CN113739686A - Vibration unit displacement detection method, state detection circuit, device, and medium - Google Patents
Vibration unit displacement detection method, state detection circuit, device, and medium Download PDFInfo
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Abstract
The invention discloses a vibration unit displacement detection method, a state detection circuit, equipment and a medium, and belongs to the technical field of linear motors. A vibration unit displacement detection method comprising: when a vibration unit of the linear motor vibrates, acquiring the current and the current voltage of the linear motor; obtaining a current speed of the vibration unit based on the current, the current voltage and model parameters of the linear motor; determining speed information of the vibration unit according to the current speed and the historical speed; and integrating the speed information of the vibration unit from the starting time of the previous half period to the current time to obtain the current displacement of the vibration unit, wherein the starting time of the previous half period is the time corresponding to the last speed extreme value. According to the method, the displacement of the vibration unit is obtained through voltage and current observation, the introduction of displacement detection assemblies such as displacement sensors is avoided, and the cost of the linear motor is reduced.
Description
Technical Field
The invention relates to the technical field of linear motors, in particular to a vibration unit displacement detection method, a state detection circuit, equipment and a medium.
Background
Linear motors (LRAs) have been widely used in various vibration applications of electronic devices due to their advantages of strong, rich, crisp, and low energy consumption.
The displacement of the vibration unit of the linear motor can be detected by the displacement detecting assembly, but the arrangement of the displacement detecting assembly in the linear motor results in complicated wiring inside the motor, reduced reliability, increased volume, weight and cost.
For this reason, a vibration unit displacement detection method is required to detect a displacement state of the vibration unit without using a detection displacement detection assembly.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a vibration unit displacement detection method, a state detection circuit, equipment and a medium, and aims to solve the technical problem that the linear motor structure is influenced when a displacement detection component is used by the linear motor.
In order to achieve the above object, in a first aspect, the present invention provides a method for detecting displacement of a vibration unit, the method comprising:
when a vibration unit of the linear motor vibrates, acquiring the current and the current voltage of the linear motor;
obtaining a current speed of the vibration unit based on the current, the current voltage and model parameters of the linear motor;
determining speed information of the vibration unit according to the current speed and the historical speed;
and integrating the speed information of the vibration unit from the starting time of the previous half period to the current time to obtain the current displacement of the vibration unit, wherein the starting time of the previous half period is the time corresponding to the last speed extreme value.
In one embodiment, after integrating the current speed and taking the integrated value of the current speed as the current displacement of the vibration unit, the method further comprises:
judging whether the current speed is a speed extreme value;
and if the current speed is the speed extreme value, clearing the integral value of the current speed, and determining the current displacement as the initial position.
In one embodiment, the determining whether the current speed is the speed limit value includes:
comparing the current speed with at least one first speed and at least one second speed respectively; the first speed is a speed corresponding to any time from the starting time of the first half period to the current time, the second speed is a speed corresponding to any time from the current time to the starting time of the second half period, and the starting time of the second half period is a time corresponding to the extreme value of the next speed;
and if the at least one first speed and the at least one second speed are both less than or equal to the current speed, or the at least one first speed and the at least one second speed are both greater than or equal to the current speed, determining the current speed as the speed extreme value.
In one embodiment, comparing the current speed with at least one first speed and at least one second speed, respectively, comprises:
comparing the current speed with a previous first speed corresponding to the previous moment and a next second speed corresponding to the next moment respectively;
if the at least one first speed and the at least one second speed are both less than or equal to the current speed, or the at least one first speed and the at least one second speed are both greater than or equal to the current speed, determining the current speed as a speed extremum, including:
and if the previous first speed and the next second speed are both less than or equal to the current speed, or the previous first speed and the next second speed are both greater than or equal to the current speed, determining the current speed as a speed extreme value.
In one embodiment, the linear motor is connected with the driving module, and the driving module provides driving voltage for the linear motor to drive the vibration unit to vibrate;
after the speed information of the vibration unit from the starting time of the previous half period to the current time is integrated to obtain the current displacement of the vibration unit, the method further comprises the following steps:
judging whether the absolute value of the current displacement is greater than or equal to a preset early warning displacement or not;
and if the absolute value is greater than or equal to the preset early warning displacement, sending an adjusting signal to the driving module so that the driving module responds to the adjusting signal to adjust the real-time driving voltage of the linear motor so as to reduce the maximum amplitude of the vibration unit in the current vibration period.
In one embodiment, the model parameters include direct current resistance and magnetic field strength;
obtaining a current speed of the vibration unit based on the current, the current voltage, and model parameters of the linear motor, including:
obtaining the current speed of the vibration unit based on the current, the current voltage, the direct current resistance, the magnetic field intensity and a preset formula; wherein, the preset formula is as follows:
where v is the current speed, i is the current, u is the current voltage, Bl is the magnetic field strength, and R is the dc resistance.
