

[0126] The resistance update formula is expressed as:

[0127]

[0128] Wherein, represents the resistance estimation value at the nth detection moment, μ represents the given step size, and e n represents the voltage deviation value at the nth detection moment;

[0129] The inductance update formula is expressed as:

[0130]

[0131] Wherein, represents the inductance estimation value at the nth detection moment, μ represents the given step size, and e n represents the voltage deviation value at the nth detection moment.

[0132] In some embodiments, the given step size is greater than 0 and less than 1, and the preset number of update times is 5 times.

[0133] Device for adjusting motor drive signal

[0134] Figure 7 The following is a structural block diagram of a motor drive signal adjustment device according to an exemplary embodiment of the present disclosure. As shown in the figure, the motor drive signal adjustment device 700 of this embodiment mainly includes:

[0135] A parameter acquisition module 702, configured to use each processing step described in the above method embodiment of motor parameter acquisition or each processing module described in the above device embodiment of motor parameter acquisition to acquire the resistance fitting value and inductance fitting value of the motor corresponding to each detection moment.

[0136] A signal adjustment module 704, configured to adjust the signal parameters of the drive signal according to the resistance fitting value and inductance fitting value of the motor corresponding to each detection moment.

[0137] In some embodiments, the signal parameters of the drive signal include at least one of a voltage parameter and a current parameter.

[0138] Electronic device

[0139] Refer to Figure 8 , which shows a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application. The specific implementation of the electronic device is not limited in the specific embodiments of the present application.

[0140] As Figure 8 shown, the electronic device may include: a processor 802, a communication interface 804, a memory 806, and a communication bus 808.

[0141] Wherein:

[0142] The processor 802, the communication interface 804, and the memory 806 communicate with each other through the communication bus 808.

[0143] The communication interface 804 is configured to communicate with other electronic devices or servers.

[0144] The processor 802 is configured to execute a program 810, and specifically may execute relevant steps in the above method embodiments of motor parameter acquisition or motor drive signal adjustment method.

[0145] Specifically, the program 810 may include program codes, and the program codes include computer operation instructions.

[0146] The processor 802 may be a CPU, or a specific application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. One or more processors included in the intelligent device may be of the same type of processor, such as one or more CPUs; or may be of different types of processors, such as one or more CPUs and one or more ASICs.

[0147] A memory 806 for storing a program 810. The memory 806 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0148] The program 810 may include multiple computer instructions. Specifically, the program 810 may cause the processor 802 to perform operations corresponding to the motor parameter acquisition method or the motor drive signal adjustment method described in any one of the foregoing multiple method embodiments through the multiple computer instructions.

[0149] For the specific implementation of each step in the program 810, reference may be made to the corresponding descriptions in the corresponding steps and units in the foregoing method embodiments, and they have corresponding beneficial effects, which will not be elaborated here. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the devices and modules described above may refer to the corresponding process descriptions in the foregoing method embodiments, which will not be elaborated here.

[0150] The embodiments of the present application further provide a computer storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the method described in any one of the foregoing multiple method embodiments. The computer storage medium includes, but is not limited to: Compact Disc Read-Only Memory (CD-ROM), Random Access Memory (RAM), floppy disk, hard disk, or magneto-optical disk, etc.

[0151] The embodiments of the present application further provide a computer program product, including computer instructions, and the computer instructions instruct a computing device to perform operations corresponding to the motor parameter acquisition method or the motor drive signal adjustment method described in any one of the foregoing embodiments.

[0152] In addition, it should be noted that the user-related information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to sample data for training the model, data for analysis, stored data, displayed data, etc.) involved in the embodiments of the present application are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use, and processing of the relevant data need to comply with the relevant laws, regulations, and standards of the relevant countries and regions, and corresponding operation entrances are provided for the user to choose to authorize or reject.

[0153] It should be pointed out that according to the needs of implementation, each component / step described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of the components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0154] The methods according to the embodiments of the present application described above can be implemented in hardware, firmware, or be implemented as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or be implemented as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium and downloaded through a network and to be stored in a local recording medium, so that the methods described herein can be stored in such software processes on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an Application Specific Integrated Circuit (ASIC) or a Field Programmable Gate Array (FPGA)). It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component (such as a Random Access Memory (RAM), a Read-Only Memory (ROM), a flash memory, etc.) that can store or receive software or computer code. When the software or computer code is accessed and executed by the computer, the processor, or the hardware, the methods described herein are implemented. In addition, when a general-purpose computer accesses the code for implementing the methods shown herein, the execution of the code converts the general-purpose computer into a dedicated computer for executing the methods shown herein.

