A driving control method and system of a micro motor

Abstract

This invention relates to a drive control method and system for a micro motor, belonging to the field of intelligent control. The method includes: acquiring real-time sound signals and the motor model during micro motor operation; obtaining a reference sound signal based on the motor model; comparing the real-time sound signal with the reference sound signal to determine if there is a sound anomaly in the micro motor; if a sound anomaly is determined, obtaining abnormal acoustic signature features and sound acquisition location information based on the real-time sound signal; combining the abnormal acoustic signature features and sound acquisition location information to locate the specific anomaly location; matching the anomaly handling method according to the specific anomaly location and abnormal acoustic signature features, and controlling a preset actuator to perform the corresponding processing operation according to the anomaly handling method, while simultaneously reporting a sound anomaly handling prompt. This application has the effect of improving the timeliness of fault early warning.

Description

Technical Field

[0001] This invention relates to the field of intelligent control, and in particular to a drive control method and system for a micro motor. Background Technology

[0002] Micro motors are miniaturized motor devices that are small in size, light in weight, have relatively low power and output torque, and can efficiently convert electrical energy (or other forms of energy) into mechanical energy to achieve precise drive and control.

[0003] Currently, micro motors are widely used in medical devices (such as micro pump drives), consumer electronics (such as lens focusing components), automotive electronics (such as window lift motors) and other fields due to their precision driving characteristics. These scenarios have extremely high requirements for motor operation stability and fault response speed. Abnormal sound during motor operation is often a direct signal of early faults. If not handled in time, it can easily lead to motor stall and equipment shutdown.

[0004] Due to their precision driving characteristics, micro motors are widely used in medical devices (such as micro pump drives), consumer electronics (such as lens focusing components), automotive electronics (such as window lift motors), and other fields. These scenarios have extremely high requirements for motor operation stability and fault response speed. Abnormal sounds during motor operation (such as foreign object jamming noise or abnormal commutation noise) are often direct signals of early faults. If not handled in time, they can easily lead to motor stall and equipment shutdown.

[0005] In existing micro motor drive control technologies, fault monitoring often relies on single electrical parameters such as current and speed. However, current fluctuations and speed deviations only become apparent when the fault has developed to a certain extent, which reduces the timeliness of fault warnings and needs to be improved. Summary of the Invention

[0006] To improve the timeliness of fault warning, this invention provides a drive control method and system for a micro motor.

[0007] In a first aspect, the present invention provides a driving control method for a micro motor, employing the following technical solution:

[0008] A method for driving and controlling a micro motor, comprising:

[0009] Collect real-time sound signals and motor model during the operation of the micro motor;

[0010] A reference sound signal is obtained based on the motor model;

[0011] The real-time sound signal is compared with the reference sound signal to determine whether there is any sound abnormality in the micro motor;

[0012] If an abnormal sound is detected, abnormal voiceprint features and sound acquisition location information are obtained based on the real-time sound signal.

[0013] Combining abnormal voiceprint features with sound acquisition location information to pinpoint the specific location of the anomaly;

[0014] Based on the specific location and characteristics of the abnormal voiceprint, an abnormality handling method is matched, and the preset actuator is controlled to perform the corresponding processing operation according to the abnormality handling method, while reporting the sound abnormality handling prompt.

[0015] By adopting the above technical solution, real-time sound signals from motor operation are collected and matched with corresponding reference sound signals based on the motor model. The real-time signals are compared with the reference signals to determine if any sound anomalies exist, allowing for early identification of problems. When a sound anomaly is detected, the specific location of the anomaly is accurately pinpointed by extracting abnormal acoustic signature features and sound acquisition location information. Then, a targeted anomaly handling method is matched, controlling the actuator to process the anomaly promptly and report the issue. This achieves advanced fault identification and rapid response, avoiding delays in processing due to reliance on electrical parameters and significantly improving the timeliness of fault warnings.

[0016] Optional, also includes:

[0017] Collect the current motor number;

[0018] Match the motor's operating scenario based on the current motor number;

[0019] Based on the motor's operating scenario, environmental noise characteristics are obtained;

[0020] The purified sound signal is obtained by combining real-time sound signals with environmental noise characteristics;

[0021] The purified sound signal is compared with the reference sound signal to determine whether there is any abnormal sound from the micro motor.

[0022] Optional, also includes:

[0023] Collect motor vibration information during the operation of the micro motor;

[0024] Vibration characteristic parameters are obtained based on motor vibration information;

[0025] The vibration sound characteristics are obtained based on the vibration characteristic parameters;

[0026] The matching degree between the purified sound signal and the vibration sound characteristics is calculated to obtain the sound matching degree;

[0027] When the sound matching degree is not less than the preset matching degree threshold, it is determined that the abnormal sound is caused solely by motor vibration, and the preset vibration pressing method is used for pressing.

[0028] Optionally, the vibration pressing method includes:

[0029] The pressing position is determined by combining the specific location of the abnormality and the motor model.

[0030] Control the preset tablet pressing device to move to the pressing position and press;

[0031] After a preset pressing time, the purification sound signal and motor vibration information of the motor operation are collected again;

[0032] If the purified sound signal matches the normal characteristics when compared with the reference sound signal, and the vibration characteristic parameters are within the preset normal vibration range, then the verification is deemed successful.

[0033] If any comparison result does not conform to normal characteristics or the vibration characteristic parameters exceed the preset normal vibration range, the pressing operation and verification process are repeated until the verification is passed or the preset maximum number of attempts is reached, and the final verification result is recorded.

[0034] Optional, also includes:

[0035] When the sound matching degree is less than the preset matching degree threshold, the abnormal voiceprint features are obtained by purifying the sound signal.

[0036] Based on the current motor number, retrieve typical fault soundprint features from the preset fault soundprint database;

[0037] The refined abnormal voiceprint features are compared with the typical fault voiceprint features to determine the specific fault type.

[0038] Match the corresponding specialized handling method according to the specific fault type and the specific location of the anomaly;

[0039] The system controls the preset actuators to perform operations according to specific handling methods, and simultaneously reports the fault type and processing progress.

[0040] Optionally, the specific fault types include rotor eccentricity and foreign object jamming, wherein the specific treatment method for rotor eccentricity includes:

[0041] The low-frequency humming frequency was extracted based on the refined abnormal soundprint features, and the real-time speed of the motor was collected.

[0042] The eccentricity coefficient is calculated by combining the low-frequency humming frequency and the real-time speed of the motor.

[0043] When the eccentricity coefficient exceeds the preset coefficient threshold, the standard clearance range between the rotor and stator is obtained by specifying the abnormal location and motor model.

[0044] The preset laser displacement sensor is controlled to perform multi-point detection on the rotor radial direction to obtain the rotor offset direction and rotor offset amount, and to determine whether the rotor offset amount exceeds the standard gap range.

[0045] If the rotor offset exceeds the standard clearance range, rotor adjustment parameters are generated based on the rotor offset direction, rotor offset amount, and standard clearance range.

[0046] The preset piezoelectric adjustment components are controlled to adjust the rotor support structure with rotor adjustment parameters, and the rotor offset is updated after adjustment.

[0047] If the updated rotor offset falls back to the standard clearance range and the low-frequency humming characteristic disappears, the adjustment is considered effective.

[0048] Optional, specific treatment methods for foreign object obstruction include:

[0049] Abnormal sound signature parameters are identified by refining the abnormal sound signature features;

[0050] By combining abnormal noise characteristic parameters and sound acquisition location information, the area where the foreign object is stuck can be determined.

[0051] Based on the motor model, the regional structural characteristics of the area where the foreign object is stuck are obtained;

[0052] Based on the regional structural characteristics, determine whether the area where the foreign object is stuck is connected to the preset heat dissipation air duct;

[0053] If a foreign object gets stuck in the area connected to the heat dissipation duct, the motor's own preset cooling fan switches to a preset high-frequency operation mode to use enhanced airflow to blow away the foreign object.

[0054] If the area where the foreign object is stuck is not connected to the heat dissipation air duct, determine whether the area where the foreign object is stuck is close to the rotor drive path.

[0055] If a foreign object gets stuck in an area close to the rotor's drive path, the motor's preset drive module will perform a short-term reverse rotation. The inertial force generated by the rotor's reverse rotation will loosen the foreign object, thereby removing it.

