Motor oscillation starting control method and device, electronic equipment and storage medium

Abstract

The invention provides a motor oscillation starting control method and device, electronic equipment and a storage medium. The method comprises the steps of obtaining signal characteristics of an original driving voltage signal, estimating a response state value and a target state value of a motor according to the signal characteristics and configuration parameters of the motor to obtain a voltage adjustment coefficient, and adjusting the original driving voltage signal by using the voltage adjustment coefficient to obtain a target driving voltage signal. Therefore, the signal characteristics of the original driving voltage signal of the motor are extracted in real time, and the driving voltage of the driving signal of the motor is dynamically adjusted, so that rapid oscillation starting of the motor can be realized, and the interactive use experience of a user is improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of motor control, and particularly relate to a motor start-up control method and device, electronic equipment and a storage medium. BACKGROUND

[0002] Modern electronic products widely use linear resonant actuator (LRA) to provide haptic feedback, and the vibration modes thereof mainly include short vibration and long vibration. The short vibration (with a duration less than 50 ms) is mainly used to simulate instantaneous interaction effects, such as the haptic feedback of button clicking, dial sliding, tapping and the like. The long vibration (with a duration of several hundred milliseconds or longer) attracts the attention of users through continuous vibration, and typical applications include incoming call ringing, power-on reminder, driving experience in games and the like. In the long vibration application, fast start-up is crucial to improving the user experience.

[0003] However, the time from start-up to entering a steady state of the mainstream linear motor is generally long, usually between 50 ms and 100 ms, and such delay will make the user feel obvious lag, affecting the smoothness of the interaction experience.

[0004] In summary, there is an urgent need for a motor fast start-up scheme to improve the user's interaction experience. SUMMARY

[0005] Therefore, the present disclosure provides a motor start-up control scheme, which realizes fast start-up of the motor by extracting the driving signal features of the motor in real time and adaptively adjusting the motor driving voltage.

[0006] According to a first aspect of the present disclosure, a motor start-up control method is provided, including: obtaining signal features of an original driving voltage signal; estimating a response state value and a target state value of a motor according to the signal features and configuration parameters of the motor; obtaining a voltage adjustment coefficient according to the response state value and the target state value; and adjusting the original driving voltage signal to obtain a target driving voltage signal by using the voltage adjustment coefficient.

[0007] According to a second aspect of the present disclosure, a motor start-up control device is provided, including: an obtaining module configured to obtain signal features of an original driving voltage signal; an estimation module configured to estimate a response state value and a target state value of a motor according to the signal features and configuration parameters of the motor, and obtain a voltage adjustment coefficient according to the response state value and the target state value; and an adjustment module configured to adjust the original driving voltage signal to obtain a target driving voltage signal by using the voltage adjustment coefficient.

[0008] According to a third aspect of the present disclosure, an electronic device is provided, comprising a processor, a communication interface, a memory and a bus, the processor, the communication interface and the memory are in communication with each other through the bus; the memory is configured to store at least one executable instruction, the executable instruction causes the processor to perform operations corresponding to the method of the first aspect.

[0009] According to a fourth aspect of the present disclosure, a computer readable storage medium is provided, the computer readable storage medium has stored thereon computer instructions, the computer instructions, when executed by a processor, cause the processor to perform the method of the first aspect.

[0010] The motor rapid vibration starting scheme provided by the embodiments of the present disclosure can significantly shorten the acceleration time of the motor in the initial vibration response period, and has good adaptive ability, and can be compatible with different working voltages, driving frequencies and differences between motor units, so as to promote the motor to rapidly enter a stable vibration state. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0012] FIG. 1 The processing flow chart of the motor vibration starting control method of the exemplary embodiment of the present disclosure.

[0013] FIG. 2 The zero-crossing detection schematic diagram of the original driving voltage signal of the motor is shown.

[0014] FIG. 3 The processing flow chart of the motor vibration starting control method of another exemplary embodiment of the present disclosure.

[0015] FIG. 4A And FIG. 4B The schematic diagram of the original driving voltage signal and the target driving voltage signal is shown.

[0016] FIG. 5A And FIG. 5B The motor vibration starting state effect diagram corresponding to FIG. 4A And FIG. 4B The motor vibration starting state effect diagram corresponding to

[0017] FIG. 6 The frame diagram of the motor vibration starting control device of the exemplary embodiment of the present disclosure.

[0018] FIG. 7 A frame diagram of an electronic device that is an exemplary embodiment of this disclosure. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and thoroughly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art should fall within the protection scope of the present invention.

