CN108365706B - Method and device for detecting resonant frequency of linear motor - Google Patents
Method and device for detecting resonant frequency of linear motor Download PDFInfo
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- CN108365706B CN108365706B CN201810078500.5A CN201810078500A CN108365706B CN 108365706 B CN108365706 B CN 108365706B CN 201810078500 A CN201810078500 A CN 201810078500A CN 108365706 B CN108365706 B CN 108365706B
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- 238000001514 detection method Methods 0.000 claims abstract description 11
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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 embodiment of the invention relates to the field of motor control, and discloses a method and a device for detecting the resonant frequency of a linear motor. The method for detecting the resonant frequency of the linear motor provided by the embodiment of the invention comprises the following steps: s10, adding multi-frequency noise to a driving signal of the motor; s20, controlling the motor to vibrate under the driving signal added with the multi-frequency noise, and detecting characteristic physical quantities corresponding to each frequency when the motor vibrates; and S30, taking the detected maximum characteristic physical quantity and the corresponding frequency as the resonance frequency. The embodiment of the invention also discloses a device for detecting the resonant frequency of the linear motor. The embodiment of the invention provides detection of the resonant frequency of the linear motor.
Description
Technical Field
The embodiment of the invention relates to the field of motor control, in particular to a method and a device for detecting the resonant frequency of a motor.
Background
The motor is a basic element for providing vibration feedback in a mobile device, and generally includes a rotary motor, a piezoelectric motor, a linear motor, and the like. Among them, the linear motor has advantages of small size, long life, low power consumption, and fast response time, and is absolutely advantageous in providing haptic feedback function related to application programs and scenes. The basic operating principle of the linear motor is that an ampere force applied to an electrified coil in a magnetic field is utilized to drive a vibrating block to vibrate. The resonant frequency of the vibrating mass in a linear motor is equal to the natural frequency, i.e.: when the frequency of the driving signal is equal to the natural frequency of the motor, the vibration sense generated by the motor is large, and the vibration achieves the best effect; when the frequency of the driving signal is not equal to the natural frequency of the motor, the vibration is much reduced. Therefore, it is necessary to ensure that the frequency of the drive signal is the same as the natural frequency of the linear motor. In practical use, as the use time is prolonged or the use environment is changed, the resonant frequency of the linear motor is changed.
The resonant frequency of the system is usually detected by using a Back-electromotive force (Back-EMF) generated by the movement of a vibrator inside the motor system in the prior art. And detecting the change rule of the BEMF through the starting and stopping of the motor to obtain the zero-crossing point information, thereby determining the natural frequency of the motor.
The inventor finds that at least the following problems exist in the prior art: in the prior art, when the motor starts vibrating and stops, the resonance frequency of the motor is determined according to detected information, so that the driving signal is stopped, the motor cannot fully utilize the driving time, and the use efficiency is low.
Disclosure of Invention
The invention aims to provide a method and a device for detecting the resonant frequency of a linear motor, which can fully utilize the driving time and improve the use efficiency of the motor.
In order to solve the above technical problem, an embodiment of the present invention provides a method for detecting a resonant frequency of a linear motor, including: s10, adding multi-frequency noise to a driving signal of the motor; s20, controlling the motor to vibrate under the driving signal added with the multi-frequency noise, and detecting characteristic physical quantities corresponding to each frequency when the motor vibrates; and S30, taking the detected maximum characteristic physical quantity and the corresponding frequency as the resonance frequency.
The embodiment of the present invention further provides a device for detecting a resonant frequency of a linear motor, including: the device comprises a signal processing module, a control module, a detection module and a data processing module; the signal processing module is used for adding multi-frequency noise to a driving signal of the motor; the control module is used for controlling the motor to vibrate under the driving signal added with the multi-frequency noise; the detection module is used for detecting characteristic physical quantities corresponding to all frequencies when the motor vibrates; the data processing module is used for taking the detected maximum characteristic physical quantity and the corresponding frequency as the resonance frequency.
Compared with the prior art, the embodiment of the invention adds the multi-frequency noise to the original driving signal of the motor, and because the driving signal is not a single-frequency signal after the multi-frequency noise is added, but has components at all frequencies, the vibration of the motor under the driving signal after the multi-frequency noise is added is actually a multi-frequency form, namely, a plurality of frequencies vibrate simultaneously, each frequency has different characteristic physical quantities, and when the frequency of the driving signal is equal to the resonance frequency of the motor, the characteristic physical quantity is maximum. Therefore, the characteristic physical quantity corresponding to each frequency when the motor vibrates is detected, and the frequency corresponding to the detected maximum characteristic physical quantity is taken as the resonance frequency. The resonance frequency of the motor is detected through the embodiment of the invention, the repeated starting and stopping of the motor are not needed, and the driving signal is not paused, so that the driving time can be fully utilized, and the use efficiency of the motor is improved.