[0056] Optionally, a method for adjusting the blowing angle is also included:

[0057] By combining the sound location information, the specific location of the anomaly, and the area where the foreign object was stuck, the precise location of the foreign object in the heat dissipation air duct can be determined;

[0058] The angle adjustment range and relative position parameters are obtained based on the motor model, and airflow simulation data are retrieved based on the motor model.

[0059] The initial target blowing angle is determined based on the precise location of the foreign object, the angle adjustment range, the relative position parameters, and airflow simulation data.

[0060] Control the cooling fan to blow air at the initial target airflow angle, and fine-tune the angle using a preset airflow fine-tuning method.

[0061] Optionally, the airflow fine-tuning method includes:

[0062] Collect real-time airflow velocity distribution data and real-time abnormal noise signals;

[0063] The efficiency of airflow action is obtained based on real-time airflow velocity distribution data and airflow simulation data.

[0064] If the airflow efficiency is lower than the preset efficiency threshold, the spatial distribution characteristics of the abnormal noise are obtained based on the real-time abnormal noise signal.

[0065] The location of the strongest abnormal noise is determined based on the spatial distribution characteristics of the abnormal noise.

[0066] Combine the location of the strongest abnormal noise with the angle adjustment range to set the single fine-tuning angle;

[0067] The cooling fan is controlled to make a single fine-tuning of the angle towards the direction of the strongest abnormal noise. After the fine-tuning, real-time airflow speed distribution data and real-time abnormal noise signal are collected again, and the airflow efficiency is updated.

[0068] If the updated airflow efficiency is still lower than the preset efficiency threshold, the cooling fan will be controlled again to fine-tune the single-set angle towards the direction of the strongest abnormal noise until the airflow efficiency reaches the preset efficiency threshold or the angle is fine-tuned to the boundary of the angle adjustment range.

[0069] Secondly, this application provides a drive control system for a micro motor, which adopts the following technical solution:

[0070] A drive control system for a micro motor, comprising:

[0071] The acquisition module is used to acquire real-time audio signals and motor model information;

[0072] A memory used to store a program that implements a drive control method for a micro motor;

[0073] The processor is used to load and execute programs stored in memory.

[0074] In summary, this application includes at least one of the following beneficial technical effects:

[0075] 1. By collecting real-time sound signals from the motor during operation and matching them with a corresponding reference sound signal based on the motor model, the system compares the real-time signal with the reference signal to determine if there are any sound anomalies, allowing for early identification of problems. When a sound anomaly is detected, the system extracts abnormal acoustic features and sound acquisition location information to accurately pinpoint the specific location of the anomaly. Then, it matches a targeted anomaly handling method, controls the actuator to process the anomaly promptly, and reports the issue. This achieves proactive fault identification and rapid response, avoiding delays in processing due to reliance on electrical parameters and significantly improving the timeliness of fault warnings.

[0076] 2. By extracting the low-frequency humming frequency from the refined abnormal sound pattern characteristics and combining it with the real-time motor speed, the eccentricity coefficient is calculated. When the coefficient exceeds the limit, by understanding the standard clearance range, specific offset direction, and offset amount, targeted rotor adjustment parameters are generated based on the offset data, and then the piezoelectric adjustment component is controlled for fine adjustment. After adjustment, the offset amount and sound characteristics are detected again. When the offset amount returns to the standard range and the low-frequency humming disappears, the adjustment is confirmed to be effective. This avoids the lag caused by traditional reliance on electrical parameter monitoring, which improves the timeliness of rotor eccentricity fault handling, ensures adjustment accuracy, and effectively maintains the operational stability of the micro motor.

[0077] 3. By understanding and refining the characteristics of abnormal sound patterns, abnormal noise feature parameters are obtained. This, combined with the sound acquisition location, pinpoints the area where the foreign object is stuck. Then, based on the motor model, the structural characteristics of the area are determined, allowing for targeted removal methods. If the area is connected to a cooling duct, the motor's built-in cooling fan is switched to a high-frequency operating mode to enhance airflow and sweep away the foreign object, eliminating the need for additional disassembly. If the area is not connected to a ventilation duct but is close to the rotor drive path, the drive module is controlled to perform a short-term reverse rotation. The inertial force of the rotor's reverse rotation loosens and removes the foreign object, avoiding damage to the motor's precision structure from forced disassembly. This classification and processing strategy achieves non-destructive and rapid removal of foreign objects, avoiding the inefficiency and risks of traditional manual disassembly. Attached Figure Description

[0078] Figure 1 This is a flowchart of a method for driving and controlling a micro motor. Detailed Implementation

[0079] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0080] Reference Figure 1 This application discloses a drive control method for a micro motor, comprising the following steps:

[0081] S10: Collects real-time sound signals and motor model information during the operation of the micro motor.

[0082] Real-time audio signals refer to audio signals acquired in real time by a micro-sound acquisition device during the normal operation of a micro motor, including the normal operating sound of the motor itself and any abnormal sounds that may exist.

[0083] The motor model number is a unique coded identifier used to uniquely identify the specifications, performance, and structural characteristics of a micro motor. The motor model number is obtained by retrieving pre-entered motor model information through a host computer interface connected to the motor. This motor model information is pre-entered by those skilled in the art and will not be elaborated upon here.

[0084] S11: Obtain a reference sound signal based on the motor model.

[0085] The reference sound signal refers to the standard sound signal pre-collected and stored when a motor of the same model as the micro motor under test is running stably under fault-free, full-load, or rated operating conditions. The reference sound signal is obtained through a pre-set model sound database. This database pre-stores standard sound signals of various micro motor models, collected and calibrated using micro sound acquisition equipment of the same specifications, when running stably under fault-free and rated operating conditions. When the system obtains the model of the micro motor under test, it automatically searches the database for an entry that perfectly matches that model and retrieves the corresponding stored standard sound signal. The model sound database is formed by those skilled in the art by associating the standard sound signals of various micro motor models, collected and calibrated using micro sound acquisition equipment of the same specifications, with the corresponding motor models, and storing them uniformly; details are omitted here.

[0086] S12: Compare the real-time sound signal with the reference sound signal to determine whether there is any sound abnormality in the micro motor.

[0087] The real-time sound signal is compared with the reference sound signal to determine whether there is any sound abnormality in the micro motor.

[0088] S13: If an abnormal sound is detected, obtain abnormal voiceprint features and sound acquisition location information based on the real-time sound signal.

[0089] Abnormal voiceprint features refer to the quantified voiceprint characteristics in a real-time audio signal that differ significantly from a reference audio signal. Abnormal voiceprint features are obtained by performing signal processing such as spectral analysis and amplitude comparison between the real-time and reference audio signals to extract and quantify the differences in frequency distribution, peak amplitude, and duration between the two. The specific analysis and comparison methods are common knowledge in this field and will not be elaborated upon here.

[0090] Sound acquisition location information refers to the spatial position information of the sound acquisition device relative to the micro motor. This information is obtained in real time by the positioning sensor built into the sound acquisition device, which detects spatial parameters such as the relative distance and acquisition angle between the device and the micro motor.

[0091] When the real-time sound signal is inconsistent with the reference sound signal, it indicates that there is a sound anomaly. It is necessary to obtain the abnormal voiceprint characteristics and sound acquisition location information first for subsequent steps.

[0092] S14: Combine abnormal voiceprint features with sound acquisition location information to locate the specific abnormal location.

[0093] The specific abnormal location refers to the area on the micro motor where an anomaly exists. The specific abnormal location is obtained by looking up a preset voiceprint location lookup table. This table records different specific abnormal locations corresponding to different abnormal voiceprint characteristics and different sound acquisition location information. The voiceprint location lookup table is formed by those skilled in the art by associating and matching the abnormal voiceprint characteristics and corresponding sound acquisition location information generated by each model of micro motor in simulated fault tests with the actual specific abnormal locations determined by physical detection, and then uniformly recording and storing them. It is also periodically calibrated and updated by adding actual fault case data of different models of motors (including new abnormal voiceprints, acquisition locations and corresponding abnormal locations), which will not be elaborated here.

[0094] S15: Based on the specific abnormal location and abnormal voiceprint characteristics, match the abnormal handling method, control the preset execution mechanism to perform the corresponding processing operation according to the abnormal handling method, and report the sound abnormality handling prompt.

