Motor control method and motor control device
By conducting multiple drive parameter tests on the motor, a safe displacement was determined to avoid mechanical saturation, thus solving the motor casing problem, improving the consistency and reliability of motor vibration, extending its lifespan, and enriching the vibration effects.
Patent Information
- Application Number
- CN202511699833.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-19
- Publication Date
- 2026-02-24
AI Technical Summary
In existing technologies, motors are prone to mechanical saturation when the drive parameters are too high, leading to shell breakage, which affects the tactile effect and reduces the motor's lifespan and reliability.
By sequentially driving the motor based on multiple driving parameters, the first driving parameter that satisfies the first critical condition and/or the second driving parameter that satisfies the second critical condition are determined. Based on these parameters, the safe displacement of the motor is determined to avoid entering the nonlinear and mechanical saturation stage, thereby optimizing the vibration acceleration waveform design.
It improves the consistency of motor vibration, reduces the shell-breaking phenomenon caused by individual differences, extends motor life and improves reliability, and achieves richer vibration effects.
Smart Images
Figure CN121567008A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of electronic devices, and more particularly to a motor control method and a motor control device. Background Technology
[0002] With the development and widespread use of smartphones, wearable devices, and other electronic devices, people's demands for tactile experiences are becoming increasingly diverse. Currently, tactile feedback technology is generally achieved through the vibration of a linear motor. A linear motor mainly consists of components such as a spring, a magnetic oscillator, and a coil. The spring supports the oscillator inside the motor. Driven by a motor driver chip, the chip applies an excitation current to the coil, generating a magnetic field. If the driver chip applies a voltage signal to the coil using a specific driving waveform, it can generate an excitation current, thereby driving the oscillator to reciprocate. This vibration is perceived by people, thus producing a tactile effect.
[0003] When the drive parameters of the drive signal applied to the motor are too large, the components in the motor (such as the vibrator, coil, etc.) may impact the motor housing or other components due to vibration. This is called the motor impacting the housing because it has entered the mechanical saturation stage. This not only introduces random vibration and affects the tactile effect, but also increases the risk of functional failure of the impacted components in the motor, thereby affecting the life and reliability of the motor. Summary of the Invention
[0004] In view of this, embodiments of the present disclosure provide a motor control method and a motor control device.
[0005] To achieve the above objectives, the technical solution disclosed herein is implemented as follows: In a first aspect, embodiments of this disclosure provide a motor control method, comprising: sequentially driving a motor based on multiple driving parameters to obtain operating parameters of the motor under the driving parameters; determining a first driving parameter corresponding to the operating parameter that satisfies a first critical condition and / or a second driving parameter corresponding to the operating parameter that satisfies a second critical condition; wherein the first critical condition is that the operating parameter enters a nonlinear stage, and the second critical condition is that the operating parameter enters a mechanical saturation stage; wherein the nonlinear stage precedes the mechanical saturation stage; and determining a safe displacement of the motor based on the first driving parameter and / or the second driving parameter.
[0006] In some embodiments, driving the motor sequentially based on multiple driving parameters includes: sequentially applying driving signals having the driving parameters to the motor in increments of a preset step value; determining the first driving parameter corresponding to the operating parameter that satisfies a first critical condition includes: in response to the operating parameter corresponding to the i-th driving parameter satisfying the first critical condition, determining the i-th driving parameter as the first driving parameter; the operating parameter corresponding to the (i-1)-th driving parameter not satisfying the first critical condition; determining the second driving parameter corresponding to the operating parameter that satisfies a second critical condition includes: in response to the operating parameter corresponding to the j-th driving parameter satisfying the second critical condition, taking the j-th driving parameter as the second driving parameter; the operating parameter corresponding to the (j-1)-th driving parameter not satisfying the second critical condition; i and j are positive integers, i < j.
[0007] In some embodiments, determining the safe displacement of the motor based on the first driving parameters includes: determining a proportional coefficient based on motor parameters; the motor parameters include model parameters, batch consistency, and environmental parameters; determining target driving parameters based on the first driving parameters and the proportional coefficient; and determining a first safe displacement based on the target driving parameters and the motor parameters.
[0008] In some embodiments, determining the safe displacement of the motor based on the first driving parameter includes: determining a proportional coefficient based on motor parameters; the motor parameters include model parameters, batch consistency, and environmental parameters; determining the displacement corresponding to the first driving parameter based on the first driving parameter and the motor parameters; and determining a first safe displacement based on the proportional coefficient and the displacement corresponding to the first driving parameter.
[0009] In some embodiments, determining the safe displacement of the motor based on the second driving parameter includes: determining a third driving parameter based on the second driving parameter; the third driving parameter is less than the second driving parameter and the third driving parameter does not satisfy the second critical condition; and determining a second safe displacement based on the third driving parameter.
[0010] In some embodiments, determining the safe displacement of the motor based on the first driving parameter and the second driving parameter includes: determining a first safe displacement based on the first driving parameter, determining a second safe displacement based on the third driving parameter; and determining the safe displacement based on the first safe displacement and the second safe displacement, wherein the safe displacement is less than or equal to the second safe displacement.
[0011] In some embodiments, the operating parameters entering the nonlinear stage includes at least one of the following: the waveform of the back electromotive force corresponding to the output voltage of the motor exhibits a peak value, the distortion rate of the output current of the motor is greater than or equal to a first threshold, and the distortion rate of the output voltage of the motor is greater than or equal to the first threshold.
[0012] In some embodiments, the operating parameters entering the mechanical saturation stage include at least one of the following: the distortion rate of the motor's output current is greater than or equal to a second threshold, the distortion rate of the motor's output voltage is greater than or equal to a second threshold, the vibration acceleration waveform of the motor exhibits glitches, the sound spectrum of the motor during vibration exhibits a component greater than or equal to a preset frequency, and the tactile intensity of the motor undergoes a sudden change; the second threshold is greater than the first threshold.
