CN111617985B - Motor monomer searching method - Google Patents
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- CN111617985B CN111617985B CN202010496874.6A CN202010496874A CN111617985B CN 111617985 B CN111617985 B CN 111617985B CN 202010496874 A CN202010496874 A CN 202010496874A CN 111617985 B CN111617985 B CN 111617985B
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Abstract
The invention provides a motor monomer searching method which is characterized by comprising the following steps: providing a plurality of motor monomers at least comprising vibrators to form a first sample library; exciting a plurality of motor monomers of the first sample library to obtain a plurality of nonlinear parameter curves and linear parameter values; comparing the symmetry of the nonlinear parameter curves, and selecting a plurality of motor monomers with better symmetry to form a second sample library; linear parameter values of a plurality of motor monomers in the first sample library are arranged according to the numerical value, and a plurality of motor monomers with linear parameter values close to and in the middle are selected to form a third sample library; the motor single bodies with better symmetry and linear parameter values in the middle position of the sample library are screened out as the optimal motor through carrying out nonlinear parameter curve test on the plurality of motor single bodies, so that a touch effect or an excitation signal is designed on the basis of the optimal motor single bodies, and the optimal motor single bodies are better suitable for other motor single bodies of the same type.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of automatic control, in particular to an optimal motor monomer searching method.
[ background of the invention ]
With the development and popularization of various consumer electronic devices such as smart phones and smart wearing devices, the requirement of people on touch experience is increasing day by day. Currently, the main haptic feedback technology is achieved by providing a rich vibration sensation through a linear motor (LRA), so the vibration performance of the motor has a direct and large impact on the haptic experience.
The linear motor serves as a core providing device for the tactile feedback, and a high degree of consistency needs to be maintained among different motor units for the same tactile effect. However, in the process of designing the haptic effect and making the signal, the signal or the haptic effect can be designed for only one specific motor unit, and then the designed signal or the haptic effect is applied to different motor units, so that the haptic effect is applied in a large batch. Therefore, it is necessary to ensure the optimal characteristics of the motor units through a strict selection process among a plurality of motor units, so that the designed effects or signals can be better suitable for other units of the same type of motor.
Therefore, it is necessary to provide a strict and convenient method for searching for the optimal motor unit.
[ summary of the invention ]
The invention aims to provide a motor monomer searching method, and aims to solve the technical problem of how to provide a strict and convenient optimal motor monomer searching method.
The technical scheme of the invention is as follows: a motor monomer searching method comprises the following steps:
providing a plurality of motor monomers at least comprising vibrators to form a first sample library;
exciting a plurality of motor monomers of the first sample library to obtain a plurality of nonlinear parameter curves and linear parameter values;
comparing the symmetry of the nonlinear parameter curves, and selecting a plurality of motor monomers with better symmetry to form a second sample library;
linear parameter values of a plurality of motor monomers in the first sample library are arranged according to the numerical value, and a plurality of motor monomers with linear parameter values close to and in the middle are selected to form a third sample library;
selecting a plurality of motor monomers existing in the second sample library and the third sample library at the same time to form a fourth sample library, arranging linear parameter values of the plurality of motor monomers in the fourth sample library according to the numerical value, and selecting the motor monomer with the linear parameter value in the middle position as an optimal motor.
More preferably, the functional expression of the non-linear parametric curve is:
u represents the voltage of the motor cell, i represents the current through the motor cell, ReRepresenting the resistance of the motor, m representing the mass of the vibrator, b representing the electromagnetic force coefficient of the motor, k representing the spring stiffness coefficient of the motor, RmThe damping of the motor is shown, and x represents the vibrator displacement of the motor.
More preferably, the non-linear parametric curve comprises:
a first nonlinear curve corresponding to a function b (x) of the electromagnetic force coefficient b of the motor monomer on the vibrator displacement x;
a second non-linear curve corresponding to a function k (x) of the spring stiffness coefficient k of the motor monomer relative to the vibrator displacement x; and
damping coefficient R of motor unitmFunction R of vibrator displacement xm(x) A corresponding third non-linear curve.