[0095] Anomaly handling methods refer to pre-defined, directly executable processing strategies for different anomaly types in micro motors (such as vibration anomalies, rotor eccentricity, and foreign object jamming). Specific anomaly handling methods will be described in detail in subsequent embodiments and will not be elaborated upon here. Anomaly handling methods are obtained by querying a pre-defined anomaly handling lookup table. This table records different anomaly handling methods corresponding to different specific anomaly locations and different abnormal acoustic signatures. The anomaly handling lookup table is formed by those skilled in the art by associating and matching the specific anomaly locations and abnormal acoustic signatures of various micro motor models under different anomaly scenarios with experimentally verified effective anomaly handling strategies, and then uniformly recording and storing these data. This will not be elaborated upon here.

[0096] An actuator refers to a specific mechanical or electronic component used to perform abnormal handling methods, such as a pressing device that performs vibration pressing, a piezoelectric adjustment component that adjusts the rotor position, a cooling fan that blows away foreign objects, and a drive module that controls the reverse rotation of a motor.

[0097] Once the abnormality handling method is obtained, the actuator needs to be controlled to perform the corresponding processing operation in accordance with the abnormality handling method to eliminate the abnormal situation. At the same time, the sound abnormality handling prompt also needs to be reported.

[0098] It also includes the following steps:

[0099] S20: Collect the current motor number.

[0100] The current motor number refers to the unique identifier assigned to each micro motor. The method for obtaining the current motor number is the same as the method for collecting the motor model in S10 above, and will not be repeated here.

[0101] S21: Match the motor operating scenario based on the current motor number.

[0102] The operating scenario of a motor refers to the environment and working conditions in which a micro motor is actually used. For example, low-speed and light-load scenarios in household appliances (such as fans and washing machines), high-speed and heavy-load scenarios in industrial equipment (such as precision instruments), and low-noise and high-stability scenarios in aerospace equipment. Different scenarios correspond to different environmental noise and operating requirements.

[0103] The motor operating scenarios can be obtained by looking up a pre-set numbered scenario lookup table. This table records the different motor operating scenarios corresponding to different motor numbers. The numbered scenario lookup table is formed by those skilled in the art after associating and matching each motor number with its actual application environment and operating conditions, and then uniformly recording and storing it. This will not be elaborated on here.

[0104] S22: Obtain environmental noise characteristics based on the motor's operating scenario.

[0105] Ambient noise characteristics refer to the quantified background noise characteristics in a motor operating environment, excluding the motor's own sound. These characteristics are obtained by querying a pre-defined scene noise lookup table, which records the quantified environmental noise characteristics corresponding to different motor operating scenarios. The scene noise lookup table is created by those skilled in the art by associating and matching each motor operating scenario with its corresponding actual background noise quantification data, and then uniformly recording and storing the data; details will not be elaborated upon here.

[0106] S23: Combine real-time sound signals with environmental noise characteristics to obtain purified sound signals.

[0107] Purifying the sound signal refers to removing interference components corresponding to environmental noise characteristics from a real-time sound signal using signal processing algorithms, resulting in a sound signal that only reflects the operating status of the micro motor itself. Signal processing algorithms are common knowledge in this field and will not be elaborated upon here.

[0108] S24: Compare the purified sound signal with the reference sound signal to determine whether there is any sound abnormality in the micro motor.

[0109] This step is the same as S12 above, and will not be repeated here. After completing this step, S13 to S15 above must be executed.

[0110] It also includes the following steps:

[0111] S30: Collects motor vibration information during the operation of the micro motor.

[0112] Motor vibration information refers to the vibration data of the motor body collected by vibration sensors when the micro motor is running.

[0113] S31: Obtain vibration characteristic parameters based on motor vibration information.

[0114] Vibration characteristic parameters refer to key parameters used to quantify vibration state, including peak ground acceleration, effective value of vibration displacement, and vibration frequency spectrum peaks. These vibration characteristic parameters are directly extracted from the collected motor vibration information after signal processing such as time-domain analysis and frequency-domain analysis. These signal processing methods are common knowledge in the field and will not be elaborated upon here.

[0115] S32: Obtain the vibration sound characteristics based on the vibration characteristic parameters.

[0116] Vibration sound characteristics refer to the acoustic signature characteristics corresponding to the sound directly generated by motor vibration. Vibration sound characteristics are calculated by substituting vibration characteristic parameters into a preset vibration sound mapping model. This model is used to describe the quantitative correspondence between vibration characteristic parameters and corresponding acoustic signature characteristics. The vibration sound mapping model is constructed by those skilled in the art through the collection and analysis of vibration data and synchronously generated sound data of different models of micro motors, establishing the correlation between vibration characteristic parameters and vibration sound characteristics, and is periodically calibrated and optimized through new experimental data.

[0117] S33: Calculate the matching degree between the purified sound signal and the vibration sound characteristics to obtain the sound matching degree.

[0118] Sound matching degree refers to the degree of similarity between the purified sound signal and the vibration sound characteristics. The sound matching degree is obtained by quantizing and comparing the spectral data of the purified sound signal and the vibration sound characteristics using the cosine similarity algorithm. The cosine similarity algorithm is common knowledge in this field and will not be elaborated here.

[0119] S34: When the sound matching degree is not less than the preset matching degree threshold, it is determined that the abnormal sound is caused by the vibration of the motor alone, and the pressing is performed by the preset vibration pressing method.

[0120] The matching degree threshold is a critical value used to determine whether an abnormal sound is caused solely by motor vibration. The matching degree threshold is preset by those skilled in the art and will not be elaborated here.

[0121] The vibration pressing method refers to a treatment method that suppresses or alleviates vibration in situations where vibration alone causes abnormal sounds by applying pressure to specific parts of the motor through a controlled pressing device. Specific details of the vibration pressing method will be explained in S40 to S44 later, and will not be repeated here.

[0122] When the sound matching degree is not less than the matching degree threshold, it means that the similarity between the purified sound signal and the vibration sound characteristics has reached the critical standard. That is, the main acoustic features of the abnormal sound are highly consistent with the sound features directly generated by the motor vibration. It can be determined that the cause of the abnormal sound is only the motor vibration, and there are no other abnormal sound sources caused by non-vibration factors. The motor needs to be pressed by vibration pressing method.

[0123] The vibration pressing method includes the following steps:

[0124] S40: Combine the specific abnormal location and motor model to determine the pressing position.

[0125] The pressing position refers to the specific part of the tablet pressing device where pressure needs to be applied. The pressing position is obtained by looking up a preset abnormal pressing reference table. This table records the specific parts of the tablet pressing device where pressure needs to be applied for different specific abnormal positions and different motor models. The abnormal pressing reference table is formed by those skilled in the art by associating and matching different specific abnormal positions of various models of micro motors with pressing positions that have been experimentally verified to effectively suppress vibration and alleviate abnormalities, and then uniformly recording and storing them. It will not be elaborated on here.

[0126] S41: Control the preset tablet pressing device to move to the pressing position and press.

[0127] The tablet pressing device is a specialized actuator designed to handle abnormalities in a micro motor. Once the pressing position is determined, the tablet pressing device needs to be controlled to move towards the pressing position and apply pressure to suppress motor vibration.

[0128] S42: After the preset pressing time, collect the purification sound signal and motor vibration information of the motor operation again.

[0129] The pressing time refers to the duration for which the tablet compressor applies pressure to the pressing position. The pressing time is preset by those skilled in the art and will not be elaborated here.

[0130] After pressing for the specified duration, it is necessary to collect the purification sound signal and motor vibration information again for subsequent steps.

[0131] S43: If the purified sound signal matches the normal characteristics when compared with the reference sound signal, and the vibration characteristic parameters are within the preset normal vibration range, then the verification is deemed successful.

[0132] The normal vibration range refers to the reasonable range of vibration characteristic parameters of a motor of the same model as the motor under test during normal operation. The normal vibration range is set in advance by those skilled in the art and will not be elaborated here.

[0133] If the re-collected purification sound signal matches the reference sound signal and conforms to normal characteristics (compared with the reference sound signal of the same model of motor under fault-free and rated operating conditions, the differences in the core quantitative indicators are within the preset normal range (the specific range is set in advance by those skilled in the art and will not be elaborated here)), and the vibration characteristic parameters are within the normal vibration range, it indicates that the pressing is effective, i.e. the verification is passed.