[0013] In some embodiments, the preset step value is negatively correlated with the order of the driving parameters; or, the preset step value is a fixed value.
[0014] Secondly, embodiments of this disclosure provide a motor control device, comprising: an acquisition unit configured to sequentially drive a motor based on a plurality of drive parameters to obtain operating parameters of the motor under the drive parameters; and a determination unit configured to determine a first drive parameter corresponding to the operating parameters that satisfy a first critical condition and / or a second drive parameter corresponding to the operating parameters that satisfy a second critical condition; wherein the first critical condition is that the operating parameters enter a nonlinear stage, and the second critical condition is that the operating parameters enter a mechanical saturation stage; the nonlinear stage precedes the mechanical saturation stage; and the determination unit is further configured to determine a safe displacement of the motor based on the first drive parameter and / or the second drive parameter.
[0015] This disclosure provides a motor control method and a motor control device. The motor control method includes: sequentially driving a motor based on multiple driving parameters to obtain operating parameters of the motor under the driving parameters; determining a first driving parameter corresponding to the operating parameters that satisfy a first critical condition and / or a second driving parameter corresponding to the operating parameters that satisfy a second critical condition; the first critical condition being that the operating parameters enter a nonlinear stage, and the second critical condition being that the operating parameters enter a mechanical saturation stage; the nonlinear stage preceding the mechanical saturation stage; and determining a safe displacement of the motor based on the first driving parameter and / or the second driving parameter.
[0016] This embodiment of the disclosure drives the motor based on multiple driving parameters, determines the first driving parameter that satisfies the first critical condition and / or the second driving parameter that satisfies the second critical condition, and determines the safe displacement of the motor based on the first driving parameter and / or the second driving parameter. Subsequently, this safe displacement is used as the maximum displacement of motors in the same batch, thereby improving the vibration consistency of different motors and reducing the risk of shell-breaking phenomenon caused by individual differences between different batches or motors in the same batch. This can reduce the risk of functional failure of impacted components due to shell-breaking, thereby extending the life of the motor and improving its reliability. It can also optimize the vibration acceleration waveform design of the motor based on the safe displacement to achieve richer vibration effects. In addition, this embodiment of the disclosure only requires conventional electronic equipment to detect the above-mentioned operating parameters, and the device using this control method can be mass-produced and used. Attached Figure Description
[0017] Figure 1 This is a schematic diagram illustrating the steps of a motor control method provided in an embodiment of the present disclosure; Figure 2 A schematic diagram showing the driving parameters and corresponding safe displacement of the motor control method provided in the embodiments of this disclosure; Figure 3 A waveform diagram of an exemplary back electromotive force provided for embodiments of this disclosure; Figure 4 A waveform diagram of the output current of an exemplary motor provided in this embodiment of the present disclosure when distortion occurs; Figure 5A A waveform diagram of the motor output voltage when no distortion occurs, provided in an embodiment of this disclosure; Figure 5B A waveform diagram of the output voltage of the motor provided in this embodiment of the present disclosure when the output voltage is distorted; Figure 6A The vibration acceleration waveform diagram provided in this embodiment of the present disclosure when the motor has not entered the mechanical saturation stage; Figure 6B The vibration acceleration waveform diagram provided in this embodiment of the present disclosure when the motor enters the mechanical saturation stage; Figure 7 A schematic diagram of a motor control device provided in an embodiment of this disclosure. Detailed Implementation
[0018] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.
[0019] Currently, to prevent motors from entering the mechanical saturation stage and causing casing failure, a common peak voltage is set for different motors, and the motors are driven based on drive parameters that do not exceed the peak voltage. However, due to individual differences between different motors, there is still a risk that a small number of motors will exceed the safe displacement line during use. Furthermore, limiting the peak voltage of the drive parameters will affect the degree of freedom in designing the vibration acceleration waveform of the motor.
[0020] In view of this, embodiments of the present disclosure provide a motor control method and a motor control device.
[0021] Figure 1 This is a schematic diagram illustrating the steps of a motor control method provided in an embodiment of this disclosure. (See also...) Figure 1 The motor control method includes the following steps: S100: Drive the motor sequentially based on multiple driving parameters to obtain the motor's operating parameters under the driving parameters; S200: Determine the first driving parameter corresponding to the operating parameter that satisfies the first critical condition and / or the second driving parameter corresponding to the operating parameter that satisfies the second critical condition; the first critical condition is that the operating parameter enters the nonlinear stage, and the second critical condition is that the operating parameter enters the mechanical saturation stage.
[0022] S300: Determine the safe displacement of the motor based on the first drive parameter and / or the second drive parameter.
[0023] In some embodiments, the motor may vibrate under the drive of a drive signal (e.g., drive current / drive voltage), where drive parameters refer to relevant parameters of the drive signal, such as the amplitude of the drive signal.
[0024] In some embodiments, step S100 specifically includes: sequentially driving the motor based on multiple driving parameters, causing the motor to be in a working state (vibration state) under the driving parameters, and acquiring various operating parameters of the motor under each driving parameter. It is understood that the operating parameters of the motor under the driving parameters reflect the vibration state of the motor under those driving parameters, and the operating parameters are the feedback generated by the motor under the driving parameters. The operating parameters include at least one of: output current, output voltage (e.g., back electromotive force), vibration acceleration, frequency spectrum, and tactile intensity.
[0025] It should be noted that after the motor is stopped, it stabilizes after a certain period of time; that is, the operating parameters return to the undriven state after a certain period of time. Based on this, after driving the motor with any driving parameter and obtaining the motor's operating parameters under that driving parameter, the motor is driven again with the next driving parameter only after it has stabilized. Specifically, a fixed interval can be set between two adjacent driving cycles. This disclosure does not limit the specific value of the interval and it can be set according to actual conditions.