[0020] Reference is made to the accompanying drawings, which form part of the detailed description and illustrate exemplary embodiments. Furthermore, 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 orientations and references (e.g., up, down, top, bottom, etc.) may be used merely to facilitate the description of features in the drawings. Therefore, the following detailed description is not to be construed in a limiting sense, and the scope of the claimed subject matter is defined only by the appended claims and their equivalents.

[0021] Numerous details are set forth in the following description. However, it will be apparent to those skilled in the art that the embodiments described herein can be practiced without these specific details. In some instances, well-known methods and apparatus are shown in block diagram form rather than in detail to avoid obscuring the embodiments described herein. Throughout this specification, references to “embodiment,” “one embodiment,” or “some embodiments” mean that a particular feature, structure, function, or characteristic described in connection with that embodiment is included in at least one embodiment herein. Therefore, the phrases “in an embodiment,” “in one embodiment,” or “some embodiments” appearing throughout this specification do not necessarily refer to the same embodiment. Furthermore, in one or more embodiments, particular features, structures, functions, or characteristics can be combined in any suitable manner. For example, a first embodiment can be combined with a second embodiment in any way that does not mutually exclude particular features, structures, functions, or characteristics associated with two embodiments.

[0022] As used in the description and appended claims, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0023] The terms “coupling” and “connection”, along with their derivatives, are used herein to describe functional or structural relationships between components. It should be understood that these terms are not intended to be synonyms for each other. Rather, in certain embodiments, “connection” can be used to indicate that two or more elements are in direct physical, optical, or electrical contact with each other. “Coupling” can be used to indicate that two or more elements are in direct or indirect physical or electrical contact with each other (with other intermediary elements between them), and / or that two or more elements cooperate or interact with each other (e.g., as in a causal relationship).

[0024] As described throughout this document and in the claims, a list of items connected 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.

[0025] The terms "circuit" or "module" can refer to one or more passive and / or active components arranged to cooperate with each other to provide a desired function. The term "signal" can refer to at least one current signal, voltage signal, or magnetic signal. The terms "substantially," "close to," "approximately," "near," and "about" generally refer to a value + / - of the target value. Within 10%.

[0026] Modern electronic products widely use linear motors to provide haptic feedback, with vibration modes mainly divided into short vibrations and long vibrations. Long vibrations typically last for hundreds of milliseconds or longer, requiring continuous vibration to attract the user's attention. Typical applications include incoming call ringing, power on / off reminders, and driving experiences in games.

[0027] In applications involving prolonged vibration, rapid start-up is crucial for enhancing the user experience. However, the start-up time of most mainstream linear motors is currently quite long, typically between 50ms and 100ms. This delay can cause users to experience noticeable lag, affecting the smoothness of device operation.

[0028] One common approach is to amplify a certain number of half-waves by a fixed factor, for example, overdriving the motor for 3 or 7 half-waves. Another method is to amplify the steady-state voltage at fixed intervals according to a preset fixed amplification factor to serve as the starting voltage for the motor drive signal, or to add a damped voltage after the initial voltage is applied to prevent overshoot caused by excessive acceleration during startup. Yet another method involves estimating the fixed number of cycles to amplify the starting voltage of the motor drive signal, and then using real-time current and voltage detection data, combined with a back electromotive force (BEMF) estimation algorithm, to construct a closed-loop control system to regulate the subsequent voltage of the drive signal.

[0029] However, the aforementioned existing solutions still have many limitations, as follows: First, the open-loop control scheme, which amplifies the starting voltage by a preset fixed voltage multiple during startup, is prone to overshoot (excessive voltage) or insufficient effect (insufficient voltage). Furthermore, at non-resonant frequencies, when the signal frequency deviates from the resonant frequency, the fixed amplified starting voltage will cause significant overshoot, not only failing to improve startup performance but also producing negative effects. Additionally, this scheme cannot adaptively adjust to individual motor differences and signal frequency changes, resulting in poor overall robustness.

[0030] Secondly, if the closed-loop control technology uses a variable gain adjustment method, the overall start-up time of the motor is limited, and the feedback path itself needs time to converge, leading to insufficient adjustment time. If a fixed gain adjustment method is used, the start-up effect is still unsatisfactory when the configuration multiple is conservative. Furthermore, the closed-loop system requires a complete data feedback link, including I-V sampling circuits, Hall sensors, and other hardware components, which significantly increases the overall cost. In addition, the closed-loop control algorithm is complex, requiring real-time processing of feedback data and dynamic adjustments, which not only increases the difficulty of system design but also leads to problems such as low processing efficiency and response delays.

[0031] In view of this, this disclosure proposes an adaptive motor start-up control scheme, which dynamically adjusts the motor drive voltage by extracting signal features in real time, thereby solving the technical problems of slow start-up speed, poor stability, poor adaptability and high control cost in the existing motor start-up process.

