CN108365706A - The detection method and device of linear electric machine resonant frequency - Google Patents
The detection method and device of linear electric machine resonant frequency Download PDFInfo
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- CN108365706A CN108365706A CN201810078500.5A CN201810078500A CN108365706A CN 108365706 A CN108365706 A CN 108365706A CN 201810078500 A CN201810078500 A CN 201810078500A CN 108365706 A CN108365706 A CN 108365706A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
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Abstract
The present embodiments relate to Motor Control Fields, disclose a kind of detection method and device of linear electric machine resonant frequency.The detection method for the linear electric machine resonant frequency that the embodiment of the present invention is provided includes：S10. the drive signal of motor is given to add multifrequency noise；S20. it controls the motor to vibrate under plus the drive signal after the multifrequency noise, and detects the corresponding feature physical quantity of each frequency when the motor oscillating；S30. the maximum feature physical quantity that will be detected, corresponding frequency is as the resonant frequency.The embodiment of the invention also discloses a kind of detection devices of linear electric machine resonant frequency.The detection for the linear electric machine resonant frequency that the embodiment of the present invention is provided.
Description
Technical field
The present embodiments relate to Motor Control Field, more particularly to a kind of the detection method and dress of motor resonant frequency
It sets.
Background technology
Motor be in mobile device provide vibrational feedback basic original paper, generally include electric rotating machine, piezoelectric motor and
Linear electric machine etc..Wherein linear electric machine is small with its, long lifespan, the advantages that low in energy consumption and response time is fast, is providing and is answering
It is absolute advantageous with having in terms of program and the relevant haptic feedback functions of scene.The basic functional principle of linear electric machine is profit
The Ampere force that is subject in magnetic field with hot-wire coil drives vibrating mass to be vibrated.The resonant frequency of vibrating mass in linear electric machine
Equal to intrinsic frequency, i.e.,：When the frequency of drive signal is equal to the intrinsic frequency of motor, the vibration sense that motor generates is big, and vibration reaches
To best effect；And when the intrinsic frequency of the frequency of drive signal and motor is unequal, vibration sense can weaken very much.Therefore,
It needs to ensure that the frequency of drive signal is identical with the intrinsic frequency of linear electric machine.In actual use, as usage time lengthens
Or the change of use environment, the resonant frequency of linear electric machine can also change.
Inverse electromotive force (Back-EMF) caused by the movement of pendulum inside electric system is usually utilized in the prior art
Carry out the resonant frequency of detecting system.By the starting of oscillation and stopping of motor, the changing rule of BEMF is detected, obtain the letter of zero crossing
Breath, so that it is determined that the intrinsic frequency of motor.
Inventor has found that at least there are the following problems in the prior art：The prior art needs the starting of oscillation and stopping by motor
When, the information that detects determines the resonant frequency of motor, causes drive signal to have pause, when motor cannot make full use of driving
Between, service efficiency is low.
Invention content
Embodiment of the present invention is designed to provide a kind of detection method and device of linear electric machine resonant frequency, can be real
Making full use of for existing driving time, improves the service efficiency of motor.
In order to solve the above technical problems, embodiments of the present invention provide a kind of detection side of linear electric machine resonant frequency
Method includes the following steps：S10. the drive signal of motor is given to add multifrequency noise；S20. the motor is controlled plus described more
It is vibrated under drive signal after frequency noise, and detects the corresponding feature physical quantity of each frequency when the motor oscillating；It S30. will inspection
The maximum feature physical quantity measured, corresponding frequency is as the resonant frequency.
Embodiments of the present invention additionally provide a kind of detection device of linear electric machine resonant frequency, including：Signal processing
Module, control module, detection module, data processing module；The signal processing module is used to add to the drive signal of motor
Multifrequency noise；The control module is vibrated for controlling the motor under plus the drive signal after the multifrequency noise；Institute
Detection module is stated for detecting the corresponding feature physical quantity of each frequency when the motor oscillating；The data processing module is used for will
The maximum feature physical quantity detected, corresponding frequency is as the resonant frequency.
Embodiment of the present invention adds a multifrequency in terms of existing technologies, by the drive signal to motor script
Noise is no longer simple signal after adding multifrequency noise due to drive signal, but all important in each frequency, and motor is adding
The vibration under drive signal after upper multifrequency noise, actually a kind of multifrequency form, that is, have multiple frequencies while vibrating, each
Frequency has different feature physical quantitys, and when the frequency of drive signal is equal to the resonant frequency of motor, feature physical quantity is most
Greatly.Therefore, each frequency corresponding feature physical quantity when detecting motor oscillating, the maximum feature physical quantity that will be detected,
Corresponding frequency is as the resonant frequency.The resonant frequency of embodiment detection motor through the invention, does not need motor
Starting of oscillation and stopping repeatedly can making full use of driving time, improve the service efficiency of motor without pause in drive signal.