[0026] In some embodiments, the order of the multiple drive parameters is positively correlated with the number of drive parameters, for example, the first drive parameter is 5V and the second drive parameter is 6V. Step S200 specifically includes: the motor's operating parameters under the first drive parameter to the (i-1)th drive parameter are all within the normal range, that is, the motor's operating parameters under the first drive parameter to the (i-1)th drive parameter have not entered the nonlinear stage, while the motor's operating parameters under the ith drive parameter are in the nonlinear stage, then the ith drive parameter is the first drive parameter; the motor's operating parameters under the ith drive parameter to the (j-1)th drive parameter are all in the nonlinear stage and have not entered the mechanical saturation stage, while the motor's operating parameters under the jth drive parameter are in the mechanical saturation stage, then the jth drive parameter is the second drive parameter. Here, i and j are both positive integers, and i < j. It should be noted that when the working parameters corresponding to the i-th to (j-1)-th driving parameters all satisfy the first critical condition and do not satisfy the second critical condition, the i-th driving parameter is used as the first driving parameter. That is, when at least two driving parameters among multiple driving parameters satisfy the first critical condition, the first driving parameter can be the one with the smallest value among these at least two driving parameters. When the working parameters corresponding to the j-th driving parameter and the driving parameters after the j-th driving parameter all satisfy the second critical condition, the j-th driving parameter is used as the second driving parameter. That is, when at least two driving parameters among multiple driving parameters satisfy the second critical condition, the second driving parameter is the one with the smallest value among these at least two driving parameters.
[0027] In other embodiments, when at least two of the multiple driving parameters satisfy the first critical condition but do not satisfy the second critical condition, the first driving parameter can be any one of these at least two driving parameters.
[0028] In some embodiments, step S300 specifically includes: determining the displacement corresponding to the first driving parameter as a first safe displacement based on the first driving parameter, and using the first safe displacement or a value less than the first safe displacement as the safe displacement of the motor; or, determining a second safe displacement less than the displacement corresponding to the second driving parameter based on the second driving parameter, and using it as the safe displacement of the motor; or, determining the first safe displacement based on the first driving parameter, determining a displacement less than the displacement corresponding to the second driving parameter based on the second driving parameter as the second safe displacement, and determining a value between the first and second safe displacements as the safe displacement of the motor, for example, using the average value of the first and second safe displacements as the safe displacement of the motor. It should be noted that the first safe displacement is less than the second safe displacement.
[0029] In some embodiments, since the operation corresponding to the second driving parameter satisfies the second critical condition, i.e., the displacement corresponding to the second driving parameter is the displacement at which shell breaking occurs, the second safe displacement should be less than the displacement corresponding to the second driving parameter. For example, the second safe displacement = the displacement corresponding to the second driving parameter × the first coefficient; where the first coefficient is greater than 0 and less than 1. It should be noted that this disclosure does not impose any other restrictions on the specific value of the first coefficient.
[0030] In some embodiments, the displacement corresponding to the second driving parameter can be calculated, and the product of the displacement corresponding to the second driving parameter and the first coefficient can be used as the safety displacement to avoid the motor from being damaged and to avoid the need to determine the third driving parameter based on the second driving parameter.
[0031] In some embodiments, determining the safe displacement of the motor based on the second driving parameter includes: determining a third driving parameter based on the second driving parameter; the third driving parameter is less than the second driving parameter and the third driving parameter does not meet the second critical condition; and determining the second safe displacement based on the third driving parameter.
[0032] In some embodiments, the third driving parameter = the second driving parameter × the second coefficient; wherein the second coefficient is greater than 0 and less than 1. In other embodiments, the third driving parameter is the (j-1)th driving parameter. It should be noted that this disclosure does not impose any other restrictions on the specific value of the second coefficient.
[0033] In some embodiments, the displacement corresponding to the third driving parameter can be calculated and used as the second safety displacement. That is, the third driving parameter = the second driving parameter - the step value between the (j-1)th driving parameter and the second driving parameter.
[0034] In some embodiments, compared to using the first safety displacement as the motor's safety displacement, using the second safety displacement as the motor's safety displacement allows for a relatively large safety displacement to be set for the motor while avoiding motor casing failure. This maximizes the safety displacement of the motor without causing casing failure, thereby significantly improving the motor's safety displacement, further releasing the design freedom of the motor's vibration acceleration waveform, and better enriching the vibration effect.
[0035] In some embodiments, the displacement corresponding to the first driving parameter can be used as the first safe displacement, and the displacement corresponding to the third driving parameter can be used as the second safe displacement. The safe displacement of the motor can be greater than or equal to the first safe displacement and less than or equal to the second safe displacement. That is, the setting of the motor's safe displacement is more flexible and can have a wider range.
[0036] In some embodiments, the displacement corresponding to the driving parameter is the displacement generated inside the motor by the component in the motor under the driving parameter, and the safe displacement of the motor can be determined according to the corresponding driving parameter (e.g., the first driving parameter and / or the second driving parameter).
[0037] In some embodiments, the displacement corresponding to the drive parameters can be determined based on the drive parameters and motor parameters. The motor parameters include model parameters, batch consistency parameters, and environmental parameters such as ambient temperature.