[0032] The specific implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.

[0033] Motor start-up control method FIG. 1 This is a flowchart illustrating a motor start-up control method according to an exemplary embodiment of the present disclosure, which mainly includes the following steps: Step 102: Obtain the signal characteristics of the original driving voltage signal.

[0034] In this field, the time required for the vibration amplitude of a motor to increase from 0% to 90% of its steady-state value (that is, the duration from the start of vibration to the entry into a stable vibration state) can be defined as the motor start-up time. Specifically, when a drive voltage is applied to the motor, the motor will perform sinusoidal reciprocating motion along the vibration axis at a specific frequency. During the start-up phase, the vibration displacement of the motor gradually increases. After a certain period of time, the maximum displacement of the motor vibration tends to stabilize, reaching a steady-state value. The time from the start of vibration to the entry into a steady-state value can be defined as the motor start-up time.

[0035] In this embodiment, the motor start-up time is divided into multiple consecutive voltage adjustment cycles, and the drive signal voltage of the motor is dynamically adjusted within each voltage adjustment cycle to achieve the purpose of rapid motor start-up.

[0036] In some embodiments, the preset number of voltage adjustment cycles is 3 to 5, and the signal duration of each voltage adjustment cycle is dynamically adjusted according to the frequency change of the original driving voltage signal (which can also be understood as the interval between adjacent zero crossings of the original driving voltage signal) (see below for specific implementation). FIG. 3 (Description of the embodiment).

[0037] In some embodiments, the signal characteristics of the original drive voltage signal include signal frequency and signal amplitude.

[0038] In this embodiment, the waveform of the original driving voltage signal may include, but is not limited to, a sine wave, a square wave, etc. Different signal waveforms correspond to different signal frequencies and signal amplitude calculation methods. The following will use a sine wave as an example to describe the specific implementation of this embodiment in detail.

[0039] In some embodiments, the signal frequency of the original drive voltage signal can be obtained in the following manner: It can detect two zero-crossing points of adjacent cycles of the original drive voltage signal (reference). FIG. 2 zero crossing and The time interval between the two points can be used to obtain the signal frequency of the original driving voltage signal based on the time interval and the sampling frequency of the original driving voltage signal.

[0040] The formula for calculating the signal frequency of the original driving voltage signal is expressed as Formula 1 below: (Formula 1) In Formula 1, This indicates the signal frequency of the original drive voltage signal. The sampling frequency of the original driving voltage signal. and These are the two zero-crossing times of adjacent periods of the original driving voltage signal. It represents the time interval between two zero-crossing points of adjacent cycles of the original driving voltage signal.

[0041] Alternatively, the time interval between two adjacent zero-crossings of the original drive voltage signal can be detected (reference). FIG. 2 zero crossing and The signal frequency of the original driving voltage signal is calculated, and it is expressed as shown in Formula 2 below: (Formula 2) In Formula 2, This indicates the signal frequency of the original drive voltage signal. The sampling frequency of the original driving voltage signal. and These are the times of two adjacent zero-crossing points of the original driving voltage signal. This represents the time interval between two adjacent zero-crossing points of the original drive voltage signal.

[0042] In some embodiments, the signal amplitude of the original drive voltage signal is obtained by the following method: Multiple voltage amplitudes of the original driving voltage signal within this time interval can be obtained, and the maximum value among the absolute values ​​corresponding to each voltage amplitude is determined as the signal amplitude of the original driving voltage signal.

[0043] The original driving voltage signal can be pre-stored in the system memory, so the voltage amplitude of the original driving voltage signal within this time interval can be read directly from the system memory.

[0044] The formula for calculating the amplitude of the original driving voltage signal is expressed as follows: Formula 3: (Formula 3) In Formula 3, This represents the signal amplitude of the original drive voltage signal. This represents the voltage amplitude of the original driving voltage signal during the time interval between two zero-crossing points of two adjacent cycles. Represents absolute value. This represents the maximum value.

[0045] Step 104: Based on the signal characteristics and motor configuration parameters, estimate the motor's response state value and target state value.

[0046] In some embodiments, multiple initial state values ​​of the motor can be estimated based on the original drive voltage signal and the motor configuration parameters, and the maximum value among the multiple initial state values ​​can be determined as the response state value of the motor.

[0047] In some embodiments, the target state value of the motor can be obtained based on the signal frequency and amplitude of the original drive voltage signal and the configuration parameters of the motor. The target state value can be understood as the ideal value for the motor to reach a steady-state state.