More preferably, the expression of the function b (x) of the first non-linear curve is:
b(x)＝b0+b1x+b2x2+...+bnxn(ii) a Wherein the content of the first and second substances,
n represents any positive integer, b0～bnRepresenting a preset first curve coefficient.
More preferably, the expression of the function k (x) of the second non-linear curve is:
k(x)＝k0+k1x+k2x2+...+knxn(ii) a Wherein the content of the first and second substances,
n represents any positive integer, k0～knRepresenting a preset second curve coefficient.
More preferably, R of a function of said third non-linear curvem(x) The expression is as follows:
Rm(x)＝R0+R1x+R2x2+...+Rnxn(ii) a Wherein the content of the first and second substances,
n represents any positive integer, R0～RnRepresenting a preset third curve coefficient.
More preferably, the linear parameter values include:
a function b (x) corresponding to the first non-linear curve with respect to a first linear parameter value at which the vibrator displacement x is 0 mm;
a function k (x) corresponding to the second non-linear curve with respect to a second linear parameter value at which the vibrator displacement x is 0 mm; and
function R corresponding to third non-linear curvem(x) And a third linear parameter value when the vibrator displacement x is 0 mm.
Preferably, the symmetries of the first nonlinear curve, the second nonlinear curve and the third nonlinear curve of the plurality of motor monomers in the first sample library are respectively compared through an observation method, and a plurality of motor monomers which simultaneously satisfy the first nonlinear curve, the second nonlinear curve and the third nonlinear curve and have better symmetries are selected to form a second sample library.
Preferably, when the number of the motor monomers in the fourth sample library is zero, the symmetries of the first nonlinear curve, the second nonlinear curve and the third nonlinear curve of the plurality of motor monomers in the first sample library are compared through an observation method, and only a plurality of motor monomers with better symmetry of the second nonlinear curve are selected to form the second sample library.
Preferably, the linear parameter values of the plurality of motor monomers in the first sample library are arranged according to the numerical value, a plurality of linear parameter values with numerical values far larger/smaller than other numerical values are removed through an observation method, and then the motor monomers with the linear parameter values close to the middle position are selected to form a third sample library.
The invention has the beneficial effects that: the motor single bodies with better symmetry and linear parameter values in the middle position of the sample library are screened out as the optimal motor through carrying out nonlinear parameter curve test on the plurality of motor single bodies, so that a touch effect or an excitation signal is designed on the basis of the optimal motor single bodies, and the optimal motor single bodies are better suitable for other motor single bodies of the same type.
[ description of the drawings ]
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a first non-linear curve diagram according to an embodiment of the present invention;
FIG. 3 is a second non-linear curve according to an embodiment of the present invention;
FIG. 4 is a third non-linear plot of an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating acceleration comparison of a tool according to an embodiment of the present invention;
fig. 6 is a schematic view illustrating the acceleration test principle of the tool shown in fig. 5.
[ detailed description ] embodiments
The invention is further explained with reference to the drawings and the embodiments.
The invention provides a motor monomer searching method, which comprises the following steps of:
step S10: a plurality of motor monomers are provided to form a first sample library.
Preferably, the motor unit at least comprises a vibrator, the vibrator is used for generating vibration, the vibration can generate vibrator displacement, and various parameters of the motor can be calculated by collecting vibrator displacement data of the vibrator. In this embodiment, a plurality of motor monomers are randomly selected from a batch of qualified motor monomers produced in a factory to form a first sample library for screening out the optimal motor 10. The number of the motor units is specifically set according to actual conditions, and in this embodiment, the number of the motor units in the first sample bank is 30.
Step S20: exciting a plurality of motor monomers of the first sample library to obtain a plurality of nonlinear parameter curves and linear parameter values;
preferably, the plurality of motor monomers of the first sample library are excited respectively to generate a plurality of oscillator displacements, and a plurality of nonlinear parameter curves and linear parameter values are formed respectively, wherein each nonlinear parameter curve and each linear parameter value correspond to an oscillator displacement generated by one motor monomer.