[0038] This disclosure embodiment drives the motor based on multiple driving parameters, determining a first driving parameter that satisfies a first critical condition and / or a second driving parameter that satisfies a second critical condition. The safe displacement of the motor is then determined based on these parameters, and this safe displacement is used as the maximum displacement for motors in the same batch. This improves the consistency of vibration across different motors and reduces the risk of casing defects due to individual differences between different batches or even within the same batch. It also reduces the risk of component failure caused by impact due to casing defects, thereby extending the motor's lifespan and improving its reliability. Furthermore, the vibration acceleration waveform design of the motor can be optimized based on the safe displacement to achieve richer vibration effects. Moreover, this disclosure embodiment only requires conventional electronic equipment to detect the aforementioned operating parameters, and the device using this control method can be mass-produced and used.
[0039] In some embodiments, the distance between motor coils and other components in the same batch is substantially the same, so the same safety displacement can be used.
[0040] In some embodiments, for different motors, the maximum drive parameters corresponding to different motors are obtained based on the safe displacement of the test motor, thereby reducing the risk of shell breakage due to individual differences between different batches or motors in the same batch.
[0041] In some embodiments, the first critical condition is that the operating parameters enter a nonlinear stage. Specifically, entering a nonlinear stage indicates that the motor does not experience casing failure under the first driving parameter, but further increasing the first driving parameter significantly increases the risk of casing failure. The second critical condition is that the operating parameters enter a mechanical saturation stage. Specifically, entering a mechanical saturation stage indicates that the motor has already experienced casing failure under the second driving parameter. Therefore, the safe displacement of the motor can be determined based on the displacement corresponding to the first driving parameter and / or the displacement corresponding to the second driving parameter to avoid the motor entering the mechanical saturation stage and thus preventing casing failure.
[0042] In some embodiments, in order to avoid other parameters in the driving parameters, besides the amplitude, that affect the displacement of the driving coil in the motor from affecting the detection operating parameters, the other parameters of the driving signal, besides the amplitude, can be kept unchanged under different driving parameters. For example, the driving signals under different driving parameters have the same resonant frequency.
[0043] In a specific example, the motor's operating parameters can be monitored in real time using a detection device such as an oscilloscope, and the motor's operating parameters can be analyzed by a controller, for example, coupled to the oscilloscope, to determine whether the motor's operating parameters meet a first critical condition and / or a second critical condition. Here, for example, the output current and output voltage of the motor can be measured using an oscilloscope; the vibration acceleration of the motor during vibration can be detected using an accelerometer; the sound spectrum generated by the motor during vibration can be detected using an acoustic detection microphone; and the tactile intensity change of the motor during vibration can be felt by touch. This disclosure does not limit the method of detecting the operating parameters.
[0044] Figure 2 This diagram illustrates the driving parameters and corresponding safe displacement of the motor control method provided in this embodiment. (Reference) Figure 2The driving parameters are related to the motor's displacement. As the driving parameters increase, the motor displacement gradually increases, and the motor progresses from a normal state to a nonlinear stage and then to a mechanical saturation state. Specifically, the first and third driving parameters are both greater than or equal to the driving parameters when the motor just enters the nonlinear stage and less than the driving parameters when the motor just enters the mechanical saturation stage. The second driving parameter is greater than or equal to the driving parameters when the motor just enters the mechanical saturation stage. To avoid motor casing damage, the motor's safe displacement should be less than the displacement corresponding to the driving parameters when the motor just enters the mechanical saturation stage. Therefore, the third driving parameter can be made as close as possible to the driving parameters when the motor just enters the mechanical saturation stage, thus allowing for a larger safe displacement to be set as the upper limit of the motor's safe displacement. Conversely, a smaller safe displacement (e.g., less than or equal to the displacement corresponding to the first driving parameter) can be set as the lower limit of the motor's safe displacement, thereby improving the flexibility in setting the motor's safe displacement. Figure 2 The lower limit of the motor's safe displacement being less than the displacement corresponding to the drive parameters when the motor just enters the nonlinear phase is merely an illustrative example and is not intended to limit the motor's safe displacement in this disclosure. For example, the lower limit of the motor's safe displacement may be less than the displacement corresponding to the drive parameters when the motor just enters the nonlinear phase, or it may be greater than or equal to the displacement corresponding to the drive parameters when the motor just enters the nonlinear phase.
[0045] In some embodiments, the operating parameters entering the nonlinear stage include at least one of the following: the waveform of the back electromotive force corresponding to the motor's output voltage exhibits a peak value, the distortion rate of the motor's output current is greater than or equal to a first threshold, and the distortion rate of the motor's output voltage is greater than or equal to the first threshold.
[0046] In some embodiments, when the waveform of the motor's back electromotive force shows a peak, the distortion rate of the motor's output current is greater than or equal to a first threshold, or the distortion rate of the motor's output voltage is greater than or equal to a first threshold, it can be characterized that the motor's operating parameters have entered a nonlinear stage under the drive of the first driving parameter, i.e., the motor is about to experience casing failure. Here, the first threshold is, for example, 5%, and this disclosure does not limit the specific value of the first threshold.
[0047] In some embodiments, the displacement corresponding to the first driving parameter can be calculated and used as the safety displacement. Here, embodiments of this disclosure can calculate the displacement corresponding to the driving parameter according to an over-vibration displacement conversion algorithm or convert the driving parameter into a displacement through a motor physical model.
[0048] Figure 3 A waveform diagram of an exemplary back electromotive force provided for embodiments of this disclosure. For example... Figure 3 As shown, different driving parameters (e.g., are) Figure 3The driving voltage shown corresponds to different output voltages. As the driving parameters increase, the waveform of the back electromotive force corresponding to the output voltage shows a peak, such as... Figure 3 In the waveform diagram shown, the driving parameters corresponding to the peak value of the back electromotive force fall within the range of 2V-2.5V. Here, 2V can be used as the first driving parameter. The controller can analyze the waveform of the back electromotive force to accurately determine the driving parameters corresponding to the peak value.