In addition, the characteristic physical quantities include one or any combination of the following: impedance amplitude, acceleration amplitude, displacement amplitude and speed amplitude.
In addition, the multi-frequency noise includes one or any combination of the following: full frequency signals, multi-frequency signals, wideband signals, narrowband signals.
In addition, the intensity of the multi-frequency noise is smaller than a preset threshold, so that the energy of the added multi-frequency noise is smaller, the original driving signal of the motor cannot be influenced, and the vibration sense of the motor is almost the same before and after the multi-frequency noise is added.
In addition, the frequency domain of the multi-frequency noise includes at least three center frequencies to ensure the accuracy of the detected resonance frequency.
In addition, the method for detecting the resonant frequency of the linear motor further comprises the following steps: and S40, updating the frequency of the driving signal to the resonance frequency, returning to the step S10, and ensuring that the resonance frequency can be tracked in real time when the resonance frequency of the motor changes along with the increase of the vibration time of the motor.
Drawings
Fig. 1 is a flowchart of a method of detecting a resonant frequency of a linear motor according to a first embodiment of the present invention;
fig. 2 is a time domain diagram of a signal a in a method of detecting a resonant frequency of a linear motor according to a first embodiment of the present invention;
fig. 3 is a frequency domain diagram of a signal a in a method of detecting a resonant frequency of a linear motor according to a first embodiment of the present invention;
fig. 4 is a time domain diagram of a signal B in the method for detecting the resonant frequency of the linear motor according to the first embodiment of the present invention;
fig. 5 is a frequency domain diagram of a signal B in the method for detecting the resonant frequency of the linear motor according to the first embodiment of the present invention;
fig. 6 is a flowchart of a method of detecting a resonant frequency of a linear motor according to a second embodiment of the present invention;
fig. 7 is a schematic structural view of a device for detecting the resonant frequency of a linear motor according to a third embodiment of the present invention;
fig. 8 is a schematic structural diagram of a linear motor resonance frequency detection apparatus according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present invention in its various embodiments. However, the technical solution claimed in the present invention can be implemented without these technical details and various changes and modifications based on the following embodiments.
A first embodiment of the present invention relates to a method for detecting a resonance frequency of a linear motor. The core of the embodiment is that multi-frequency noise is added to a driving signal of a motor; controlling the motor to vibrate under the driving signal added with the multi-frequency noise, and detecting characteristic physical quantities corresponding to each frequency when the motor vibrates; and taking the frequency corresponding to the detected maximum characteristic physical quantity as the resonance frequency. The resonance frequency is detected without starting and stopping the motor, the driving signal is not paused when the motor vibrates, the driving time is fully utilized, and the use efficiency is high.
The following describes the implementation details of the method for detecting the resonant frequency of the linear motor in the present embodiment in detail, and the following is only provided for the convenience of understanding and is not necessary for implementing the present embodiment.
As shown in fig. 1, the method for detecting the resonant frequency of the linear motor according to the present embodiment specifically includes:
step 101: multi-frequency noise is added to a driving signal of the motor.
Specifically, the multi-frequency noise includes one or any combination of the following: full frequency signal, multifrequency signal, wide band signal, narrowband signal make the drive signal of motor after adding multifrequency noise no longer single-frequency signal, but have the component at each frequency. In addition, the intensity of multifrequency noise is less than predetermineeing the threshold, so can make the multifrequency noise energy that adds less, can not influence the original drive signal of motor, guarantees to add before and after the multifrequency noise, the vibration of motor feels almost the same. It is understood that the frequency domain of the multi-frequency noise includes at least three center frequencies to ensure the accuracy of the detected resonance frequency.
Step 102: and controlling the motor to vibrate under the driving signal added with the multi-frequency noise, and detecting the characteristic physical quantity corresponding to each frequency when the motor vibrates.
Specifically, the characteristic physical quantity includes one or any combination of the following: impedance amplitude, acceleration amplitude, displacement amplitude and speed amplitude; the characteristic physical quantity is a maximum value when the drive signal frequency of the motor is equal to the resonance frequency of the motor.
Step 103: and taking the corresponding frequency of the detected maximum characteristic physical quantity as the resonance frequency of the motor.
When the frequency of the driving signal is equal to the resonance frequency of the motor, the characteristic physical quantity of the motor is equal to the maximum value, and therefore the frequency corresponding to the detected maximum characteristic physical quantity is the resonance frequency of the motor.