[0048] In this embodiment, the configuration parameters of the motor include the oscillator mass, damping coefficient, spring coefficient, DC resistance, and electromechanical coupling coefficient.

[0049] In this field, motor state parameters involve several key indicators, including acceleration, velocity, and displacement caused by motor vibration. These parameters not only reflect the motor's operating state but can also be used for real-time monitoring and adjustment of motor performance. This embodiment allows selection of any one of these parameters as the target for rapid motor start-up, achieving more efficient operation and response.

[0050] Specifically, in this embodiment, the motor's response state value may include any one of the following: response displacement value, response velocity value, and response acceleration value. Wherein, when the response state value is set to the response displacement value, the target state value is correspondingly set to the target displacement value; when the response state value is set to the response velocity value, the target state value is correspondingly set to the target velocity value; and when the response state value is set to the response acceleration value, the target state value is correspondingly set to the target acceleration value.

[0051] For example, when the response state value is set to the response displacement value and the target state value is set to the target displacement value, the response displacement value of the motor can be estimated using the following formula 4, and the target displacement value of the motor can be estimated using the following formula 5: (Formula 4) (Formula 5) In formulas 4 and 5, This represents the initial displacement value of the motor. For the calculation function, This represents the original drive voltage signal. Indicates the DC resistance of the motor. This represents the electromechanical coupling coefficient of the motor. Indicates the mass of the motor's oscillator. This indicates the damping coefficient of the motor. This indicates the spring constant of the motor. This represents the motor's response displacement value. This indicates the target displacement value of the motor. This indicates the signal frequency of the original drive voltage signal. This represents the signal amplitude of the original drive voltage signal.

[0052] For example, when the response state value is set to the response speed value and the target state value is set to the target speed, the motor's response speed value can be estimated using the following formula 6, and the motor's target speed value can be estimated using the following formula 7: (Formula 6) (Formula 7) In formulas 6 and 7, This indicates the initial displacement value of the motor. For the calculation function, This represents the original drive voltage signal. Indicates the DC resistance of the motor. This represents the electromechanical coupling coefficient of the motor. Indicates the mass of the motor's oscillator. This indicates the damping coefficient of the motor. This indicates the spring constant of the motor. This indicates the initial speed value of the motor. This indicates the motor's response speed value. This indicates the target speed value of the motor. This indicates the signal frequency of the original drive voltage signal. This represents the signal amplitude of the original drive voltage signal.

[0053] For example, when the response state value is set to the response acceleration value and the target state value is set to the target acceleration, the motor's response acceleration value can be estimated using the following formula 8, and the motor's target acceleration value can be estimated using the following formula 9: (Formula 8) (Formula 9) In formulas 8 and 9, This indicates the initial displacement value of the motor. For the calculation function, This represents the original drive voltage signal. Indicates the DC resistance of the motor. This represents the electromechanical coupling coefficient of the motor. Indicates the mass of the motor's oscillator. This indicates the damping coefficient of the motor. This indicates the spring constant of the motor. This represents the initial acceleration value of the motor. This represents the motor's response acceleration value. This indicates the target acceleration value of the motor. This indicates the signal frequency of the original drive voltage signal. This represents the signal amplitude of the original drive voltage signal.

[0054] Step 106: Obtain the voltage adjustment coefficient based on the response state value and the target state value.

[0055] In some embodiments, the voltage adjustment coefficient can be obtained based on the ratio of the response state value to the target state value.

[0056] For example, when the response state value and the target state value are the response displacement value and the target displacement value, respectively, the voltage adjustment coefficient can be expressed as the following formula 10: (Formula 10) In Formula 10, Indicates the voltage adjustment coefficient. Indicates the target displacement value. This represents the response displacement value.

[0057] In addition, when the response state value is the response speed value or the response acceleration value, and the target state value is the target speed value or the target acceleration value, the calculation method of the voltage adjustment coefficient can refer to Formula 10, which will not be described in detail in this article.

[0058] Furthermore, in practical applications, the output capability of motor control chips (ICs) is limited, and sudden rises and falls in the original drive voltage signal can also lead to instability in the motor's vibration state. Therefore, the constraint range for the voltage adjustment amplitude of the original drive voltage signal can be increased.

[0059] In this embodiment, the obtained voltage adjustment coefficient can be compared with a preset voltage adjustment range. If the voltage adjustment coefficient is higher than the upper limit of the voltage adjustment range (…), then… The upper limit value is determined as the new voltage regulation coefficient (i.e.) If the voltage adjustment coefficient is lower than the lower limit of the voltage adjustment range ( The lower limit value is determined as the new voltage regulation coefficient (i.e. ).