[0049] In some embodiments, taking a sinusoidal signal as the driving parameter, during the driving of the motor based on any driving parameter, the waveform of the motor's output current / output voltage is a smooth (characterized by no distortion) sine wave or a sine wave with harmonics (characterized by distortion). After the driving ends, the waveform of the motor's output current / output voltage is a smooth and gradually decaying sine wave or a sine wave with introduced harmonics and gradually decaying. Specifically, if the waveform of the motor's output current / output voltage is a sine wave with introduced harmonics during the driving process, or a sine wave with introduced harmonics and gradually decaying after the driving ends, it indicates that the motor's output current / output voltage is distorted under the driving parameter. The distortion rate of the output current / output voltage is determined by identifying the harmonic components in the output current / output voltage. When the distortion rate of the motor's output current / output voltage is greater than or equal to a first threshold, it indicates that the motor's operating parameters have entered a nonlinear stage.
[0050] In some embodiments, the driving parameters of the motor during the driving process may suppress the harmonics of the output current / output voltage, or the harmonics of the output current / output voltage may be masked by the dynamic characteristics of the motor. Detecting the distortion rate of the output current / output voltage during the driving process may be difficult to detect and have low reliability. However, detecting the output current / output voltage of the motor after the driving process is completed does not pose the above risks. Therefore, the output current / output voltage of the motor can be detected after the driving process is completed, which can improve the reliability of the determined distortion rate and thus improve the accuracy of the final determined safe displacement.
[0051] In a specific example, Figure 4 A waveform diagram of the output current of an exemplary motor provided in this embodiment of the present disclosure when distortion occurs. Figure 4 Taking the waveform of the motor's output current after the drive ends as an example, refer to... Figure 4 The waveform of the motor's output current signal in the figure is a decaying sine wave, and harmonics are present in this waveform. Figure 4 The two stages starting from the middle circle represent the portion of the output current that introduces harmonics.
[0052] In a specific example, Figure 5AThis is a waveform diagram of the motor's output voltage when no distortion occurs, provided in an embodiment of this disclosure. Figure 5B A waveform diagram showing the output voltage of the motor provided in this embodiment of the disclosure when distortion occurs. (Reference) Figure 5A When no distortion occurs, the motor's output voltage exhibits a smooth sine wave during the driving process; after the driving process ends, the motor's output voltage exhibits a smooth and decaying sine wave. (Reference) Figure 5B When distortion occurs, due to factors such as driving parameters and motor dynamic characteristics, the motor's output voltage exhibits a smooth sine wave during the driving process; after the driving process ends, the motor's output voltage exhibits a decaying sine wave containing harmonics. Figure 5B The three stages starting from the middle circle represent the portion of the output voltage that introduces harmonics.
[0053] In some embodiments, determining the safe displacement of the motor based on the first driving parameters includes: determining a proportional coefficient based on the motor parameters; the motor parameters include model parameters, batch consistency, and environmental parameters; determining a target driving parameter based on the first driving parameters and the proportional coefficient; and determining the first safe displacement based on the target driving parameters and the motor parameters.
[0054] In some embodiments, since the motor has not yet experienced casing failure under the drive of the first drive parameter, the safe displacement of the motor can be greater than the displacement corresponding to the first drive parameter. Specifically, a proportional coefficient can be determined based on the motor parameters, and the first drive parameter can be corrected based on the proportional coefficient to obtain the target drive parameter (e.g., target drive parameter = first drive parameter × proportional coefficient). Then, the first safe displacement can be determined based on the target drive parameter and the motor parameters.
[0055] In some embodiments, determining the safe displacement of the motor based on the first driving parameters includes: determining a proportional coefficient based on the motor parameters; the motor parameters include model parameters, batch consistency, and environmental parameters; determining the displacement corresponding to the first driving parameters based on the first driving parameters and the motor parameters; and determining the first safe displacement based on the proportional coefficient and the displacement corresponding to the first driving parameters.
[0056] In some embodiments, since the motor has not yet experienced casing failure under the drive of the first drive parameter, the safe displacement of the motor can be greater than the displacement corresponding to the first drive parameter. Specifically, a proportional coefficient can be determined based on the motor parameters, the displacement corresponding to the first drive parameter can be determined based on the first drive parameter and the motor parameters, and then the displacement corresponding to the first drive parameter can be corrected based on the proportional coefficient to obtain the first safe displacement (for example, the first safe displacement = the displacement corresponding to the first drive parameter × the proportional coefficient).
[0057] In some embodiments, a proportional coefficient is determined based on motor parameters, and a first safety displacement is determined based on the first drive parameters, the proportional coefficient, and the motor parameters. Using the first safety displacement as the safety displacement can improve the vibration consistency of different motors and reduce the risk of shell breakage due to individual differences between different batches or the same batch of motors. When different batches of motors use different proportional coefficients, the cost of repeatedly calibrating the first drive parameters of different batches of motors can also be reduced, and the tolerance range of the safety displacement can be optimized.
[0058] In some embodiments, the operating parameters entering the mechanical saturation stage include at least one of the following: the distortion rate of the motor's output current is greater than or equal to a second threshold, the distortion rate of the motor's output voltage is greater than or equal to a second threshold, the vibration acceleration waveform of the motor exhibits glitches, the sound spectrum of the motor during vibration exhibits a component greater than or equal to a preset frequency, and the tactile intensity of the motor undergoes a sudden change; the second threshold is greater than the first threshold.
[0059] In some embodiments, when the distortion rate of the motor's output current is greater than or equal to a second threshold, the distortion rate of the motor's output voltage is greater than or equal to a second threshold, glitches appear in the motor's vibration acceleration waveform, the sound spectrum of the motor during vibration shows a component greater than or equal to a preset frequency (e.g., 2kHz), or a sudden change in the tactile intensity of the motor, it can be characterized that the aforementioned operating parameters of the motor have entered the mechanical saturation stage under the drive of the second driving parameter, i.e., the motor has experienced casing failure. Here, the second threshold is, for example, 10%, and this disclosure does not limit the specific value of the second threshold.