[0134] S44: If any comparison result does not conform to normal characteristics or the vibration characteristic parameters exceed the preset normal vibration range, the pressing operation and verification process are repeated until the verification is passed or the preset maximum number of attempts is reached, and the final verification result is recorded.

[0135] The maximum number of attempts refers to the maximum number of repetitions of the vibration pressing operation preset to avoid damage to the motor due to excessive pressing. If the test fails after reaching this number of attempts, pressing is stopped and the failure result is recorded. The maximum number of attempts is preset by those skilled in the art and will not be elaborated here.

[0136] If, when comparing the re-acquired purified sound signal with the reference sound signal, at least one of the core dimensions such as spectral characteristics and time-domain parameters exceeds the preset normal range, the comparison result is considered to be inconsistent with normal characteristics. If, among the re-detected vibration characteristic parameters, at least one parameter value exceeds the normal vibration range under normal operating conditions of this model of motor, the vibration characteristic parameter is considered to be outside the preset normal vibration range. If any of the above situations occur, it indicates that the current pressing process has not effectively resolved the motor malfunction. The pressing operation and verification steps must be repeated according to the procedure until the verification is passed or the maximum number of attempts is reached, and the final verification result is recorded.

[0137] It also includes the following steps:

[0138] S50: When the sound matching degree is less than the preset matching degree threshold, the abnormal voiceprint features are refined based on the purified sound signal.

[0139] Refining abnormal soundprint features refers to the process of further decomposing and analyzing the purified sound signal to obtain more detailed abnormal soundprint features when the sound matching degree is less than the matching degree threshold. This process involves first using frequency band spectrum refinement technology to extract fine parameters such as energy distribution, frequency offset, and harmonic component ratio for each sub-segment; then capturing the instantaneous fluctuation characteristics of the signal using short-time Fourier transform; finally, comparing these fine parameters with a pre-set non-vibration abnormal soundprint feature library (containing soundprint templates for typical non-vibration abnormalities such as foreign object friction, component loosening, and winding noise) to select core parameters with high correlation to the abnormality, thus forming the refined abnormal soundprint features. The frequency sub-segment division criteria, the instantaneous feature extraction threshold, and the comparison rules with the feature library are determined by those skilled in the art through extensive experimental analysis of sound data from non-vibration abnormalities of different motor models, and are periodically calibrated and optimized based on newly added abnormal case data.

[0140] When the sound matching degree is less than the matching degree threshold, it means that the similarity between the purified sound signal and the vibration sound characteristics has not reached the critical standard. There is a significant difference between the two in the core voiceprint dimension. It is necessary to obtain the refined abnormal voiceprint characteristics first for subsequent steps.

[0141] S51: Retrieve typical fault soundprint features from the preset fault soundprint database based on the current motor number.

[0142] Typical fault acoustic signatures refer to the standard acoustic signatures of common faults in micro motors that are pre-stored in the fault acoustic signature database. These signatures are obtained by having skilled personnel collect acoustic signature signals from various micro motor models under rated operating conditions using sound acquisition equipment of the same specifications when typical faults occur. After noise reduction, spectrum optimization, and feature standardization, the obtained standard acoustic signatures are associated and matched with the corresponding motor model and fault type, and stored uniformly to form a fault acoustic signature database. Then, combined with the current motor number, typical fault acoustic signatures that are completely consistent with the current motor model are retrieved from this database. The fault acoustic signature database is periodically calibrated and updated by adding actual typical fault case data of different motor models to ensure the adaptability of the retrieved typical fault acoustic signatures to actual fault scenarios; this will not be elaborated upon further.

[0143] S52: Compare the refined abnormal voiceprint features with the typical fault voiceprint features to determine the specific fault type.

[0144] Specific fault types refer to the actual types of faults existing in the micro motor. By quantitatively comparing refined abnormal acoustic signature features with typical fault acoustic signature features across multiple dimensions (such as spectral distribution range, characteristic frequency peaks, harmonic component proportions, instantaneous fluctuation patterns, etc.) using methods like dynamic time warping algorithms and spectral cosine similarity calculations, when the similarity between a typical fault acoustic signature feature and a refined abnormal acoustic signature feature reaches a preset matching threshold, the fault type corresponding to that typical fault acoustic signature feature is determined as the specific fault type. If multiple typical fault acoustic signature features reach the matching threshold, the fault type with the highest similarity is selected as the result. The weight allocation for multi-dimensional comparison, the similarity calculation algorithm, and the matching threshold are set by those skilled in the art after extensive experimental verification using actual fault case data from different motor models, and are periodically calibrated and optimized in conjunction with newly added fault types and feature data.

[0145] S53: Match the corresponding special handling method according to the specific fault type and the specific abnormal location.

[0146] Specialized handling methods refer to fault handling methods tailored to specific fault types and locations of anomalies. Specific specialized handling methods will be detailed in subsequent sections S60 to S66 and S70 to S76, and will not be elaborated upon here.

[0147] The specific handling methods are obtained by querying a pre-set fault handling comparison table. This table records the targeted fault handling methods corresponding to different specific fault types and different specific abnormal locations. The fault handling comparison table is formed by those skilled in the art by associating and matching different specific fault types and specific abnormal locations of various models of micro motors with specific handling strategies that have been verified by experiments to effectively solve the corresponding faults, and then uniformly recording and storing them. It will not be elaborated here.

[0148] S54: Control the preset actuator to perform operations according to the special handling method, and simultaneously report the fault type and handling progress prompts.

[0149] Once a specific handling method is obtained, the corresponding execution mechanism must be controlled to perform the operation according to the specific handling method in order to complete the fault handling. At the same time, the fault type and handling progress should be reported simultaneously.

[0150] Specific fault types include rotor eccentricity and foreign object jamming. The specific handling method for rotor eccentricity includes the following steps:

[0151] S60: Extracts low-frequency humming frequency based on refined abnormal soundprint features and collects real-time motor speed.

[0152] Rotor eccentricity refers to a fault condition in which the geometric center of the rotor does not coincide with the geometric center of the stator when the micro motor is running. This results in uneven gaps between the rotor and the stator during operation, leading to low-frequency humming and increased vibration.

[0153] Foreign object jamming refers to a fault state in which foreign objects such as dust, metal shavings, and fibers enter the interior of a micro motor and get stuck between the rotor and stator, in the rotor transmission path, or in the heat dissipation air duct, causing the motor to stall and produce intermittent abnormal noises.

[0154] Low-frequency humming refers to the frequency value of the low-frequency abnormal sound produced by the motor when a rotor eccentricity fault occurs.

[0155] The low-frequency humming frequency is obtained by extracting the low-frequency band (the range of the low-frequency band is set by those skilled in the art based on the typical acoustic frequency characteristics of rotor eccentricity fault) from the refined abnormal acoustic characteristics. The method of extracting the low-frequency band by spectral peak analysis is common knowledge in the art and will not be described in detail here.

[0156] The real-time speed of a motor refers to the actual number of revolutions per minute of the rotor of a micro motor under its current operating conditions. The real-time speed of a motor is obtained in real time through a speed sensor.

[0157] When the specific fault type is rotor eccentricity, it is necessary to first obtain the low-frequency humming frequency and collect the real-time motor speed for subsequent steps.

[0158] S61: Calculate the eccentricity coefficient by combining the low-frequency humming frequency and the real-time speed of the motor.

[0159] The eccentricity coefficient is a parameter used to quantify the degree of rotor eccentricity.

[0160] The eccentricity coefficient is calculated by the ratio of the low-frequency humming frequency to the real-time speed of the motor.

[0161] S62: When the eccentricity coefficient exceeds the preset coefficient threshold, the standard clearance range between the rotor and stator is obtained by using the specific abnormal location and motor model.

[0162] The coefficient threshold is a critical value used to determine whether rotor eccentricity needs adjustment. The coefficient threshold is set in advance by those skilled in the art and will not be elaborated here.

[0163] The standard clearance range refers to the reasonable clearance range that should be maintained between the rotor and stator when designing a micro motor.

[0164] The standard clearance range is obtained by looking up a preset abnormal clearance reference table. This table records the reasonable design clearance range between the rotor and stator corresponding to different specific abnormal locations (such as different axial / radial regions such as the front end, middle, and rear end of the rotor) and different motor models. This reference table is established by those skilled in the art based on the design drawings and process standards of each model of micro motor, after accurately associating and matching the rotor-stator clearance design parameters (i.e., standard clearance range) corresponding to different specific abnormal locations with the motor model and specific abnormal location. This will not be elaborated here.