[0060] In some embodiments, the upper limit of the voltage adjustment range ( It can adaptively adjust according to the maximum driving voltage and maximum amplitude of the original driving voltage signal to meet the needs of different motor application scenarios.

[0061] In some embodiments, the lower limit of the voltage adjustment range is a parameter value that is less than 1 and greater than 0, i.e. .

[0062] Step 108: Adjust the original driving voltage signal using the voltage adjustment coefficient to obtain the target driving voltage signal.

[0063] In some embodiments, a multiplication operation can be performed based on the voltage adjustment coefficient and the original drive voltage signal to obtain the target drive voltage signal.

[0064] In summary, the motor start-up control method of this embodiment extracts the signal characteristics of the original drive voltage signal, combines them with motor configuration parameters, estimates the motor's response state value and target state value, and dynamically adjusts the original drive voltage signal accordingly, which can shorten the motor start-up time and improve the response speed.

[0065] This embodiment improves the accuracy and robustness of the motor response state value and target state value by detecting the signal frequency and signal amplitude of the original drive voltage signal and combining them with the motor configuration parameters to predict the motor response state value and target state value, thereby enhancing the motor start-up control precision.

[0066] This embodiment adjusts the motor drive voltage based on the ratio of the motor response state value to the target state value, which helps the motor quickly enter a stable vibration state. By imposing upper and lower limits on the voltage adjustment coefficient, it can prevent over-adjustment of the voltage from causing motor damage or nonlinear distortion, and avoid drive failure due to an excessively small adjustment coefficient, thus ensuring minimum excitation capability and improving motor vibration efficiency.

[0067] FIG. 3 This is a flowchart illustrating a motor start-up control method according to another exemplary embodiment of this disclosure. This embodiment is... FIG. 1 A more specific implementation of the illustrated embodiment. For example... FIG. 3 As shown, this embodiment mainly includes: Step 302: Obtain the signal frequency and signal amplitude of the original driving voltage signal.

[0068] For the specific implementation of this step, please refer to the relevant description of step 102 above, which will not be repeated here.

[0069] Step 304: Based on the signal characteristics and motor configuration parameters, estimate the motor's response state value and target state value.

[0070] In some embodiments, the configuration parameters of the motor include the oscillator mass, damping coefficient, spring coefficient, DC resistance, and electromechanical coupling coefficient of the motor. The response state value of the motor includes any one of the response displacement value, response velocity value, and response acceleration value. Correspondingly, the target state value of the motor includes any one of the target displacement value, target velocity value, and target acceleration value.

[0071] For the specific implementation of this step, please refer to the relevant description of step 104 above, which will not be repeated here.

[0072] Step 306: Obtain the voltage adjustment coefficient based on the ratio of the response state value to the target state value.

[0073] For example, when the response state value and the target state value are the response displacement value and the target displacement value, respectively, the ratio between the target displacement value and the response displacement value can be calculated to obtain the voltage adjustment coefficient.

[0074] Step 308: Adjust the original driving voltage signal using the voltage adjustment coefficient to obtain the target driving voltage signal.

[0075] In some embodiments, a multiplier can be used to perform a product operation based on the voltage adjustment coefficient and the driving voltage of the original driving voltage signal to obtain an initial adjustment voltage signal. A low-pass filter is then used to perform low-pass filtering on the initial adjustment voltage signal to obtain the target driving voltage signal, so as to avoid large voltage fluctuations at the critical point of voltage adjustment.

[0076] In this embodiment, the cutoff frequency of the low-pass filter can be set to be no less than twice the operating frequency of the motor.

[0077] Step 310: Based on the signal frequency of the original driving voltage signal, obtain the signal duration, and play the target driving voltage signal within the voltage adjustment cycle corresponding to the signal duration.

[0078] In this embodiment, the half-cycle duration of the original driving voltage signal can be obtained based on the interval between adjacent zero-crossing points of the original driving voltage signal, and the signal duration can be obtained based on the half-cycle duration of the original driving voltage signal.

[0079] In this embodiment, the signal duration can be set to an integer multiple of half the cycle duration of the original driving voltage signal.

[0080] The voltage adjustment cycle can be understood as a time unit for dynamic adjustment of the driving voltage in a single operation. The duration of a single voltage adjustment cycle is related to the half-cycle duration of the original driving voltage signal.

[0081] Step 312: Determine whether the actual number of all voltage adjustment cycles executed by the motor has reached the preset number. If yes, exit this process; otherwise, return to step 302.