[0155] Those of ordinary skill in the art will appreciate that the units and method steps of the examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the embodiments of this application.

[0156] The above embodiments are only used to illustrate the embodiments of this application, rather than to limit the embodiments of this application. Those of ordinary skill in the relevant technical field can also make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also belong to the scope of the embodiments of this application. The patent protection scope of the embodiments of this application shall be defined by the claims.

Claims

1. A method for obtaining motor parameters, comprising: Driving the motor to vibrate by using a mixed signal composed of a pilot signal and a driving signal, and collecting voltage detection data and current detection data of the motor corresponding to each detection moment, wherein the signal frequency of the pilot signal is higher than the signal frequency of the driving signal, and the actual vibration amplitude of the motor under the pilot signal is lower than a given vibration amplitude threshold; Based on the voltage detection data and current detection data of the motor corresponding to each detection moment, performing data extraction processing according to the signal frequency of the pilot signal to obtain the pilot signal voltage and pilot signal current of the motor corresponding to the pilot signal at each detection moment; According to the pilot signal voltage and pilot signal current at each detection moment, calculating the voltage deviation value at each detection moment, and obtaining the resistance fitting value and inductance fitting value of the motor corresponding to each detection moment according to the voltage deviation value at each detection moment.

2. The method for obtaining motor parameters according to claim 1, wherein The starting moment of the pilot signal in the mixed signal is earlier than the starting moment of the driving signal in the mixed signal, wherein the starting moment is the moment of the first non-zero data in the driving signal in the mixed signal; The signal frequency of the pilot signal is not less than the maximum operating frequency of the motor.

3. The method for obtaining motor parameters according to claim 2, wherein, The time difference between the starting moment of the pilot signal in the mixed signal and the starting moment of the driving signal in the mixed signal is not less than a preset time difference; And wherein, the mixed signal is obtained by the following method: Generating the pilot signal by a waveform generating device and determining the starting moment of the driving signal; Comparing the preset time difference with the starting moment, if the preset time difference is greater than the starting moment, determining the difference between the preset time difference and the starting moment as the pre-play duration of the pilot signal, if the preset time difference is equal to or less than the starting moment, determining the pre-play duration of the pilot signal as zero; Playing the pilot signal, and when it is detected that the actual playing duration of the pilot signal satisfies the pre-play duration, superimposing the pilot signal and the driving signal through an adder to obtain the mixed signal.

4. The method for obtaining motor parameters according to claim 1, wherein, The motor is connected in series with a high-precision resistor; And wherein, the collecting the voltage detection data and current detection data of the motor corresponding to each detection moment includes: Collecting the voltage at both ends of the motor corresponding to each detection moment to obtain the voltage detection data of the motor corresponding to each detection moment; Collecting the voltage of the high-precision resistor corresponding to each detection moment, and performing current conversion according to the resistance value of the high-precision resistor and the voltage of the high-precision resistor corresponding to each detection moment to obtain the current detection data of the motor corresponding to each detection moment.

5. The method for obtaining motor parameters according to any one of claims 1 to 4, wherein, The performing data extraction processing according to the signal frequency of the pilot signal to obtain the pilot signal voltage and pilot signal current of the motor corresponding to the pilot signal at each detection moment from the voltage detection data and current detection data includes: A filter is used to perform a filtering process according to the signal frequency of the pilot signal, and the pilot signal voltage and the pilot signal current corresponding to the pilot signal at each detection moment of the motor are obtained from the respective voltage detection data and the respective current detection data.

6. The method for obtaining motor parameters according to claim 1, wherein, Calculating the voltage deviation value at each detection moment according to the pilot signal voltage and the pilot signal current at each detection moment, and obtaining the resistance fitting value and the inductance fitting value of the motor corresponding to each detection moment according to the voltage deviation value at each detection moment, including: According to the previous moment among each detection moment, determining the next detection moment following the previous moment as the current moment, determining the pilot signal voltage and the pilot signal current at the current moment, and the pilot signal current at the previous moment, and assigning the initial inductance value and the initial resistance value to the inductance estimation value and the resistance estimation value at the current moment; Performing a voltage estimation step, and obtaining the voltage estimation value at the current moment according to the pilot signal current at the current moment, the inductance estimation value, the resistance estimation value, and the pilot signal current at the previous moment; According to the voltage deviation value between the voltage estimation value at the current moment and the pilot signal voltage, updating the inductance estimation value and the resistance estimation value at the current moment, and returning to execute the voltage estimation step based on the updated inductance estimation value and resistance estimation value until the actual update times of the inductance estimation value and the resistance estimation value at the current moment meet the preset update times; Determining the latest inductance estimation value and resistance estimation value as the resistance fitting value and the inductance fitting value of the motor corresponding to the current moment.