[0060] In a specific example, Figure 6A This is a vibration acceleration waveform diagram of the motor before it enters the mechanical saturation stage, provided in an embodiment of this disclosure. Figure 6B The image shows the vibration acceleration waveform of the motor when it enters the mechanical saturation stage, as provided in an embodiment of this disclosure. (Reference) Figure 6A Before reaching mechanical saturation, the motor's vibration acceleration waveform is relatively smooth, without obvious spikes, and the amplitude of the vibration acceleration waveform is within the normal range. (Reference) Figure 6B When the motor enters the mechanical saturation stage, the vibration acceleration waveform exhibits obvious spikes, and the amplitude of the vibration acceleration waveform increases significantly. Specifically, the amplitude of the vibration acceleration waveform during casing breakage is approximately several times greater than the amplitude of the vibration acceleration waveform before casing breakage. The operating parameters can be determined based on the motor's vibration acceleration waveform to determine if the second critical condition is met.
[0061] In some embodiments, the glitches in the vibration acceleration waveform are related to the frequency of the sound spectrum. Specifically, the glitches will manifest as high-frequency components in the sound spectrum. Therefore, it can be determined whether the operating parameters meet the second critical condition by monitoring whether components with frequencies greater than or equal to the preset frequency appear in the sound spectrum of the motor. The amplitude change of the vibration acceleration waveform can be reflected in the tactile intensity. Therefore, it can be determined whether the operating parameters meet the second critical condition by whether there is a sudden change in the tactile intensity.
[0062] In some embodiments, the control method further includes: driving the motor based on initial driving parameters; and driving the motor sequentially based on multiple driving parameters in response to the motor being in a normal vibration state.
[0063] In some embodiments, the motor can be driven based on initial drive parameters (which may be the motor's rated drive parameters, such as the rated operating voltage). In response to an abnormal vibration state of the motor, the motor is no longer driven sequentially based on multiple drive parameters. Since the motor exhibits an abnormality under the initial drive parameters, it may indicate a problem with internal components. In this case, the motor can be repaired, and other motors can be driven based on the initial drive parameters until one of the motors reaches a normal vibration state under the initial drive parameters. At this point, the motors can be driven sequentially based on multiple drive parameters.
[0064] In some embodiments, determining the safe displacement of the motor based on the first driving parameter and the second driving parameter includes: determining a first safe displacement based on the first driving parameter, and determining a second safe displacement based on the third driving parameter; determining a safe displacement based on the first safe displacement and the second safe displacement, wherein the safe displacement is less than or equal to the second safe displacement.
[0065] In some embodiments, the product of the first safe displacement and the third coefficient can be used as the safe displacement, and this safe displacement must be less than the second safe displacement. For example, the safe displacement of the motor = min(first safe displacement × third coefficient, second safe displacement). Here, the third coefficient is greater than 1, for example, 1.0 to 1.2. It should be noted that this disclosure does not limit the specific value of the third coefficient.
[0066] In other embodiments, the product of the second safety displacement and the fourth coefficient can be used as the safety displacement, and this safety displacement is greater than or equal to the first safety displacement. For example, the motor's safety displacement = max(second safety displacement × fourth coefficient, first safety displacement). Here, the fourth coefficient is greater than 0 and less than 1. It should be noted that this disclosure does not impose any other restrictions on the specific value of the fourth coefficient.
[0067] In some embodiments, driving the motor sequentially based on multiple driving parameters includes: sequentially applying driving signals with driving parameters to the motor in increments of a preset step value; determining the first driving parameter corresponding to the working parameter that satisfies the first critical condition includes: in response to the working parameter corresponding to the i-th driving parameter satisfying the first critical condition, determining the i-th driving parameter as the first driving parameter; the working parameter corresponding to the (i-1)-th driving parameter not satisfying the first critical condition; determining the second driving parameter corresponding to the working parameter that satisfies the second critical condition includes: in response to the working parameter corresponding to the j-th driving parameter satisfying the second critical condition, taking the j-th driving parameter as the second driving parameter; the working parameter corresponding to the (j-1)-th driving parameter not satisfying the second critical condition; i and j are positive integers, i < j.
[0068] In some embodiments, the motor is driven sequentially based on multiple drive parameters, and when the number of drive parameters is not fixed, the drive parameters are applied to the motor incrementally with a preset step value, meaning that the multiple drive parameters applied to the motor sequentially increase one by one. Driving the motor can be stopped after determining the first drive parameter and / or the second drive parameter. Compared to setting a fixed number of drive parameters, this method offers greater flexibility and can effectively reduce the number of times the motor is driven, thus shortening the time required to determine the safe displacement.
[0069] In some embodiments, the preset step value is negatively correlated with the order of the driving parameters; or, the preset step value is a fixed value.
[0070] In some embodiments, the preset step value is negatively correlated with the order of the drive parameters. That is, as the order of the drive parameters increases, the preset step value gradually decreases, making the operating parameter corresponding to the determined third drive parameter closer to the second critical condition. Therefore, determining the safety displacement based on the third drive parameter can set a relatively large safety displacement for the motor while avoiding motor casing failure. This can further release the design freedom of the motor's vibration acceleration waveform and better enrich the vibration effect. Here, the negative correlation between the preset step value and the order of the drive parameters specifically means that the preset step value between the first and second drive parameters is A, and the second step value between the second and third drive parameters is B, where B is greater than A.