[0082] In practical applications, the rapid start-up of the motor usually only plays a role in the initial voltage stage. In order to avoid the original drive voltage signal from continuously entering the algorithm branch and increasing unnecessary power consumption in the subsequent steady-state operation stage, the playback duration can be determined according to the frequency of the original drive voltage signal, thereby ensuring that the dynamic adjustment of the drive voltage in this embodiment is only performed in the start-up stage of the motor.

[0083] In this embodiment, the preset number of voltage adjustment cycles can be set to 3 to 5 cycles.

[0084] In summary, the motor start-up control method provided in this embodiment detects the characteristics of the original drive voltage signal and, in combination with the motor's configuration parameters, predicts the motor's response state value and target state value, thereby calculating the optimal voltage adjustment coefficient. Based on this, dynamic voltage adjustment processing is performed in the early stage of motor start-up, achieving rapid start-up response of the motor, significantly shortening the time required for the motor to reach a steady state value, and improving the system response speed.

[0085] The motor vibration control method provided in this embodiment can effectively reduce the motor acceleration overshoot when the original drive voltage signal deviates from the resonant frequency, so as to ensure the smooth and stable acceleration of the motor during the vibration process. Moreover, it can quickly achieve a stable control effect for different types of original drive voltage signals and different motor models, showing excellent robustness and flexibly meeting the needs of different motor application scenarios.

[0086] The motor vibration control method provided in this embodiment allows any one of the displacement value, velocity value, or acceleration value to be used as a reference index for the motor vibration state. This flexibility can meet the needs of different application scenarios and has wide applicability.

[0087] The motor vibration control method provided in this embodiment determines the signal playback duration based on the frequency of the original drive signal, so that the playback duration of the target drive voltage signal is synchronized with the natural cycle of the motor, thereby improving energy transfer efficiency and improving motor vibration efficiency.

[0088] refer to FIG. 4A , FIG. 4B , FIG. 5A and FIG. 5B ,in, FIG. 4A A schematic diagram of the original driving voltage signal (unadjusted signal) in a scenario with a signal frequency of 160Hz is shown. FIG. 4B A schematic diagram of the target driving voltage signal (adjusted signal) in a scenario with a signal frequency of 160Hz is shown. FIG. 5A Shown in FIG. 4A The vibration state of the motor under the original drive voltage signal is shown in the figure. FIG. 5B Shown in FIG. 4B The diagram shows the vibration state of the motor under the target driving voltage signal.

[0089] By comparison FIG. 4A and FIG. 4B It can be observed that the motor start-up control method in this embodiment performs differentiated boosting processing on the voltage of the first two voltage adjustment cycles of the original motor drive voltage signal. Through comparison... FIG. 5A and FIG. 5B The motor displacement effect shows that after dynamically adjusting the original drive voltage signal using the motor start-up control method disclosed in this paper, the motor start-up time is significantly shortened. It is worth noting that... FIG. 5A and FIG. 5BFurthermore, the paper demonstrates a comparison of motor displacement effects before and after driving voltage adjustment in scenarios deviating from the resonant frequency. It shows that in off-frequency scenarios, due to the nonlinear characteristics of the motor itself, traditional methods lead to oscillations and instability in the initial motor displacement. However, the adaptive adjustment method proposed in this invention can maintain stable vibration control of the motor in the same scenario, fully demonstrating the good robustness and adaptability of this solution. It not only improves motor starting performance in resonant frequency scenarios but also maintains motor vibration stability in off-frequency scenarios.

[0090] Motor start-up control device FIG. 6 A simplified structural diagram of a motor vibration control device 600 according to an exemplary embodiment of the present disclosure is shown. The motor vibration control device 600 of this embodiment mainly includes: The acquisition module 602 is used to acquire the signal characteristics of the original driving voltage signal; The estimation module 604 is used to estimate the response state value and target state value of the motor based on the signal characteristics and the configuration parameters of the motor, and to obtain the voltage adjustment coefficient based on the response state value and target state value. The adjustment module 606 is used to adjust the original driving voltage signal using the voltage adjustment coefficient to obtain the target driving voltage signal.

[0091] In some embodiments, the signal characteristics include signal frequency and signal amplitude.

[0092] In some embodiments, the signal waveform of the original driving voltage signal includes at least one of a sine wave and a square wave.

[0093] In some embodiments, the acquisition module 602 can obtain the signal characteristics in the following ways: The time interval between two zero-crossing points of adjacent periods of the original driving voltage signal or the time interval between two adjacent zero-crossing points of the original driving voltage signal is detected; the signal frequency is obtained according to the time interval and the sampling frequency of the original driving voltage signal; multiple voltage amplitudes of the original driving voltage signal within the time interval are obtained, and the maximum value among the multiple absolute values ​​corresponding to the multiple voltage amplitudes is determined as the signal amplitude.