[0165] S63: Control the preset laser displacement sensor to perform multi-point detection of the rotor radial direction to obtain the rotor offset direction and rotor offset amount, and determine whether the rotor offset amount exceeds the standard gap range.

[0166] The rotor offset direction refers to the direction of deviation of the rotor center from the stator center, determined by multi-point detection using a laser displacement sensor.

[0167] Rotor offset refers to the actual deviation distance between the rotor center and the stator center, which is detected by a laser displacement sensor.

[0168] Multi-point detection using laser displacement sensors is common knowledge in this field and will not be elaborated upon here.

[0169] By determining whether the rotor offset exceeds the standard clearance range, we can ascertain the actual severity of the current rotor eccentricity and whether targeted clearance adjustment is necessary.

[0170] S64: If the rotor offset exceeds the standard clearance range, generate rotor adjustment parameters based on the rotor offset direction, rotor offset, and standard clearance range.

[0171] Rotor adjustment parameters refer to the parameters used to control the piezoelectric adjustment component, including the adjustment direction and adjustment amplitude. The rotor adjustment parameters are obtained by determining the opposite adjustment direction based on the rotor offset direction. The adjustment amplitude is calculated by combining the difference between the rotor offset and the standard gap range, i.e., adjustment amplitude = rotor offset - (upper limit of standard gap range - midpoint of standard gap range), ensuring that the rotor offset falls within the standard gap range after adjustment. Finally, the rotor adjustment parameters are obtained by combining the adjustment direction and adjustment amplitude.

[0172] If the rotor offset exceeds the standard clearance range, it means that the actual deviation distance of the rotor center from the stator center has exceeded the reasonable clearance range (i.e., the standard clearance range) in the motor design. The rotor adjustment parameters need to be obtained for subsequent steps.

[0173] S65: Control the preset piezoelectric adjustment component to adjust the rotor support structure with rotor adjustment parameters, and update the rotor offset after adjustment.

[0174] Piezoelectric adjustment components are parts used to fine-tune the position of the rotor support structure of a micro motor. They can achieve high-precision position adjustment based on rotor adjustment parameters to correct rotor eccentricity.

[0175] The piezoelectric adjustment component is controlled to adjust the rotor support structure with rotor adjustment parameters, and the rotor offset is collected again after adjustment for subsequent steps.

[0176] S66: If the updated rotor offset falls back to the standard clearance range and the low-frequency humming characteristic disappears, the adjustment is deemed effective.

[0177] If the updated rotor offset falls back to the standard clearance range and the low-frequency humming characteristic disappears, it indicates that the abnormality has disappeared, and the adjustment can be judged to be effective.

[0178] The specific treatment method for foreign objects stuck in the throat includes the following steps:

[0179] S70: Identify abnormal noise characteristic parameters by refining abnormal soundprint features.

[0180] Abnormal noise characteristic parameters refer to the quantitative parameters of abnormal sounds when a foreign object is stuck, including the frequency, amplitude, and interval of the abnormal noise. The abnormal noise characteristic parameters are obtained by first locating the high-frequency pulse band generated by foreign object friction and stuckness from the refined frequency spectrum of the abnormal acoustic signature (this frequency band is preset by those skilled in the art based on the typical acoustic signature characteristics of a foreign object stuck fault), extracting the continuously occurring characteristic frequency value within this band as the abnormal noise frequency; then, using a peak detection algorithm, capturing the intermittent amplitude peaks caused by foreign object stuckness in the refined features, recording the peak size and corresponding signal intensity as the abnormal noise amplitude; finally, based on the time-frequency spectrum obtained by short-time Fourier transform, statistically analyzing the time interval between two adjacent abnormal noise signals, taking the average of multiple intervals as the abnormal noise occurrence interval, and combining these to obtain the abnormal noise characteristic parameters.

[0181] The preset range, peak detection threshold, and parameter verification standards for the high-frequency pulse band were determined by technicians through a large amount of foreign object entrapment fault test data, and will not be elaborated here.

[0182] When the specific fault type is foreign object stuck, it is necessary to obtain the abnormal noise characteristic parameters first for subsequent steps.

[0183] S71: Combine abnormal noise characteristic parameters and sound acquisition location information to determine the area where the foreign object is stuck.

[0184] The foreign object stuck area refers to the approximate area inside the micro motor where a foreign object is located. The foreign object stuck area is initially spatially located based on sound acquisition location information (i.e., the installation positions of multiple distributed sound sensors, and the intensity and propagation attenuation of the abnormal noise signals collected by each sensor). The closer the foreign object is to a particular sensor, the larger the amplitude of the abnormal noise received by that sensor and the weaker the frequency attenuation, thus pinpointing the approximate location of the foreign object. Then, abnormal noise characteristic parameters (such as the abnormal noise frequency corresponding to the type of foreign object friction, the peak amplitude reflecting the intensity of the stuck noise, and the intervals indicating the stuck noise pattern) are compared with the typical abnormal noise characteristics corresponding to each area summarized by those skilled in the art through numerous simulation experiments (covering different types of foreign objects and different stuck locations). (For example, when a foreign object is stuck in the gap between the rotor and stator, the abnormal noise is mostly high-frequency pulses with amplitude fluctuating with the rotational speed; when a foreign object is stuck in the transmission gear set, the abnormal noise frequency is in a fixed proportion to the gear rotational speed). When the actual acquired location signal and abnormal noise characteristic parameters match the typical characteristic rules of a certain area to a preset threshold, that area is considered the foreign object stuck area. The corresponding rules for typical abnormal noise characteristics in each region, the judgment criteria for directional signal attenuation, and the matching threshold were all determined by summarizing the test data of foreign objects stuck in different types of motors, and will not be elaborated here.

[0185] S72: Based on the motor model, obtain the regional structural characteristics of the area where the foreign object is stuck.

[0186] Regional structural characteristics refer to the structural properties of the area where a foreign object is stuck.

[0187] The regional structural features are obtained by looking up a pre-set model structure lookup table. This table pre-records the specific structural attributes of each region under different motor models, including the region's geometric dimensions, material properties, component assembly methods, and key structural details. This lookup table is established by those skilled in the art based on the design drawings, process documents, and actual disassembly observations of each motor model, by associating and matching the motor model, region, and corresponding structural features one by one; details will not be elaborated here.

[0188] S73: Based on the regional structural characteristics, determine whether the area where the foreign object is stuck is connected to the preset heat dissipation air duct.

[0189] A heat dissipation duct is a channel structure designed on a micro motor to guide airflow for heat dissipation.

[0190] Once the structural characteristics of the region are obtained, it is necessary to determine whether the structural characteristics of the region contain physical channels that are directly or indirectly connected to the heat dissipation duct, so as to know whether the cooling fans in the heat dissipation duct can be used to help remove foreign objects.

[0191] S74: If a foreign object gets stuck in the area connected to the heat dissipation duct, control the motor's own preset cooling fan to switch to the preset high-frequency operation mode, and use the enhanced airflow to blow away the foreign object.

[0192] A cooling fan is a fan component that is integrated into a micro motor and is used to drive airflow through a cooling duct.

[0193] High-frequency operation mode refers to a special operating state of the cooling fan, in which the speed is significantly higher than the normal operating speed, generating a stronger airflow to blow away foreign objects stuck in the cooling air duct. The high-frequency operation mode is preset by those skilled in the art and will not be described in detail here.

[0194] If a foreign object gets stuck in the area connected to the cooling air duct, the motor's own cooling fan needs to be switched to a high-frequency operation mode to use the enhanced airflow to blow away the foreign object.

[0195] S75: If the area where the foreign object is stuck is not connected to the heat dissipation air duct, determine whether the area where the foreign object is stuck is close to the rotor drive path.

[0196] If the area where the foreign object is stuck is not connected to the heat dissipation airflow, the foreign object cannot be removed by driving the cooling fan. It is necessary to first determine whether the area where the foreign object is stuck is close to the rotor transmission path for subsequent steps.

[0197] S76: If a foreign object is stuck in an area close to the rotor drive path, the motor's preset drive module will perform a short-term reverse rotation. The inertial force generated by the reverse rotation of the rotor will loosen the foreign object and remove it.