Compared with the prior art, through adding a multifrequency noise to the original drive signal of motor, no longer be the single-frequency signal behind the drive signal plus multifrequency noise, but all have the component at each frequency, the vibration of motor under the drive signal behind the multifrequency noise, it is a multifrequency form in fact, have a plurality of frequencies to vibrate simultaneously promptly, every frequency all has different characteristic physical quantity, and when the frequency of drive signal equals the resonant frequency of motor, characteristic physical quantity is the biggest. Therefore, the characteristic physical quantity corresponding to each frequency when the motor vibrates is detected, and the frequency corresponding to the detected maximum characteristic physical quantity is taken as the resonance frequency. The resonance frequency of the motor is detected through the embodiment of the invention, the repeated starting and stopping of the motor are not needed, and the driving signal is not paused, so that the driving time can be fully utilized, and the use efficiency of the motor is improved.
Taking white noise as an example, assuming that the original driving signal is a signal a with a frequency f, as shown in fig. 2 and 3, and the driving signal added with white noise is a signal B, as shown in fig. 4 and 5, since the added white noise is a wide frequency signal, the signal B has components at each frequency, and the motor driven by the signal B vibrates in a multi-frequency manner. Because the added white noise energy is small, and the motor is driven by the signal B, a plurality of frequencies vibrate simultaneously, the vibration sense at the frequency f is strongest, the vibration experienced by a user is the vibration of the frequency f, and the vibration sense of the motor driven by the signal A is almost the same as the vibration sense of the motor driven by the signal B. Since when the frequency of the drive signal is equal to the resonant frequency f of the motor0The characteristic physical quantity is maximum, so that the frequency corresponding to the maximum value of the characteristic physical quantity at each frequency is the resonance frequency f of the motor0。
A second embodiment of the present invention relates to a method for detecting a resonance frequency of a linear motor. The second embodiment is a further improvement of the first embodiment, and the main improvements are as follows: in the second embodiment of the present invention, the method further includes: and updating the frequency of the driving signal to the resonance frequency, and returning to the step of adding the multi-frequency noise to the driving signal of the motor. In addition, it can be understood by those skilled in the art that the characteristic physical quantity in the present embodiment is specifically described by taking the impedance magnitude as an example, and the implementation details provided are only for convenience of understanding and are not necessary for implementing the present embodiment. As shown in fig. 6, the method for detecting the resonant frequency of the linear motor in the present embodiment specifically includes:
step 201: assuming that the frequency of the driving signal of the motor is f, multi-frequency noise is added to the driving signal of the motor.
Step 202: and controlling the motor to vibrate under the driving signal added with the multi-frequency noise, and detecting the impedance amplitude corresponding to each frequency when the motor vibrates.
Step 203: taking the detected maximum impedance amplitude and the corresponding frequency as the resonance frequency f0。
Step 204: let f be f0Returning to step 101.
Compared with the prior art, the method for detecting the resonance frequency does not need the repeated starting and stopping of the motor, does not have pause in the driving signal, can fully utilize the driving time, and improves the service efficiency of the motor. And the resonant frequency f of the motor is obtained for the first time0After that, the frequency of the drive signal is updated to the resonance frequency, i.e.: let f be f0And then, repeating the process of detecting the resonance frequency, ensuring that the resonance frequency of the motor can be tracked in real time when the resonance frequency changes along with the increase of the vibration time of the motor, and updating the frequency of the driving signal to the resonance frequency, so that the motor always vibrates at the resonance frequency, and the maximum vibration sense is brought to the system.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A third embodiment of the present invention relates to a linear motor resonance frequency detection device 300, as shown in fig. 7, including: a signal processing module 301, a control module 302, a detection module 303 and a data processing module 304;
the signal processing module 301 is configured to add multi-frequency noise to a driving signal of the motor;
specifically, the intensity of the multi-frequency noise is smaller than a preset threshold.
The control module 302 is configured to control the motor to vibrate under the driving signal added with the multi-frequency noise;
the detection module 303 is configured to detect characteristic physical quantities corresponding to frequencies when the motor vibrates;
specifically, the characteristic physical quantity includes one or any combination of the following: impedance amplitude, acceleration amplitude, displacement amplitude and speed amplitude.
The data processing module 304 is configured to use the detected maximum characteristic physical quantity and the corresponding frequency as the resonance frequency.
It should be understood that this embodiment is a system example corresponding to the first embodiment, and may be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
The fourth embodiment of the present invention relates to a linear motor resonance frequency detection device 400. The fourth embodiment is a further improvement of the third embodiment, and the main improvements are as follows: in the fourth embodiment of the present invention, as shown in fig. 8, in addition to the signal processing module 401, the control module 402, the detection module 403, and the data processing module 404, the present invention further includes: a frequency update module 405; the frequency updating module 405 is configured to update the frequency of the driving signal to the resonant frequency and trigger the signal processing module.
It should be understood that this embodiment is a system example corresponding to the second embodiment, and that this embodiment can be implemented in cooperation with the second embodiment. The related technical details mentioned in the second embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the second embodiment.