[0094] In some embodiments, the estimation module 604 is further configured to: estimate a plurality of initial state values ​​of the motor based on the original drive voltage signal and the configuration parameters of the motor, and determine the maximum value among the plurality of initial state values ​​as the response state value of the motor; and obtain the target state value of the motor based on the signal frequency and signal amplitude of the original drive voltage signal and the configuration parameters of the motor.

[0095] In some embodiments, the configuration parameters of the motor include the oscillator mass, damping coefficient, spring coefficient, DC resistance, and electromechanical coupling coefficient of the motor; the response state value includes any one of the response displacement value, response velocity value, and response acceleration value, wherein, when the response state value is the response displacement value, the target state value is the target displacement value; when the response state value is the response velocity value, the target state value is the target velocity value; and when the response state value is the response acceleration value, the target state value is the target acceleration value.

[0096] In some embodiments, the estimation module 604 is further configured to: obtain the voltage adjustment coefficient based on the ratio of the response state value to the target state value.

[0097] In some embodiments, the estimation module 604 is further configured to: compare the voltage adjustment coefficient with a preset voltage adjustment range, wherein if the voltage adjustment coefficient is higher than the upper limit of the voltage adjustment range, the upper limit is determined as a new voltage adjustment coefficient; if the voltage adjustment coefficient is lower than the lower limit of the voltage adjustment range, the lower limit is determined as a new voltage adjustment coefficient; wherein the upper limit of the voltage adjustment range is determined based on the maximum driving voltage and the maximum amplitude of the original driving voltage signal, and the lower limit of the voltage adjustment range is less than 1 and greater than 0.

[0098] In some embodiments, the adjustment module 606 is further configured to: perform a multiplication operation based on the voltage adjustment coefficient and the original drive voltage signal to obtain an initial adjustment voltage signal; and perform low-pass filtering on the initial adjustment voltage signal using a low-pass filter to obtain the target drive voltage signal; wherein the cutoff frequency of the low-pass filter is not less than twice the operating frequency of the motor.

[0099] In some embodiments, the adjustment module 606 is further configured to: obtain a half-cycle duration based on the interval duration between adjacent zero-crossing points of the original driving voltage signal; obtain a signal duration based on the half-cycle duration; and play the target driving voltage signal within the voltage adjustment period corresponding to the signal duration; wherein the signal duration is an integer multiple of the half-cycle duration.

[0100] Electronic device Reference FIG. 7 This document illustrates a schematic diagram of an electronic device according to an exemplary embodiment of the present application. The specific embodiments of the present application do not limit the specific implementation of the electronic device.

[0101] like FIG. 7As shown, the electronic device may include: a processor 702, a communications interface 704, a memory 706, and a communications bus 708.

[0102] in: The processor 702, communication interface 704, and memory 706 communicate with each other via communication bus 708.

[0103] Communication interface 704 is used to communicate with other electronic devices or servers.

[0104] The processor 702 is used to execute program 710, which can specifically execute the relevant steps in the above-described motor vibration control method embodiment.

[0105] Specifically, program 710 may include program code that includes computer operation instructions.

[0106] The processor 702 may be a CPU, an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The smart device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0107] Memory 706 is used to store program 710. Memory 706 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0108] Program 710 may include multiple computer instructions. Specifically, program 710 can cause processor 702 to execute the operation corresponding to the motor vibration control method described in any of the foregoing multiple method embodiments through multiple computer instructions.

[0109] The specific implementation of each step in program 710 can be found in the corresponding steps and units described in the above method embodiments, and has corresponding beneficial effects, which will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the devices and modules described above can be referred to the corresponding process descriptions in the foregoing method embodiments, and will not be repeated here.

[0110] This application also provides a computer storage medium storing a computer program thereon, which, when executed by a processor, implements the method described in any of the foregoing 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.

[0111] This application also provides a computer program product, including computer instructions that instruct a computing device to perform operations corresponding to the motor start-up control method described in any of the above embodiments.

[0112] Furthermore, 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 used for training the model, data used for analysis, stored data, displayed data, etc.) involved in the embodiments of this application are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0113] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0114] The methods described in the embodiments of this application can be implemented in hardware, firmware, or 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 as computer code downloaded over a network that is originally stored in a remote recording medium or a non-transitory machine-readable medium and will be stored in a local recording medium. Thus, the methods described herein can be stored 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 is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., Random Access Memory (RAM), Read-Only Memory (ROM), Flash Memory, etc.) capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods described herein. Furthermore, when a general-purpose computer accesses code used to implement the methods shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the methods shown herein.

[0115] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented 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 to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application.