In addition, the feature physical quantity includes following one or arbitrary combination：Impedance magnitude, acceleration amplitude, displacement width
Value, velocity amplitude.
In addition, the multifrequency noise includes following one or arbitrary combination：It is full range signal, multiple-frequency signal, broadband signal, narrow
Band signal.
In addition, the intensity of the multifrequency noise is less than pre-determined threshold, it can so make added multifrequency noise energy smaller, no
The drive signal of motor script can be influenced, ensures that the vibration sense of motor is almost the same plus before and after multifrequency noise.
In addition, the frequency domain of the multifrequency noise includes at least three centre frequencies, to ensure the resonant frequency detected
Accuracy.
In addition, the detection method of the linear electric machine resonant frequency further includes：S40. more by the frequency of the drive signal
It is newly the resonant frequency, returns to the step S10, ensures that the increase with the motor oscillating time, the resonant frequency of motor become
It, also can resonant frequency described in real-time tracing when change.
Description of the drawings
Fig. 1 is the flow chart according to the detection method of the linear electric machine resonant frequency of first embodiment of the invention；
Fig. 2 is the time domain of signal A in the detection method according to the linear electric machine resonant frequency of first embodiment of the invention
Figure；
Fig. 3 is the frequency domain of signal A in the detection method according to the linear electric machine resonant frequency of first embodiment of the invention
Figure；
Fig. 4 is the time domain of signal B in the detection method according to the linear electric machine resonant frequency of first embodiment of the invention
Figure；
Fig. 5 is the frequency domain of signal B in the detection method according to the linear electric machine resonant frequency of first embodiment of the invention
Figure；
Fig. 6 is the flow chart according to the detection method of the linear electric machine resonant frequency of second embodiment of the invention；
Fig. 7 is the structural schematic diagram according to the detection device of the linear electric machine resonant frequency of third embodiment of the invention；
Fig. 8 is the structural schematic diagram according to the detection device of the linear electric machine resonant frequency of four embodiment of the invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Each embodiment be explained in detail.However, it will be understood by those skilled in the art that in each embodiment party of the present invention
In formula, many technical details are proposed in order to make reader more fully understand the present invention.But even if without these technical details
And various changes and modifications based on the following respective embodiments, it can also realize claimed technical solution of the invention.
The first embodiment of the present invention is related to a kind of detection methods of linear electric machine resonant frequency.The core of present embodiment
The heart is, multifrequency noise is added to the drive signal of motor；The motor is controlled plus the driving after the multifrequency noise to believe
It is vibrated under number, and detects the corresponding feature physical quantity of each frequency when the motor oscillating；The maximum feature that will be detected
Physical quantity, corresponding frequency is as the resonant frequency.Motor starting of oscillation and stopping are not needed when detecting the resonant frequency, electricity
Drive signal takes full advantage of driving time without pause when machine vibration, and service efficiency is high.
The realization details of the detection method of the linear electric machine resonant frequency of present embodiment is specifically described below,
The following contents only for convenience of the realization details provided is understood, not implements the necessary of this programme.
The detection method of present embodiment linear electric machine resonant frequency is as shown in Figure 1, specifically include：
Step 101：Multifrequency noise is added to the drive signal of motor.
Specifically, the multifrequency noise includes following one or arbitrary combination：Full range signal, multiple-frequency signal, broadband signal,
Narrow band signal makes the drive signal plus motor after multifrequency noise no longer be simple signal, but all important in each frequency.
In addition, the intensity of the multifrequency noise is less than pre-determined threshold, it can so make added multifrequency noise energy smaller, not interfere with electricity
The drive signal of machine script ensures that the vibration sense of motor is almost the same plus before and after multifrequency noise.It is understood that described more
The frequency domain of frequency noise includes at least three centre frequencies, to ensure the accuracy of the resonant frequency detected.
Step 102：When controlling motor to vibrate under plus the drive signal after the multifrequency noise, and detecting motor oscillating
The corresponding feature physical quantity of each frequency.
Specifically, the feature physical quantity includes following one or arbitrary combination：Impedance magnitude, acceleration amplitude, displacement
Amplitude, velocity amplitude；When the driving signal frequency of motor is equal to the resonant frequency of motor, feature physical quantity is maximum value.
Step 103：The maximum feature physical quantity that will be detected, resonance frequency of the corresponding frequency as motor
Rate.
When being equal to the resonant frequency of the motor due to the frequency of drive signal, the feature physical quantity of motor is equal to maximum
Value, therefore the frequency corresponding to the maximum feature physical quantity detected is the resonant frequency of motor.