[0071] Figure 7 A schematic diagram of a motor control device provided in an embodiment of this disclosure. (See reference) Figure 7The motor control device includes: an acquisition unit 10 configured to sequentially drive the motor based on multiple drive parameters to obtain the motor's operating parameters under the drive parameters; and a determination unit 20 configured to determine a first drive parameter corresponding to the operating parameter that satisfies a first critical condition and / or a second drive parameter corresponding to the operating parameter that satisfies a second critical condition; the first critical condition is that the operating parameter enters a nonlinear stage, and the second critical condition is that the operating parameter enters a mechanical saturation stage; the nonlinear stage precedes the mechanical saturation stage; and the determination unit 20 is further configured to determine the motor's safe displacement based on the first drive parameter and / or the second drive parameter.
[0072] In this embodiment, the motor control device drives the motor based on multiple driving parameters, determines the first driving parameter that satisfies the first critical condition and / or the second driving parameter that satisfies the second critical condition, and determines the safe displacement of the motor based on the first driving parameter and / or the second driving parameter. Subsequently, the safe displacement is used as the maximum displacement of motors in the same batch to improve the vibration consistency of different motors and reduce the risk of shell-breaking phenomenon caused by individual differences between different batches or motors in the same batch. This can reduce the risk of functional failure of impacted components due to shell-breaking, thereby extending the life of the motor and improving its reliability. It can also optimize the vibration acceleration waveform design of the motor based on the safe displacement to achieve richer vibration effects. In addition, this embodiment only requires conventional electronic equipment to detect the above-mentioned operating parameters, and can be used in mass production.
[0073] In some embodiments, the acquisition unit 10 is specifically configured to: sequentially apply drive signals with drive parameters to the motor in increments of a preset step value; determine the first drive parameter corresponding to the working parameter that satisfies the first critical condition, including: in response to the working parameter corresponding to the i-th drive parameter satisfying the first critical condition, determine the i-th drive parameter as the first drive parameter; the working parameter corresponding to the (i-1)-th drive parameter does not satisfy the first critical condition; determine the second drive parameter corresponding to the working parameter that satisfies the second critical condition, including: in response to the working parameter corresponding to the j-th drive parameter satisfying the second critical condition, take the j-th drive parameter as the second drive parameter; the working parameter corresponding to the (j-1)-th drive parameter does not satisfy the second critical condition; i and j are positive integers, i < j.
[0074] In some embodiments, the determining unit 20 is specifically configured to: determine a proportional coefficient based on motor parameters; the motor parameters include model parameters, batch consistency, and environmental parameters; determine a target driving parameter based on a first driving parameter and a proportional coefficient; and determine a first safe displacement based on the target driving parameter and motor parameters.
[0075] In some embodiments, the determining unit 20 is specifically configured to: determine a proportional coefficient based on motor parameters; the motor parameters include model parameters, batch consistency, and environmental parameters; determine the displacement corresponding to the first driving parameter based on the first driving parameter and the motor parameters; and determine a first safe displacement based on the proportional coefficient and the displacement corresponding to the first driving parameter.
[0076] In some embodiments, the determining unit 20 is specifically configured to: determine a third driving parameter based on the second driving parameter, wherein the third driving parameter is the (j-1)th driving parameter; determine the (j-1)th driving parameter as the third driving parameter; and determine a second safety displacement based on the third driving parameter.
[0077] In some embodiments, the determining unit 20 is specifically configured to: determine a first safe displacement based on a first driving parameter, determine a second safe displacement based on a second driving parameter; determine a safe displacement based on the first safe displacement and the second safe displacement, wherein the safe displacement is less than or equal to the second safe displacement.
[0078] In some embodiments, the operating parameters entering the nonlinear stage include at least one of the following: the waveform of the back electromotive force corresponding to the motor's output voltage exhibits a peak value, the distortion rate of the motor's output current is greater than or equal to a first threshold, and the distortion rate of the motor's output voltage is greater than or equal to the first threshold.
[0079] In some embodiments, the operating parameters entering the mechanical saturation stage include at least one of the following: the distortion rate of the motor's output current is greater than or equal to a second threshold, the distortion rate of the motor's output voltage is greater than or equal to a second threshold, the vibration acceleration waveform of the motor exhibits glitches, the sound spectrum of the motor during vibration exhibits a component greater than or equal to a preset frequency, and the tactile intensity of the motor undergoes a sudden change; the second threshold is greater than the first threshold.
[0080] In some embodiments, the acquisition unit 10 is further configured to: after determining the (j-1)th driving parameter as the third driving parameter, increase the (j-1)th driving parameter by a second step value; the second step value is less than a preset step value; in response to the working parameter corresponding to the kth driving parameter satisfying the second critical condition, update the third driving parameter to the (k-1)th driving parameter; the working parameter corresponding to the (k-1)th driving parameter does not satisfy the second critical condition.
[0081] In some embodiments, the preset step value is negatively correlated with the order of the driving parameters; or, the preset step value is a fixed value.
[0082] For details not described in this embodiment of the motor control device, please refer to the above embodiment of the motor control method. This embodiment of the motor control device has at least all the beneficial effects brought about by the technical solution of the above embodiment of the motor control method, and will not be repeated here.