[0116] The above embodiments are only used to illustrate the embodiments of this application, and are not intended to limit the embodiments of this application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this application, and the patent protection scope of the embodiments of this application should be defined by the claims.

Claims

1. A method for motor start-up control, comprising: obtaining a signal feature of an original driving voltage signal; estimating a response state value and a target state value of a motor according to the signal feature and configuration parameters of the motor; obtaining a voltage adjustment coefficient according to the response state value and the target state value; adjusting the original driving voltage signal by using the voltage adjustment coefficient to obtain a target driving voltage signal. 2.The method of claim 1, wherein the signal feature comprises a signal frequency and a signal amplitude.

3. The method of claim 2, wherein, the signal frequency and the signal amplitude of the original driving voltage signal are obtained by: detecting a time interval between two zero-crossing points of adjacent periods of the original driving voltage signal or a time interval between two adjacent zero-crossing points of the original driving voltage signal; obtaining the signal frequency according to the time interval and a sampling frequency of the original driving voltage signal; obtaining a plurality of voltage amplitudes of the original driving voltage signal within the time interval, and determining a maximum value among absolute values of the plurality of voltage amplitudes as the signal amplitude.

4. The method of claim 3, wherein, the estimating the response state value and the target state value of the motor according to the signal feature and the configuration parameters of the motor comprises: estimating a plurality of initial state values of the motor according to the original driving voltage signal and the configuration parameters of the motor, and determining a maximum value among the plurality of initial state values as the response state value of the motor; obtaining the target state value of the motor according to the signal frequency and the signal amplitude of the original driving voltage signal and the configuration parameters of the motor. 5.The method of claim 4, wherein the configuration parameters of the motor comprise a mass of a vibrator, a damping coefficient, a spring coefficient, a direct current resistance and an electromechanical coupling coefficient of the motor; the response state value comprises any one of a response displacement value, a response speed value and a response acceleration value, wherein in a case where the response state value is the response displacement value, the target state value is a target displacement value; in a case where the response state value is the response speed value, the target state value is a target speed value; in a case where the response state value is the response acceleration value, the target state value is a target acceleration value.

6. The method of claim 5, wherein, the obtaining the voltage adjustment coefficient according to the response state value and the target state value comprises: obtaining the voltage adjustment coefficient according to a ratio of the response state value and the target state value.

7. The method of claim 6, wherein, The method further comprises: comparing the voltage adjustment coefficient with a preset voltage adjustment range, wherein if the voltage adjustment coefficient is higher than an upper limit value of the voltage adjustment range, determining the upper limit value as a new voltage adjustment coefficient; if the voltage adjustment coefficient is lower than a lower limit value of the voltage adjustment range, determining the lower limit value as a new voltage adjustment coefficient; wherein the upper limit value of the voltage adjustment range is determined according to a maximum driving voltage and a maximum amplitude of the original driving voltage signal, and the lower limit value of the voltage adjustment range is less than 1 and greater than 0.

8. The method of claim 1, wherein, the adjusting the original driving voltage signal by using the voltage adjustment coefficient to obtain a target driving voltage signal comprises: performing multiplication operation according to the voltage adjustment coefficient and the original driving voltage signal, to obtain an initial adjustment voltage signal; performing low-pass filtering on the initial adjustment voltage signal by using a low-pass filter, to obtain the target driving voltage signal; wherein a cutoff frequency of the low-pass filter is not less than 2 times of a working frequency of the motor.

9. The method of claim 1, wherein, The method further comprises: obtaining a half-period time length according to an interval time length of adjacent zero-crossing points of the original driving voltage signal; obtaining a signal duration time length according to the half-period time length; playing the target driving voltage signal in a voltage adjustment period corresponding to the signal duration time length; wherein the signal duration time length is an integer multiple of the half-period time length.

10. The method of claim 1, wherein, The original driving voltage signal is a sine wave. 11.A motor start-up control device, comprising: an acquisition module configured to acquire a signal feature of an original driving voltage signal; an estimation module configured to estimate a response state value and a target state value of a motor according to the signal feature and configuration parameters of the motor, and obtain a voltage adjustment coefficient according to the response state value and the target state value; an adjustment module configured to adjust the original driving voltage signal by using the voltage adjustment coefficient, to obtain a target driving voltage signal.

12. An electronic device comprising: a processor, a memory, a communication interface and a communication bus, the processor, the memory and the communication interface complete communication with each other through the communication bus; the memory is configured to store at least one executable instruction, and the executable instruction causes the processor to execute the method in any one of claims 1 to 10. 13.A computer storage medium having a computer program stored thereon, the program being executed by a processor to implement the method in any one of claims 1 to 10.

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