More preferably, the functional expression of the non-linear parametric curve is:
u represents the voltage of the motor cell, i represents the current through the motor cell, ReRepresenting the resistance of the motor, m representing the mass of the vibrator, b representing the electromagnetic force coefficient of the motor, k representing the spring stiffness coefficient of the motor, RmThe damping of the motor is shown, and x represents the vibrator displacement of the motor.
More preferably, the non-linear parametric curve comprises: a first non-linear curve, a second non-linear curve and a third non-linear curve.
More preferably, the firstThe nonlinear curve corresponds to a function b (x) of the electromagnetic force coefficient b of the motor monomer relative to the vibrator displacement x, the second nonlinear curve corresponds to a function k (x) of the spring stiffness coefficient k of the motor monomer relative to the vibrator displacement x, and the third nonlinear curve corresponds to a damping coefficient R of the motor monomermFunction R of vibrator displacement xm(x) And correspondingly.
Preferably, the function b (x) of the first non-linear curve, the function k (x) of the second non-linear curve and the function R of the third non-linear curvem(x) Are respectively:
b(x)＝b0+b1x+b2x2+...+bnxn；
k(x)＝k0+k1x+k2x2+...+knxn；
Rm(x)＝R0+R1x+R2x2+...+Rnxn；
wherein n represents any positive integer, b0～bnRepresenting a predetermined first curve coefficient, k0～knRepresenting a predetermined second curve coefficient, R0～RnRepresenting a preset third curve coefficient.
Specifically, the preset first curve coefficient, the preset second curve coefficient and the preset third curve coefficient may be set according to actual conditions, and the motor voltage and the motor current may be calculated by a known algorithm, which is not described in detail in this embodiment.
More preferably, the linear parameter values include a first linear parameter value, a second linear parameter value, and a third linear parameter value.
More preferably, the first linear parameter value corresponds to a function b (x) of the first non-linear curve with respect to the oscillator displacement x of 0mm, the second linear parameter value corresponds to a function k (x) of the second non-linear curve with respect to the oscillator displacement x of 0mm, and the third linear parameter value corresponds to a function R of the third non-linear curvem(x) The value of the oscillator displacement x is 0 mm.
Step S30: comparing the symmetry of the nonlinear parameter curves by an observation method, and selecting a plurality of motor monomers with better symmetry to form a second sample library;
preferably, the symmetries of the first nonlinear curve, the second nonlinear curve and the third nonlinear curve of the plurality of motor monomers in the first sample library are respectively compared through an observation method, and a plurality of motor monomers which simultaneously satisfy the first nonlinear curve, the second nonlinear curve and the third nonlinear curve and have better symmetries are selected to form a second sample library.
Specifically, referring to fig. 2 to 4, the symmetry of the nonlinear curve parameter refers to, for example, a case where a function curve in fig. 2, 3, or 4 is matched with a corresponding vertical axis when the oscillator displacement x is 0 as a symmetry axis y, and the function curve is observed to be bilaterally symmetric about the symmetry axis y. Taking the first non-linear curve b (x) as an example, the symmetry of the first non-linear curve can be determined by calculating whether b (x) -b (-x) is close to zero. It is understood that the criterion of better symmetry can be specifically set according to actual conditions.
Preferably, when the total number of the plurality of motor cells extracted is small, it may occur that the number of motors of the second bank is small, so that it is difficult to screen out a suitable motor cell as the optimal motor 10 in the second bank. In order to solve the problem, when the number of the motor monomers in the fourth sample library is zero, that is, when the optimal motor 10 meeting the screening standard is not obtained, the symmetries of the first nonlinear curve, the second nonlinear curve and the third nonlinear curve of the plurality of motor monomers in the first sample library can be compared through an observation method, but only a plurality of motor monomers with better symmetry of the second nonlinear curve are selected to form the second sample library, so that the number of the motor monomers in the second sample library is increased, the probability of obtaining the optimal motor 10 is improved, and meanwhile, the motor monomers are ensured to meet the requirement of stiffness of a key parameter of spring coefficient.