[0198] The drive module is the core electronic module that controls the rotation of the micro motor rotor. It can output drive signals in different directions and at different speeds to realize the forward and reverse rotation of the motor and speed regulation. The drive module is preset by those skilled in the art and will not be described in detail here.

[0199] If the foreign object is stuck in an area close to the rotor drive path, the motor's own drive module can be controlled to perform a short-term reverse rotation. This will loosen the foreign object through the inertial force generated by the reverse rotation of the rotor, thereby removing the foreign object.

[0200] It also includes methods for adjusting the blowing angle:

[0201] S80: Combines sound acquisition location information, specific abnormal location, and foreign object stuck area to determine the precise location of foreign objects in the heat dissipation air duct.

[0202] Precise foreign object location refers to the precise position of the foreign object within a heat dissipation duct when the area where the foreign object is stuck is the same as the area where the duct is used for heat dissipation.

[0203] The precise location of the foreign object is determined by first analyzing the differences in intensity and propagation delay of the abnormal noise signals collected by multiple distributed sound sensors based on the sound location information. The closer the foreign object is to a particular sensor within the cooling duct, the higher the intensity of the abnormal noise received by that sensor and the shorter the signal propagation delay. Based on this, the approximate radial range of the foreign object within the duct is initially determined. Then, combined with the already determined specific anomaly location, the local area of ​​the duct where the foreign object is located is further narrowed down. Finally, by referring to a preset duct structure mapping table (which records the segmentation of the cooling duct for different motor models, the structural details of each segment (such as the position of the guide plate, the diameter of the aperture, and the angle of the bend) and the corresponding spatial coordinate range, this table is obtained by those skilled in the art based on the cooling duct design drawings and three-dimensional structural models corresponding to the motor models, extracting the above segmentation, structural details, and spatial coordinate information, and then correcting the deviation between the design and the actual object through prototype disassembly and actual measurement), the range locked by the sound location is matched with the duct segment corresponding to the specific anomaly location. Finally, the precise coordinates of the foreign object within that segment are determined, thus obtaining the precise location of the foreign object.

[0204] S81: Obtain the angle adjustment range and relative position parameters based on the motor model, and retrieve airflow simulation data based on the motor model.

[0205] The angle adjustment range refers to the range of angles within which the airflow direction of the micro motor cooling fan can be adjusted. The angle adjustment range is obtained by looking up a preset model range lookup table. This table records the adjustable angle range of the cooling fan design corresponding to different motor models. These data are determined by those skilled in the art based on the parameters of the fan drive structure in the motor cooling system design drawings, and will not be elaborated here.

[0206] Relative position parameters refer to the spatial relative position data between the cooling fan and the area where the foreign object is stuck. These parameters are obtained from a model-specific relative position parameter table. This table, for different motor models, pre-records the installation coordinates of the cooling fan, the coordinates of various airflow areas where the foreign object may get stuck, and the spatial distance and azimuth angle between them. The data originates from the coordinate analysis of the motor's three-dimensional structural design model, and will not be elaborated upon here.

[0207] Airflow simulation data refers to the velocity and pressure distribution of airflow within the cooling duct under different blowing angles of a cooling fan, simulated in advance using fluid simulation software. This airflow simulation data is obtained by retrieving a pre-set airflow simulation dataset associated with the motor model. This data is generated during the motor design phase by engineers using fluid simulation software to simulate and calculate the airflow within the duct at different fan angles, producing datasets containing velocity and pressure field distributions, and stored categorized by motor model. During actual retrieval, the system directly matches and loads the corresponding airflow simulation data based on the current motor model.

[0208] S82: Determine the initial target blowing angle based on the precise location of the foreign object, the angle adjustment range, the relative position parameters, and the airflow simulation data.

[0209] The initial target airflow angle refers to the direction and angle of the airflow from the cooling fan. The initial target airflow angle is determined by first clarifying the spatial relationship between the cooling fan and the precise location of the foreign object based on relative position parameters, thus initially locking in the range of airflow angles that can cover the area where the foreign object is located. Next, airflow simulation data is retrieved to filter candidate angles within this range that allow the airflow to form a high velocity and suitable pressure at the precise location of the foreign object. Then, considering the angle adjustment range, candidate angles exceeding the fan's adjustable range are eliminated, retaining angles that meet physical adjustment limitations. Finally, the remaining angles are fine-tuned to determine the angle that allows the airflow to precisely act on the precise location of the foreign object within the angle adjustment range; this is the initial target airflow angle.

[0210] S83: Controls the cooling fan to blow air at the initial target airflow angle, and fine-tunes the angle using a preset airflow fine-tuning method.

[0211] The airflow fine-tuning method refers to a method that, while the fan is blowing at the initial target airflow angle, gradually adjusts the airflow angle by combining real-time collected airflow data and abnormal noise signals to improve the efficiency of airflow in blowing away foreign objects. The specific airflow fine-tuning method will be explained in detail in S90 to S96, and will not be repeated here.

[0212] Control the cooling fan to blow air at the initial target angle, and fine-tune the angle using a fine-tuning method to better remove foreign objects.

[0213] The method for fine-tuning the blower includes the following steps:

[0214] S90: Collects real-time airflow velocity distribution data and real-time abnormal noise signals.

[0215] Real-time airflow velocity distribution data refers to the real-time airflow velocity data at different locations within the heat dissipation duct collected by airflow sensors during the airflow fine-tuning process. It can reflect the coverage and intensity of the airflow under the current airflow angle.

[0216] Real-time abnormal noise signals refer to the abnormal sound signals generated by foreign objects getting stuck during the air blower fine-tuning process. These signals are collected in real-time by distributed sound sensors installed around the cooling duct of the micro motor.

[0217] S91: The efficiency of airflow action is obtained based on real-time airflow velocity distribution data and airflow simulation data.

[0218] Airflow efficiency refers to the effective degree to which the actual airflow effectively scavenges foreign objects at the current blowing angle. Airflow efficiency is determined by extracting the actual airflow velocity value and airflow coverage area at the precise location of the foreign object from real-time airflow velocity distribution data; simultaneously, it is obtained from airflow simulation data, showing the theoretical airflow velocity value and theoretical coverage area at the corresponding blowing angle. The overall quantitative value obtained by calculating the ratio of actual velocity to theoretical velocity and the overlap between actual and theoretical coverage areas, and performing weighted calculations, is the airflow efficiency. The weights used in the weighted calculation are predetermined by those skilled in the art and will not be elaborated upon here.

[0219] S92: If the airflow efficiency is lower than the preset efficiency threshold, the spatial distribution characteristics of the abnormal noise are obtained based on the real-time abnormal noise signal.

[0220] The efficiency threshold is a critical value used to determine whether the efficiency of airflow meets the standard. The efficiency threshold is set in advance by those skilled in the art and will not be elaborated here.

[0221] The spatial distribution characteristics of abnormal noise refer to the intensity distribution of real-time abnormal noise signals at different spatial locations within the cooling air duct during the airflow fine-tuning process. This is achieved by using distributed sound sensors installed at different spatial points around the cooling air duct. During the airflow fine-tuning phase, when the airflow efficiency is below a threshold, the sensors simultaneously collect real-time abnormal noise signals and record the spatial coordinates of each sensor. The intensity of the abnormal noise signals collected by each sensor is then correlated with their corresponding spatial coordinates to form a spatial intensity correspondence table. Finally, by analyzing this correspondence, the spatial coordinates corresponding to the sensor with the highest abnormal noise intensity (i.e., the abnormal noise peak point) are first located to initially pinpoint the approximate location of the foreign object. Then, the decay trend of the abnormal noise intensity in different directions around the peak point is observed to further narrow down the range of the foreign object. Finally, the deviation between the abnormal noise peak point and the theoretical airflow area is determined by combining the current airflow direction, clarifying the intensity differences of the abnormal noise at different spatial locations within the air duct. This yields the spatial distribution characteristics of the abnormal noise, reflecting the current spatial location of the foreign object and its state under the influence of airflow.

[0222] S93: Based on the spatial distribution characteristics of abnormal noises, the location of the strongest abnormal noise is obtained.