7. The method for obtaining motor parameters according to claim 6, wherein, The obtaining the voltage estimation value at the current moment according to the pilot signal current at the current moment, the inductance estimation value, the resistance estimation value, and the pilot signal current at the previous moment includes: Using a voltage estimation formula to calculate the voltage estimation value at the current moment according to the pilot signal current at the current moment, the inductance estimation value at the current moment, the resistance estimation value at the current moment, the pilot signal current at the previous moment, and the given sampling frequency; The voltage estimation formula is expressed as: Among them, represents the estimated voltage value at the nth detection moment, pilot represents the pilot signal, and I_pilot n represents the pilot signal current at the nth detection moment, I_pilot n-1 represents the pilot signal current at the (n - 1)th detection moment, represents the estimated resistance value at the nth detection moment, represents the estimated inductance value at the nth detection moment, and fs represents the given sampling frequency.

8. The method for obtaining motor parameters according to claim 7, wherein The given sampling frequency is not less than twice the signal frequency of the drive signal.

9. The method for obtaining motor parameters according to claim 6, wherein, The updating the inductance estimation value and the resistance estimation value at the current moment according to the voltage deviation value between the voltage estimation value at the current moment and the pilot signal voltage includes: Calculating the voltage deviation value at the current moment according to the voltage estimation value at the current moment and the pilot signal voltage; Using a resistance update formula to update the resistance estimation value at the current moment according to the voltage deviation value at the current moment, the given step size, and the pilot signal current at the current moment, and obtaining the new resistance estimation value at the current moment; Using an inductance update formula to update the inductance estimation value at the current moment according to the voltage deviation value at the current moment, the given step size, the pilot signal current at the current moment, the pilot signal current at the previous moment, and the given sampling frequency, and obtaining the new inductance estimation value at the current moment; The resistance update formula is expressed as: Among them, represents the estimated resistance value at the nth detection moment, μ represents the given step size, and e n represents the voltage deviation value at the nth detection moment; The inductance update formula is expressed as: Among them, represents the inductance estimation value at the nth detection moment, μ represents the given step size, and e n represents the voltage deviation value at the nth detection moment.

10. The method for obtaining motor parameters according to claim 9, wherein the given step size is greater than 0 and less than 1.

11. A method for adjusting a motor drive signal, comprising: using the method according to any one of claims 1 to 10 to obtain the resistance fitting value and inductance fitting value of the motor corresponding to each detection moment; adjusting the signal parameters of the drive signal according to the resistance fitting value and inductance fitting value of the motor corresponding to each detection moment.

12. The motor drive signal adjustment method according to claim 11, wherein, The signal parameters of the drive signal include at least one of a voltage parameter and a current parameter.

13. A device for obtaining motor parameters, comprising: a detection module, configured to drive the motor to vibrate by using a mixed signal composed of a pilot signal and a drive signal, and collect voltage detection data and current detection data of the motor corresponding to each detection moment, wherein the signal frequency of the pilot signal is higher than the signal frequency of the drive signal, and the actual vibration amplitude of the motor under the pilot signal is lower than a given vibration amplitude threshold; an extraction module, configured to perform data extraction processing based on the voltage detection data and current detection data of the motor corresponding to each detection moment according to the signal frequency of the pilot signal, and obtain the pilot signal voltage and pilot signal current of the motor corresponding to the pilot signal at each detection moment; a calculation module, configured to calculate the voltage deviation value at each detection moment according to the pilot signal voltage and pilot signal current at each detection moment, and obtain the resistance fitting value and inductance fitting value of the motor corresponding to each detection moment according to the voltage deviation value at each detection moment.

14. A device for adjusting a motor drive signal, comprising: a parameter acquisition module, configured to use the method according to any one of claims 1 to 10 or use the device according to claim 12 to obtain the resistance fitting value and inductance fitting value of the motor corresponding to each detection moment; a signal adjustment module, configured to adjust the signal parameters of the drive signal according to the resistance fitting value and inductance fitting value of the motor corresponding to each detection moment.

15. An electronic device, comprising: a processor, a memory, a communication interface, and a communication bus, and the processor, the memory, and the communication interface complete communication with each other through the communication bus; the memory is used to store at least one executable instruction, and the executable instruction causes the processor to execute the method for obtaining motor parameters according to any one of claims 1 to 10, or execute the method for adjusting a motor drive signal according to any one of claims 11 to 12.

16. A computer storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the method for obtaining motor parameters according to any one of claims 1 to 10, or implements the method for adjusting a motor drive signal according to any one of claims 11 to 12.

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