Step S40: linear parameter values of a plurality of motor monomers in the first sample library are arranged according to the numerical value, and a plurality of motor monomers with linear parameter values close to and in the middle are selected to form a third sample library;
preferably, the linear parameter values of each motor monomer are different and generally distributed in a fluctuation range, and the embodiment selects a plurality of monomers in which the linear parameter values are more central in the fluctuation range; it should be noted that, if the linear parameter values of the plurality of motor units may deviate too far from most of other motor units, the motor units are regarded as abnormal motor units to be removed, then the linear parameter values of the other motor units in the first sample library are arranged according to the numerical value, and then the motor units with the linear parameter values close to and in the middle are selected to form a third sample library.
Step S50: selecting a plurality of motor monomers existing in the second sample library and the third sample library at the same time to form a fourth sample library, arranging linear parameter values of the plurality of motor monomers in the fourth sample library according to the numerical value, and selecting the motor monomer with the linear parameter value in the middle position as the optimal motor 10.
Preferably, a plurality of motor monomers which simultaneously satisfy the conditions of better non-linear parameter curve symmetry and more centered linear parameter values are selected from the second sample library and the third sample library, and the plurality of motor monomers form a fourth sample library. If the number of the motor monomers in the fourth sample library is equal to 1, taking the motor monomer as an optimal motor 10; if the number of the motor monomers in the fourth sample library is greater than 1, arranging the linear parameter values of the motor monomers in the fourth sample library according to the numerical value, and selecting the motor monomer with the linear parameter value in the middle position as the optimal motor 10.
Preferably, according to the method of the present embodiment, an optimal motor 10 is screened out, and the short signal effect is produced based on the optimal motor 10. Referring to fig. 6, the optimal motor 10 is disposed on the tool 20, the optimal motor 10 is electrically connected to the computer terminal 40, an acquisition card for converting digital signals into analog signals is integrated in the computer terminal 40, a power amplifier is disposed between the acquisition card and the optimal motor 10, the power amplifier is electrically connected to both ends of the optimal motor 10, and a shockproof sponge 30 is disposed at one end of the tool 20 away from the optimal motor 10. The method comprises the steps of outputting an excitation signal with a designed voltage value from a computer terminal 40 in a digital signal form, converting the excitation signal in the digital signal form into an analog signal through an acquisition card, amplifying the analog signal through a power amplifier, and loading the analog signal at two ends of an optimal motor 10, wherein the optimal motor 10 generates vibration under the action of the excitation signal, the vibration is transmitted to a tool 20, corresponding tool acceleration data can be measured by using an accelerometer, and the accelerometer is connected with the power amplifier, so that the tool acceleration data is input into the computer terminal 40 for observation and processing after passing through the power amplifier and the acquisition card. Referring to fig. 5, the tool acceleration of the optimal motor is shown as a solid line in the figure, after the signal is finished, the vibration amount is very small, residual vibration is almost avoided, the braking performance of the optimal motor is very good, the designed excitation signal is applied to other motor monomers of the same type, and the tool acceleration is shown as a dotted line in the figure, so that the good braking performance is still maintained.
Therefore, the motor single bodies with better symmetry and linear parameter values in the middle position of the sample library are screened out as the optimal motor 10 by carrying out nonlinear parameter curve test on the plurality of motor single bodies, so that the touch effect or the excitation signal is designed on the basis of the optimal motor single bodies, and the optimal motor single bodies are better suitable for other motor single bodies of the same type.
While the foregoing is directed to embodiments of the present invention, it will be understood by those skilled in the art that various changes may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A motor monomer searching method is characterized by comprising the following steps:
providing a plurality of motor monomers at least comprising vibrators to form a first sample library;
exciting a plurality of motor monomers of the first sample library to obtain a plurality of nonlinear parameter curves and linear parameter values;
comparing the symmetry of the nonlinear parameter curves, and selecting a plurality of motor monomers with better symmetry to form a second sample library;
linear parameter values of a plurality of motor monomers in the first sample library are arranged according to the numerical value, and a plurality of motor monomers with linear parameter values close to and in the middle are selected to form a third sample library;
selecting a plurality of motor monomers existing in the second sample library and the third sample library at the same time to form a fourth sample library, arranging linear parameter values of the plurality of motor monomers in the fourth sample library according to the numerical value, and selecting the motor monomer with the linear parameter value in the middle position as an optimal motor.