It should be noted that each module referred to in this embodiment is a logical module, and in practical applications, one logical unit may be one physical unit, may be a part of one physical unit, and may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that other elements are not present in the present embodiment.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (6)
1. A method for detecting the resonant frequency of a linear motor is characterized by comprising the following steps:
s10, adding multi-frequency noise to a driving signal of a motor;
s20, controlling the motor to vibrate under the driving signal added with the multi-frequency noise, and detecting characteristic physical quantities corresponding to each frequency when the motor vibrates;
s30, taking the detected maximum characteristic physical quantity and the corresponding frequency as the resonance frequency;
step S40, updating the frequency of the driving signal to the resonance frequency, and returning to the step S10;
and the intensity of the multi-frequency noise is smaller than a preset threshold.
2. The method of detecting the resonant frequency of the linear motor according to claim 1, wherein the characteristic physical quantity includes one or any combination of the following: impedance amplitude, acceleration amplitude, displacement amplitude and speed amplitude.
3. The method for detecting the resonant frequency of the linear motor according to claim 1, wherein the multi-frequency noise comprises one or any combination of the following: full frequency signals, multi-frequency signals, wideband signals, narrowband signals.
4. The method as claimed in claim 1, wherein the frequency domain of the multi-frequency noise includes at least three center frequencies.
5. A device for detecting a resonant frequency of a linear motor, comprising: the device comprises a signal processing module, a control module, a detection module, a data processing module and a frequency updating module;
the signal processing module is used for adding multi-frequency noise to a driving signal of the motor;
the control module is used for controlling the motor to vibrate under the driving signal added with the multi-frequency noise;
the detection module is used for detecting characteristic physical quantities corresponding to all frequencies when the motor vibrates;
the data processing module is used for taking the detected maximum characteristic physical quantity and the corresponding frequency as the resonance frequency;
the frequency updating module is used for updating the frequency of the driving signal to the resonance frequency and triggering the signal processing module;
and the intensity of the multi-frequency noise is smaller than a preset threshold.
6. The apparatus for detecting the resonant frequency of the linear motor according to claim 5, wherein the characteristic physical quantity comprises one or any combination of the following: impedance amplitude, acceleration amplitude, displacement amplitude and speed amplitude.
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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 |
| CN117439487B (en) * | 2023-12-21 | 2024-05-10 | 荣耀终端有限公司 | Electronic equipment, resonance frequency detection method and storage medium |
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| CN1267953A (en) * | 1999-03-23 | 2000-09-27 | 松下电器产业株式会社 | Driving control system for electric machine |
| CN102324880A (en) * | 2011-06-14 | 2012-01-18 | 合肥威师智能电子电器厂 | Method for detecting stochastic resonance of weak back electromotive force signal of brushless direct-current motor |
| CN206370787U (en) * | 2016-12-01 | 2017-08-01 | 山东科技大学 | One kind can automatic frequency adjustment piezoelectricity electromagnetism integration generating device |
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| JP2007020296A (en) * | 2005-07-07 | 2007-01-25 | Yaskawa Electric Corp | Vibration detector and detecting method |
| CN101257684A (en) * | 2008-01-11 | 2008-09-03 | 瑞声声学科技(常州)有限公司 | Drive signal |
| CN101672692B (en) * | 2009-10-14 | 2011-02-09 | 大连理工大学 | Tuning fork resonance frequency quick measuring method based on virtual instrument |
| CN103267570B (en) * | 2013-05-21 | 2016-01-20 | 中铁科工集团有限公司 | A kind of resonance crusher measures system and the application thereof of cement pavement resonant frequency |
| CN106443071B (en) * | 2016-09-20 | 2019-09-13 | 中国科学院上海微***与信息技术研究所 | The extracting method of the identifiable high-range acceleration transducer resonant frequency of noise |
| CN106772051A (en) * | 2017-03-13 | 2017-05-31 | 信利光电股份有限公司 | A kind of system and method for obtaining linear motor resonant frequency |
| CN107202631A (en) * | 2017-07-27 | 2017-09-26 | 信利光电股份有限公司 | A kind of method, system and the single-chip microcomputer of test vibration motor performance |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1267953A (en) * | 1999-03-23 | 2000-09-27 | 松下电器产业株式会社 | Driving control system for electric machine |
| CN102324880A (en) * | 2011-06-14 | 2012-01-18 | 合肥威师智能电子电器厂 | Method for detecting stochastic resonance of weak back electromotive force signal of brushless direct-current motor |
| CN206370787U (en) * | 2016-12-01 | 2017-08-01 | 山东科技大学 | One kind can automatic frequency adjustment piezoelectricity electromagnetism integration generating device |
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