[0223] The strongest direction of the abnormal noise refers to the direction in which the abnormal noise intensity is greatest. The strongest direction of the abnormal noise is determined by extracting the abnormal noise intensity value corresponding to each spatial point from the acquired spatial distribution characteristics of the abnormal noise, and then filtering out the spatial point with the highest abnormal noise intensity. The direction corresponding to this point is the strongest direction of the abnormal noise.

[0224] S94: Combines the location of the strongest abnormal noise with the angle adjustment range to set the angle for single fine-tuning.

[0225] A single fine-tuning angle refers to the magnitude of each adjustment to the cooling fan's airflow angle. This angle is obtained by querying a preset angle fine-tuning table. The table records angle difference categories (the deviation range between the current cooling fan's airflow angle and the location of the strongest abnormal noise), the compatibility judgment of the angle difference with the angle adjustment range (i.e., whether the angle difference is within the angle adjustment range of the corresponding motor model), and the corresponding single fine-tuning angle magnitude for each suitable scenario. It also indicates the core basis for different magnitude settings (e.g., small adjustments for small angle differences to avoid overshoot, and slightly larger adjustments for larger angle differences to quickly reduce deviation). To query, simply calculate the angle difference between the current airflow angle and the location of the strongest abnormal noise, confirm it is within the angle adjustment range, and then directly query the corresponding single fine-tuning angle from the table according to the category of the angle difference. The angle fine-tuning table is constructed by those skilled in the art based on the angle adjustment range of the motor cooling fan, the deviation characteristics between the strongest abnormal noise location and the current blowing angle, the actual operating characteristics of the motor and air duct, and the debugging experience of similar scenarios in the past. It classifies the angle difference, the matching and adaptability judgment criteria, and the corresponding single fine-tuning range, which will not be elaborated here.

[0226] S95: Controls the cooling fan to fine-tune the angle of the strongest abnormal noise in a single adjustment, and after the fine adjustment, re-collects real-time airflow speed distribution data and real-time abnormal noise signal, and updates the airflow efficiency.

[0227] The cooling fan is controlled to make a single fine-tuning adjustment of the angle towards the direction of the strongest abnormal noise. After the fine-tuning, real-time airflow speed distribution data and real-time abnormal noise signal are re-acquired. The airflow efficiency is updated based on the re-acquired real-time airflow speed distribution data and real-time abnormal noise signal (see S91 for details) for subsequent steps.

[0228] S96: If the updated airflow efficiency is still lower than the preset efficiency threshold, control the cooling fan again to fine-tune the single-set angle towards the direction of the strongest abnormal noise until the airflow efficiency reaches the preset efficiency threshold or the angle is fine-tuned to the boundary of the angle adjustment range.

[0229] If the updated airflow efficiency is still lower than the efficiency threshold, the cooling fan needs to be controlled again to fine-tune the angle by adjusting the angle once in the direction of the strongest abnormal noise. Repeat steps S91 to S96 until the airflow efficiency reaches the efficiency threshold or the angle is fine-tuned to the boundary of the angle adjustment range.

[0230] Optional, a method for detecting foreign matter residue after blowing air is also included:

[0231] S97: After the blowing is completed, the control motor runs forward for a short time at the preset detection speed, and the forward resistance value of the motor during forward rotation is collected.

[0232] The detection speed refers to the speed at which the motor briefly rotates forward after blowing air to detect any remaining foreign matter. The detection speed is preset by those skilled in the art and will not be elaborated upon here.

[0233] The forward rotation resistance value refers to the resistance value of the motor when it rotates forward at the detected speed. The forward rotation resistance value is obtained through a resistance sensor.

[0234] After the air blowing is completed, the motor needs to be controlled to run in forward rotation for a short time to detect any foreign matter residue. At the same time, the forward rotation resistance value of the motor needs to be collected for subsequent steps.

[0235] S970: When the forward resistance value is greater than the preset detection resistance value, the motor is controlled to switch to the preset detection reverse mode to perform reverse detection and collect the reverse resistance value.

[0236] The detection resistance value refers to the pre-set critical resistance value used to determine whether there are foreign objects remaining in the motor. The detection resistance value is set in advance by those skilled in the art and will not be elaborated here.

[0237] The detection reverse mode refers to a preset reverse operation mode designed to further determine the characteristics of foreign object entanglement when the motor's forward rotation resistance exceeds the standard. It includes a fixed reverse speed, reverse duration, and start / stop logic, specifically designed to collect resistance data in the reverse direction. The detection reverse mode is preset by those skilled in the art and will not be elaborated upon here.

[0238] The reverse resistance value refers to the quantified resistance caused by residual foreign objects obstructing the motor in the reverse direction when it is running in reverse detection mode. The reverse resistance value is obtained through a resistance sensor.

[0239] When the forward rotation resistance value exceeds the detection resistance value, it is determined that there is foreign object residue. The motor must be switched to the reverse rotation detection mode to perform reverse rotation detection and collect the reverse rotation resistance value for subsequent steps.

[0240] S971: Combine the forward and reverse resistance values ​​to obtain the foreign object entanglement parameters.

[0241] Foreign object entanglement parameters refer to the core data set extracted by combining the forward and reverse resistance values ​​of the motor, which is used to quantitatively characterize the degree and direction of foreign object entanglement inside the motor.

[0242] The foreign object entanglement parameters are obtained by calculating and comparing the forward and reverse resistance values ​​with preset detection resistance values, and extracting key difference features. Specifically, these include "forward resistance exceeding the standard rate" ((forward resistance value - detection resistance value) / detection resistance value × 100%, if the forward resistance value is lower than the detection resistance value, it is taken as 0), "reverse resistance exceeding the standard rate" (calculated in the same logic as the forward resistance exceeding the standard rate), "forward and reverse resistance difference" (|forward resistance value - reverse resistance value|), and "forward and reverse resistance ratio" (forward resistance value / reverse resistance value, a ratio greater than 1 is taken to uniformly represent the directional difference). If there is resistance fluctuation during motor operation, "forward resistance fluctuation amplitude" and "reverse resistance fluctuation amplitude" (the difference between the maximum and minimum resistance values ​​in a certain direction) will also be included. These parameters together constitute a set of foreign object entanglement parameters, which accurately reflect the "severity" (e.g., the higher the exceedance rate, the heavier the entanglement) and "directional characteristics" (e.g., the larger the difference or ratio, the more prominent the entanglement in a certain direction). This provides a quantitative basis for subsequent matching of forward and reverse unwinding parameters. The calculation rules for each parameter are preset by those skilled in the art in combination with the motor model and the type of foreign object, and will not be elaborated here.

[0243] S972: Match forward and reverse unwinding parameters based on foreign object entanglement parameters.

[0244] Forward and reverse unwinding parameters refer to the forward and reverse operation parameters of the motor used to unwind foreign objects. The forward and reverse unwinding parameters are obtained by consulting a preset unwinding reference table. This table is preset by those skilled in the art based on the motor model, rated power, and different foreign object entanglement scenarios. The parameters specifically include forward and reverse rotation speeds (adapting to the degree of entanglement; the speed for light entanglement is lower than that for heavy entanglement to avoid excessive speed causing foreign objects to get stuck), forward and reverse switching frequency, duration of a single forward / reverse operation, and total number of forward and reverse cycles.

[0245] During matching, first determine the current foreign object entanglement parameters, and then directly retrieve the appropriate rotation speed, switching frequency, running time and number of cycles from the corresponding table to ensure that the parameters can specifically untangle different types of foreign objects.

[0246] S973: Auxiliary blowing parameters are determined based on forward and reverse rotation release parameters.

[0247] The auxiliary air blowing parameters refer to the operating parameters of the cooling fan when the motor rotates forward and backward to remove foreign objects. These parameters include the air blowing speed, air blowing angle, and air blowing duration. The airflow helps loosened foreign objects to detach from the motor.

[0248] The auxiliary air blowing parameters are obtained through a preset air blowing cancellation reference table. This reference table is designed by those skilled in the art based on the motor model, common foreign object types, and the core dimensions of the forward and reverse cancellation parameters. The table clearly marks the auxiliary air blowing parameters corresponding to different combinations of forward and reverse cancellation parameters. For example, when the forward and reverse cancellation parameters are "speed 800 r / min, switching frequency 2 times / second, total cycle 10 seconds", the reference table matches "air blowing speed 3 m / s, air blowing angle aligned with the motor air duct inlet, air blowing duration 10 seconds"; when the forward and reverse cancellation parameters are "speed 1000 r / min, switching frequency 3 times / second, total cycle 15 seconds", the reference table matches "air blowing speed 4 m / s, air blowing angle covering the rotor periphery area, air blowing duration 15 seconds".