2. The motor cell searching method of claim 1, wherein the functional expression of the non-linear parameter curve is:
u represents the voltage of the motor cell, i represents the current through the motor cell, ReRepresenting the resistance of the motor, m representing the mass of the vibrator, b representing the electromagnetic force coefficient of the motor, k representing the spring stiffness coefficient of the motor, RmShowing the damping of the motor unit, x showing the vibrator displacement of the motor unit, LeRepresenting the inductance of the motor cell.
3. The motor cell searching method of claim 2, wherein the non-linear parameter curve comprises:
a first nonlinear curve corresponding to a function b (x) of the electromagnetic force coefficient b of the motor monomer on the vibrator displacement x;
a second non-linear curve corresponding to a function k (x) of the spring stiffness coefficient k of the motor monomer relative to the vibrator displacement x; and
damping coefficient R of motor unitmFunction R of vibrator displacement xm(x) Corresponding third non-linearityCurve line.
4. The motor cell searching method of claim 3, wherein the expression of the function b (x) of the first non-linear curve is:
b(x)＝b0+b1x+b2x2+...+bnxn(ii) a Wherein the content of the first and second substances,
n represents any positive integer, b0～bnRepresenting a preset first curve coefficient.
5. The motor cell searching method of claim 4, wherein the function k (x) of the second non-linear curve is expressed by:
k(x)＝k0+k1x+k2x2+...+knxn(ii) a Wherein the content of the first and second substances,
n represents any positive integer, k0～knRepresenting a preset second curve coefficient.
6. The motor cell search method of claim 5, wherein R of the function of the third non-linear curvem(x) The expression is as follows:
Rm(x)＝R0+R1x+R2x2+...+Rnxn(ii) a Wherein the content of the first and second substances,
n represents any positive integer, R0～RnRepresenting a preset third curve coefficient.
7. The motor cell searching method of claim 6, wherein the linear parameter values comprise:
a function b (x) corresponding to the first non-linear curve with respect to a first linear parameter value at which the vibrator displacement x is 0 mm;
a function k (x) corresponding to the second non-linear curve with respect to a second linear parameter value at which the vibrator displacement x is 0 mm; and
function R corresponding to third non-linear curvem(x) The first when the vibrator displacement x is 0mmTrilinear parameter values.
8. The method as claimed in claim 3, wherein the symmetries of the first, second and third non-linear curves of the plurality of motor cells in the first sample library are compared by observation, and a plurality of motor cells satisfying the first, second and third non-linear curves with better symmetries are selected to form the second sample library.
9. The method as claimed in claim 3, wherein when the number of the motor cells in the fourth sample library is zero, the symmetries of the first non-linear curve, the second non-linear curve and the third non-linear curve of the plurality of motor cells in the first sample library are compared by an observation method, and only a plurality of motor cells with better symmetry of the second non-linear curve are selected to form the second sample library.
10. The motor cell searching method according to any one of claims 1 or 9, wherein the linear parameter values of the plurality of motor cells in the first sample library are arranged according to numerical values, and by an observation method, a plurality of linear parameter values having numerical values far larger/smaller than other numerical values are removed, and then the motor cells having the linear parameter values close to the middle position are selected to form a third sample library.
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| CN104062585B (en) * | 2014-06-16 | 2016-09-28 | 北京控制工程研究所 | A kind of reliability verification method of hemisphere bearing dynamic pressure motor |
| CN107014480B (en) * | 2017-01-24 | 2019-09-13 | 瑞声科技(新加坡)有限公司 | Linear motor displacement amplitude detection method and detection device |
| CN209624738U (en) * | 2018-12-13 | 2019-11-12 | 四川安和精密电子电器股份有限公司 | A kind of vibrating motor low voltage starting automatic detection device |
| CN110031229B (en) * | 2018-12-30 | 2021-03-26 | 瑞声科技(新加坡)有限公司 | Motor bandwidth measuring method and device |
| WO2020258311A1 (en) * | 2019-06-28 | 2020-12-30 | 瑞声声学科技(深圳)有限公司 | Test method and device for nonlinear parameters of motor |
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