Compared with prior art, a multifrequency noise is added by the drive signal to motor script, due to drive signal
In addition be no longer simple signal after multifrequency noise, but it is all important in each frequency, motor is plus the drive after multifrequency noise
Vibration under dynamic signal, actually a kind of multifrequency form have multiple frequencies while vibrating, each frequency has different spies
Physical quantity is levied, and when the frequency of drive signal is equal to the resonant frequency of motor, feature physical quantity is maximum.Therefore, motor is detected
The corresponding feature physical quantity of each frequency, the maximum feature physical quantity that will be detected, corresponding frequency conduct when vibration
The resonant frequency.The resonant frequency of embodiment detection motor through the invention, does not need motor starting of oscillation and stopping repeatedly, drives
Without pause in dynamic signal, driving time can be made full use of, the service efficiency of motor is improved.
By taking white noise as an example, it is assumed that the drive signal of script is the signal A that frequency is f, as shown in Figure 2 and Figure 3, in addition white
Drive signal after noise is signal B, as shown in Figure 4, Figure 5, due to plus white noise be broadband signal, signal B is each
Frequency is all important, is vibrated in the form of multifrequency by the motor of signal B drivings.Since added white noise energy is small, and motor exists
Under the driving of signal B, there are multiple frequencies to vibrate simultaneously, and the vibration sense at frequency f is most strong, and the vibration that user experiences is frequency f
Vibration, vibration sense when motor is driven with signal A and vibration sense when being driven with signal B are almost the same.Due to when drive signal
Frequency is equal to the resonant frequency f of motor0When, feature physical quantity is maximum, so under each frequency, the maximum value pair of feature physical quantity
The frequency answered, as the resonant frequency f of motor0。
Second embodiment of the present invention is related to a kind of detection method of linear electric machine resonant frequency.Second embodiment is
Being further improved for first embodiment, mainly thes improvement is that：In second embodiment of the invention, further include：By institute
The frequency for stating drive signal is updated to the resonant frequency, returns to the step that the drive signal to motor adds multifrequency noise
Suddenly.In addition, it will be understood by those skilled in the art that in the present embodiment, the feature physical quantity by taking impedance magnitude as an example into
Row illustrates, and only for convenience of the realization details provided is understood, not implements the necessary of this programme.It is linear in present embodiment
The detection method of motor resonant frequency is as shown in fig. 6, specifically include：
Step 201：Assuming that the frequency of the drive signal of motor is f, multifrequency noise is added to the drive signal of motor.
Step 202：Control motor vibrates under plus the drive signal after the multifrequency noise, and detects the motor and shake
Each frequency corresponding impedance magnitude when dynamic.
Step 203：The maximum impedance magnitude that will be detected, corresponding frequency is as the resonant frequency f0。
Step 204：Enable f=f0, return to step 101.
Step 201 is to step 203 in second embodiment of the invention, respectively with step 101 in first embodiment to 103
Roughly the same, to avoid repeating, details are not described herein.
Compared with prior art, the method for present embodiment detection resonant frequency does not need motor starting of oscillation and stopping repeatedly,
Without pause in drive signal, driving time can be made full use of, improves the service efficiency of motor.And motor is being obtained for the first time
Resonant frequency f0Afterwards, the frequency of drive signal is updated to resonant frequency, i.e.,：Enable f=f0, then repeat detection resonant frequency
Process ensures the increase with the motor oscillating time, and when the variation of resonant frequency of motor, can also resonate described in real-time tracing frequency
Rate, and the frequency of the drive signal is updated to the resonant frequency, to make motor always with resonant frequency vibration, to being
Regiment commander carrys out maximum vibration sense.
The step of various methods divide above, be intended merely to describe it is clear, when realization can be merged into a step or
Certain steps are split, multiple steps are decomposed into, as long as including identical logical relation, all in the protection domain of this patent
It is interior；To either adding inessential modification in algorithm in flow or introducing inessential design, but its algorithm is not changed
Core design with flow is all in the protection domain of the patent.
Third embodiment of the invention is related to a kind of detection device 300 of linear electric machine resonant frequency, as shown in fig. 7, packet
It includes：Signal processing module 301, control module 302, detection module 303, data processing module 304；
Signal processing module 301 is used to add multifrequency noise to the drive signal of motor；
Specifically, the intensity of the multifrequency noise is less than pre-determined threshold.
Control module 302 is vibrated for controlling the motor under plus the drive signal after the multifrequency noise；
Detection module 303 is for detecting the corresponding feature physical quantity of each frequency when the motor oscillating；
Specifically, the feature physical quantity includes following one or arbitrary combination：Impedance magnitude, acceleration amplitude, displacement
Amplitude, velocity amplitude.
The maximum feature physical quantity that data processing module 304 is used to detect, corresponding frequency is as institute
State resonant frequency.