[0249] In practical applications, you only need to look up the corresponding entry in the lookup table according to the determined forward and reverse rotation release parameters to directly obtain the appropriate auxiliary blowing parameters, ensuring that the airflow assistance is synchronized with the forward and reverse rotation operation of the motor and accurately adapts to the foreign object removal requirements.

[0250] S974: Controls the motor to rotate in both directions using forward and reverse rotation parameters, and simultaneously controls the cooling fan to blow air using auxiliary airflow parameters, thereby removing foreign objects from the motor.

[0251] The motor is controlled to rotate in both directions using forward and reverse parameters, while the cooling fan is controlled to blow air using auxiliary parameters. This allows the cooling fan to create a directional airflow impact on the area where foreign objects remain inside the motor while the motor is rotating in both directions, thereby removing the foreign objects from the motor.

[0252] Based on the same inventive concept, embodiments of the present invention provide a drive control system for a micro motor, comprising:

[0253] The data acquisition module is used to collect real-time sound signals, motor model, current motor number, motor vibration information, purification sound signals, real-time motor speed, real-time airflow speed distribution data, real-time abnormal noise signals, forward rotation resistance value, and reverse rotation resistance value.

[0254] A memory used to store a program that implements a drive control method for a micro motor;

[0255] The processor is used to load and execute programs stored in memory.

[0256] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A drive control method for a micro motor, characterized in that, include: Collect real-time sound signals and motor model during the operation of the micro motor; A reference sound signal is obtained based on the motor model; The real-time sound signal is compared with the reference sound signal to determine whether there is any sound abnormality in the micro motor; If an abnormal sound is detected, abnormal voiceprint features and sound acquisition location information are obtained based on the real-time sound signal. Combining abnormal voiceprint features with sound acquisition location information to pinpoint the specific location of the anomaly; Based on the specific location and characteristics of the abnormal voiceprint, an abnormality handling method is matched, and the preset actuator is controlled to perform the corresponding processing operation according to the abnormality handling method, while reporting the sound abnormality handling prompt. Also includes: Collect the current motor number; Match the motor's operating scenario based on the current motor number; Based on the motor's operating scenario, environmental noise characteristics are obtained; The purified sound signal is obtained by combining real-time sound signals with environmental noise characteristics; The purified sound signal is compared with the reference sound signal to determine whether there is any sound abnormality in the micro motor; Also includes: Collect motor vibration information during the operation of the micro motor; Vibration characteristic parameters are obtained based on motor vibration information; The vibration sound characteristics are obtained based on the vibration characteristic parameters; The matching degree between the purified sound signal and the vibration sound characteristics is calculated to obtain the sound matching degree; When the sound matching degree is not less than the preset matching degree threshold, it is determined that the abnormal sound is caused by the motor vibration alone, and the pressing is performed using the preset vibration pressing method. Also includes: When the sound matching degree is less than the preset matching degree threshold, the abnormal voiceprint features are obtained by purifying the sound signal. Based on the current motor number, retrieve typical fault soundprint features from the preset fault soundprint database; The refined abnormal voiceprint features are compared with the typical fault voiceprint features to determine the specific fault type. Match the corresponding specialized handling method according to the specific fault type and the specific location of the anomaly; The system controls the preset actuators to perform operations according to specific handling methods, and simultaneously reports the fault type and processing progress. The specific fault types include rotor eccentricity and foreign object jamming. Specifically, the treatment methods for rotor eccentricity include: The low-frequency humming frequency was extracted based on the refined abnormal soundprint features, and the real-time speed of the motor was collected. The eccentricity coefficient is calculated by combining the low-frequency humming frequency and the real-time speed of the motor. When the eccentricity coefficient exceeds the preset coefficient threshold, the standard clearance range between the rotor and stator is obtained by specifying the abnormal location and motor model. The preset laser displacement sensor is controlled to perform multi-point detection on the rotor radial direction to obtain the rotor offset direction and rotor offset amount, and to determine whether the rotor offset amount exceeds the standard gap range. If the rotor offset exceeds the standard clearance range, rotor adjustment parameters are generated based on the rotor offset direction, rotor offset amount, and standard clearance range. The preset piezoelectric adjustment components are controlled to adjust the rotor support structure with rotor adjustment parameters, and the rotor offset is updated after adjustment. If the updated rotor offset falls back to the standard clearance range and the low-frequency humming characteristic disappears, the adjustment is considered effective.

2. The driving control method for a micro motor according to claim 1, characterized in that, The vibration pressing method includes: The pressing position is determined by combining the specific location of the abnormality and the motor model. Control the preset tablet pressing device to move to the pressing position and press; After a preset pressing time, the purification sound signal and motor vibration information of the motor operation are collected again; If the purified sound signal matches the normal characteristics when compared with the reference sound signal, and the vibration characteristic parameters are within the preset normal vibration range, then the verification is deemed successful. If any comparison result does not conform to normal characteristics or the vibration characteristic parameters exceed the preset normal vibration range, the pressing operation and verification process are repeated until the verification is passed or the preset maximum number of attempts is reached, and the final verification result is recorded.

3. The drive control method for a micro motor according to claim 1, characterized in that, Specialized treatment methods for foreign objects stuck in the throat include: Abnormal sound signature parameters are identified by refining the abnormal sound signature features; By combining abnormal noise characteristic parameters and sound acquisition location information, the area where the foreign object is stuck can be determined; Based on the motor model, the regional structural characteristics of the area where the foreign object is stuck are obtained; Based on the regional structural characteristics, determine whether the area where the foreign object is stuck is connected to the preset heat dissipation air duct; If a foreign object gets stuck in the area connected to the heat dissipation duct, the motor's own preset cooling fan switches to a preset high-frequency operation mode to use enhanced airflow to blow away the foreign object. If the area where the foreign object is stuck is not connected to the heat dissipation air duct, determine whether the area where the foreign object is stuck is close to the rotor drive path. If a foreign object gets stuck in an area close to the rotor's transmission path, the motor's preset drive module will perform a short-term reverse rotation. The inertial force generated by the reverse rotation of the rotor will loosen the foreign object, thereby removing it.

4. The drive control method for a micro motor according to claim 3, characterized in that, It also includes methods for adjusting the blowing angle: By combining the sound location information, the specific location of the anomaly, and the area where the foreign object was stuck, the precise location of the foreign object in the heat dissipation air duct can be determined. The angle adjustment range and relative position parameters are obtained based on the motor model, and airflow simulation data are retrieved based on the motor model. The initial target blowing angle is determined based on the precise location of the foreign object, the angle adjustment range, the relative position parameters, and airflow simulation data. Control the cooling fan to blow air at the initial target airflow angle, and fine-tune the angle using a preset airflow fine-tuning method.

5. The drive control method for a micro motor according to claim 4, characterized in that, The air blowing fine-tuning method includes: Collect real-time airflow velocity distribution data and real-time abnormal noise signals; The efficiency of airflow action is obtained based on real-time airflow velocity distribution data and airflow simulation data. If the airflow efficiency is lower than the preset efficiency threshold, the spatial distribution characteristics of the abnormal noise are obtained based on the real-time abnormal noise signal. The location of the strongest abnormal noise is determined based on the spatial distribution characteristics of the abnormal noise. Combine the location of the strongest abnormal noise with the angle adjustment range to set the single fine-tuning angle; The cooling fan is controlled to make a single fine-tuning of the angle towards the direction of the strongest abnormal noise. After the fine-tuning, real-time airflow speed distribution data and real-time abnormal noise signal are collected again, and the airflow efficiency is updated. If the updated airflow efficiency is still lower than the preset efficiency threshold, the cooling fan will be controlled again to fine-tune the single-set angle towards the direction of the strongest abnormal noise until the airflow efficiency reaches the preset efficiency threshold or the angle is fine-tuned to the boundary of the angle adjustment range.

6. A drive control system for a micro motor, characterized in that, include: The acquisition module is used to acquire real-time audio signals and motor model information; A memory for storing a program that implements a drive control method for a micro motor as described in any one of claims 1 to 5; The processor is used to load and execute programs stored in memory.

Images