[0083] This disclosure provides a motor control method and a motor control device. The motor control method includes: sequentially driving a motor based on multiple driving parameters to obtain the motor's operating parameters under the driving parameters; determining a first driving parameter corresponding to the operating parameter that satisfies a first critical condition and / or a second driving parameter corresponding to the operating parameter that satisfies a second critical condition; the first critical condition is that the operating parameter enters a nonlinear stage, and the second critical condition is that the operating parameter enters a mechanical saturation stage; the nonlinear stage precedes the mechanical saturation stage; and determining the motor's safe displacement based on the first driving parameter and / or the second driving parameter. This embodiment of the disclosure drives the motor based on multiple driving parameters, determines the first driving parameter that satisfies the first critical condition and / or the second driving parameter that satisfies the second critical condition, and determines the safe displacement of the motor based on the first driving parameter and / or the second driving parameter. Subsequently, this safe displacement is used as the maximum displacement of motors in the same batch, thereby improving the vibration consistency of different motors and reducing the risk of shell-breaking phenomenon caused by individual differences between different batches or motors in the same batch. This can reduce the risk of functional failure of impacted components due to shell-breaking, thereby extending the life of the motor and improving its reliability. It can also optimize the vibration acceleration waveform design of the motor based on the safe displacement to achieve richer vibration effects. In addition, this embodiment of the disclosure only requires conventional electronic equipment to detect the above-mentioned operating parameters, and the device using this control method can be mass-produced and used.
[0084] It should be understood that the phrase "an embodiment" or "one embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this disclosure. Therefore, "in one embodiment" or "one embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this disclosure, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure. The sequence numbers of the above-described embodiments are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0085] The above description is merely a preferred embodiment of this disclosure and does not limit the patent scope of this disclosure. Any equivalent structural transformations made using the contents of this specification and drawings under the inventive concept of this disclosure, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this disclosure.
Claims
1. A motor control method, characterized in that, include: The motor is driven sequentially based on multiple driving parameters to obtain the operating parameters of the motor under the driving parameters. Determine the first driving parameter corresponding to the operating parameter that satisfies the first critical condition and / or the second driving parameter corresponding to the operating parameter that satisfies the second critical condition; the first critical condition is that the operating parameter enters the nonlinear stage, and the second critical condition is that the operating parameter enters the mechanical saturation stage. The nonlinear phase precedes the mechanical saturation phase; The safe displacement of the motor is determined based on the first driving parameter and / or the second driving parameter.
2. The control method according to claim 1, characterized in that, The motor is driven sequentially based on multiple driving parameters, including: applying driving signals with the driving parameters to the motor sequentially in increments of a preset step value; Determining the first driving parameter corresponding to the operating parameter that satisfies the first critical condition includes: in response to the operating parameter corresponding to the i-th driving parameter satisfying the first critical condition, determining the i-th driving parameter as the first driving parameter; the operating parameter corresponding to the (i-1)-th driving parameter does not satisfy the first critical condition. Determining the second driving parameter corresponding to the operating parameter that satisfies the second critical condition includes: in response to the operating parameter corresponding to the j-th driving parameter satisfying the second critical condition, the j-th driving parameter is used as the second driving parameter; the operating parameter corresponding to the (j-1)-th driving parameter does not satisfy the second critical condition; i and j are positive integers, i < j.
3. The control method according to claim 2, characterized in that, Determining the safe displacement of the motor based on the first driving parameters includes: The proportional coefficient is determined based on motor parameters; these motor parameters include model parameters, batch consistency, and environmental parameters. The target driving parameters are determined based on the first driving parameters and the proportional coefficient. The first safe displacement is determined based on the target drive parameters and the motor parameters.
4. The control method according to claim 2, characterized in that, Determining the safe displacement of the motor based on the first driving parameters includes: The proportional coefficient is determined based on motor parameters; these motor parameters include model parameters, batch consistency, and environmental parameters. The displacement corresponding to the first drive parameter is determined based on the first drive parameter and the motor parameter. The first safe displacement is determined based on the proportional coefficient and the displacement corresponding to the first driving parameter.
5. The control method according to claim 2, characterized in that, Determining the safe displacement of the motor based on the second drive parameter includes: A third driving parameter is determined based on the second driving parameter; the third driving parameter is less than the second driving parameter, and the third driving parameter does not satisfy the second critical condition; The second safe displacement is determined based on the third driving parameter.
6. The control method according to claim 5, characterized in that, Determining the safe displacement of the motor based on the first driving parameter and the second driving parameter includes: A first safe displacement is determined based on the first driving parameter, and a second safe displacement is determined based on the third driving parameter. The safety displacement is determined based on the first safety displacement and the second safety displacement, wherein the safety displacement is greater than or equal to the first safety displacement and less than or equal to the second safety displacement.
7. The control method according to claim 1, characterized in that, The nonlinear phase of the operating parameters includes at least one of the following: the waveform of the back electromotive force corresponding to the output voltage of the motor has a peak value, the distortion rate of the output current of the motor is greater than or equal to a first threshold, and the distortion rate of the output voltage of the motor is greater than or equal to the first threshold.
8. The control method according to claim 7, characterized in that, The operating parameters entering the mechanical saturation stage include at least one of the following: the distortion rate of the motor's output current is greater than or equal to a second threshold, the distortion rate of the motor's output voltage is greater than or equal to a second threshold, the vibration acceleration waveform of the motor exhibits glitches, the sound spectrum of the motor during vibration exhibits a component greater than or equal to a preset frequency, and the tactile intensity of the motor undergoes a sudden change; the second threshold is greater than the first threshold.
9. The control method according to claim 2 or 3, characterized in that, The preset step value is negatively correlated with the order of the driving parameters; or, the preset step value is a fixed value.
10. A motor control device, characterized in that, include: The acquisition unit is configured to drive the motor sequentially based on multiple driving parameters in order to obtain the operating parameters of the motor under the driving parameters; The determining unit is configured to determine a first driving parameter corresponding to the operating parameter that satisfies a first critical condition and / or a second driving parameter corresponding to the operating parameter that satisfies a second critical condition; the first critical condition is that the operating parameter enters a nonlinear stage, and the second critical condition is that the operating parameter enters a mechanical saturation stage. The nonlinear phase precedes the mechanical saturation phase; The determining unit is further configured to determine the safe displacement of the motor based on the first driving parameter and / or the second driving parameter.