It is not difficult to find that present embodiment is system embodiment corresponding with first embodiment, present embodiment can be with
First embodiment is worked in coordination implementation.The relevant technical details mentioned in first embodiment still have in the present embodiment
Effect, in order to reduce repetition, which is not described herein again.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in
In first embodiment.
The 4th embodiment of the present invention is related to a kind of detection device 400 of linear electric machine resonant frequency.4th embodiment party
Formula is being further improved for third embodiment, is mainly theed improvement is that：In four embodiment of the invention, such as Fig. 8 institutes
Show, in addition to including signal processing module 401, control module 402, detection module 403 except data processing module 404, also wraps
It includes：Frequency update module 405；Frequency update module 405 is used to the frequency of the drive signal being updated to the resonant frequency,
And trigger the signal processing module.
It is not difficult to find that present embodiment is system embodiment corresponding with second embodiment, present embodiment can be with
Second embodiment is worked in coordination implementation.The relevant technical details mentioned in second embodiment still have in the present embodiment
Effect, in order to reduce repetition, which is not described herein again.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in
In second embodiment.
It is noted that each module involved in present embodiment is logic module, and in practical applications, one
A logic unit can be a physical unit, can also be a part for a physical unit, can also be with multiple physics lists
The combination of member is realized.In addition, in order to protrude the innovative part of the present invention, it will not be with solution institute of the present invention in present embodiment
The technical issues of proposition, the less close unit of relationship introduced, but this does not indicate that there is no other single in present embodiment
Member.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention,
And in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of detection method of linear electric machine resonant frequency, which is characterized in that including：
S10. the drive signal of motor is given to add multifrequency noise；
When S20. controlling the motor to vibrate under plus the drive signal after the multifrequency noise, and detecting the motor oscillating
The corresponding feature physical quantity of each frequency；
S30. the maximum feature physical quantity that will be detected, corresponding frequency is as the resonant frequency.
2. the detection method of linear electric machine resonant frequency according to claim 1, which is characterized in that the feature physical quantity
Including following one or arbitrary combination：Impedance magnitude, acceleration amplitude, displacement amplitude, velocity amplitude.
3. the detection method of linear electric machine resonant frequency according to claim 1, which is characterized in that the multifrequency noise packet
Include following one or arbitrary combination：Full range signal, multiple-frequency signal, broadband signal, narrow band signal.
4. the detection method of linear electric machine resonant frequency according to claim 1, which is characterized in that the multifrequency noise
Intensity is less than pre-determined threshold.
5. the detection method of linear electric machine resonant frequency according to claim 1, which is characterized in that the multifrequency noise
Frequency domain includes at least three centre frequencies.
6. the detection method of linear electric machine resonant frequency according to any one of claim 1 to 5, which is characterized in that also
Including：
S40. the frequency of the drive signal is updated to the resonant frequency, returns to the step S10.
7. a kind of detection device of linear electric machine resonant frequency, which is characterized in that including：Signal processing module, control module, inspection
Survey module, data processing module；
The signal processing module is used to add multifrequency noise to the drive signal of motor；
The control module is vibrated for controlling the motor under plus the drive signal after the multifrequency noise；
The detection module is for detecting the corresponding feature physical quantity of each frequency when the motor oscillating；
The maximum feature physical quantity that the data processing module is used to detect, corresponding frequency is as described total
Vibration frequency.
8. the detection device of linear electric machine resonant frequency according to claim 7, which is characterized in that the feature physical quantity
Including following one or arbitrary combination：Impedance magnitude, acceleration amplitude, displacement amplitude, velocity amplitude.
9. the detection device of linear electric machine resonant frequency according to claim 7, which is characterized in that the multifrequency noise
Intensity is less than pre-determined threshold.
10. the detection device of the linear electric machine resonant frequency according to any one of claim 7 to 9, which is characterized in that also
Including：Frequency update module；
The frequency update module is used to the frequency of the drive signal being updated to the resonant frequency, and triggers the signal
Processing module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810078500.5A CN108365706B (en) | 2018-01-26 | 2018-01-26 | Method and device for detecting resonant frequency of linear motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810078500.5A CN108365706B (en) | 2018-01-26 | 2018-01-26 | Method and device for detecting resonant frequency of linear motor |
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| CN108365706B CN108365706B (en) | 2020-12-15 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110584979A (en) * | 2019-08-29 | 2019-12-20 | 泉州极简机器人科技有限公司 | Method and apparatus for vibrating a plurality of resonators |
| CN117439487A (en) * | 2023-12-21 | 2024-01-23 | 荣耀终端有限公司 | Electronic equipment, resonance frequency detection method and storage medium |
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| CN108365706B (en) | 2020-12-15 |
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