In a second aspect, the present invention further provides a state detection circuit, including:
the current detection module is connected with the linear motor to detect the current of the linear motor;
the voltage detection module is connected with the linear motor to detect the current voltage of the linear motor;
the processing module is respectively connected with the current detection module and the voltage detection module and is used for acquiring the current and the current voltage of the linear motor when the vibration unit of the linear motor vibrates; obtaining a current speed of the vibration unit based on the current, the current voltage and model parameters of the linear motor; determining speed information of the vibration unit according to the current speed and the historical speed; and integrating the speed information of the vibration unit from the starting time of the previous half period to the current time to obtain the current displacement of the vibration unit, wherein the starting time of the previous half period is the time corresponding to the last speed extreme value.
In one embodiment, the linear motor is connected with the driving module, and the driving module provides driving voltage for the linear motor to drive the vibration unit to vibrate;
the processing module is connected with the driving module;
the processing module is also used for judging whether the current displacement is greater than or equal to the preset early warning displacement; and if the current displacement is greater than or equal to the preset early warning displacement, sending an adjusting signal to the driving module so that the driving module responds to the adjusting signal to adjust the real-time driving voltage of the linear motor so as to reduce the maximum amplitude of the vibration unit in the current vibration period.
In a third aspect, the present invention further provides an electronic device, including:
a linear motor;
the driving module is connected with the linear motor and provides driving voltage for the linear motor so as to drive the vibration unit to vibrate; and
the state detection circuit described above.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a vibration unit state detection program is stored, the vibration unit state detection program, when executed by a processor, implementing the vibration unit displacement detection method as described above.
According to the method, the current voltage and the current of the linear motor are detected, the current speed of the vibration unit is calculated by combining model parameters of the linear motor, and the speed information is integrated to obtain the current displacement of the vibration unit. Therefore, the method obtains the displacement of the vibration unit through voltage and current observation, avoids introducing displacement detection assemblies such as a displacement sensor and the like, avoids the problems of complex wiring, reduced reliability, increased volume, weight and cost and the like caused by the installation of the displacement sensor, and reduces the cost of the linear motor.
Drawings
FIG. 1 is a schematic diagram of a first embodiment of a state detection circuit according to the present application;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a vibration unit displacement detection method according to the present application;
FIG. 3 is a schematic flow chart illustrating a second embodiment of a vibration unit displacement detection method according to the present application;
fig. 4 is a flowchart illustrating a third embodiment of a vibration unit displacement detection method according to the present application.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Linear motors (LRAs) have been widely used in various vibration applications of various consumer electronics devices due to their advantages of strong, rich, crisp, and low energy consumption. In order to achieve a sufficiently strong vibration feedback, the vibration unit, i.e. the vibrator, of the linear motor generally performs a displacement motion as large as possible in the motor housing, which easily causes the vibration unit to collide with the motor housing during the motion process, thereby causing structural damage of the linear motor and even causing failure of the motor.
In order to prevent the linear motor from colliding with the housing during the starting, braking, and other unexpected situations, a sufficient margin is usually additionally reserved on the basis of the corresponding maximum amplitude of the vibration unit in the rated working state, so that the volume of the linear motor is increased, and further, the mass and the cost are increased.
Alternatively, the displacement of the vibration unit of the linear motor may be detected by the displacement detecting assembly to control the vibration of the vibration unit, but providing the displacement detecting assembly in the linear motor may lead to complicated wiring inside the motor, reduced reliability, increased volume, weight, and cost.
Therefore, the displacement detection method of the vibration unit is provided, the displacement of the vibration unit is obtained through voltage and current observation, and the introduction of the displacement sensor is avoided, so that the problems of complex wiring, reduced reliability, increased size, weight and cost and the like caused by the installation of the displacement sensor are avoided, and the cost of the linear motor is reduced.
The inventive concept of the present application is further illustrated below with reference to some specific embodiments.
The embodiment of the present application provides a first embodiment of a state detection circuit. Referring to fig. 1, fig. 1 is a schematic structural diagram of a state detection circuit according to a first embodiment of the present application.
In this embodiment, the state detection circuit includes: the device comprises a current detection module, a voltage detection module and a processing module which is connected with the current detection module and the voltage detection module.
The current detection module is used for being connected with the linear motor to detect the current of the linear motor;
the voltage detection module is connected with the linear motor to detect the current voltage of the linear motor;
specifically, the linear motor includes a housing in which a vibration unit is disposed, the vibration unit being reciprocally vibrated in the housing by a driving voltage. The current detection module is connected with the linear motor in series, and the voltage detection module is connected with the linear motor in parallel.
The processing module comprises a first input end and a second input end, the first input end is connected with the current detection module, and the second input end is connected with the voltage detection module. Therefore, when the linear motor is in the running state, the current detection module detects the current of the linear motor and sends the current to the processing module for subsequent processing, and the voltage detection module detects the current voltage of the linear motor and sends the current voltage to the processing module for subsequent processing.
The processing module performs the following steps when the vibration unit of the linear motor vibrates:
when a vibration unit of a linear motor vibrates, acquiring the current and the current voltage of the linear motor;
obtaining a current speed of the vibration unit based on the current, the current voltage, and model parameters of the linear motor;
determining speed information of the vibration unit according to the current speed and the historical speed;
and integrating the speed information of the vibration unit from the starting time of the previous half period to the current time to obtain the current displacement of the vibration unit, wherein the starting time of the previous half period is the time corresponding to the last speed extreme value.
In an embodiment, the processing module is further configured to determine whether the current speed is a speed extreme value;
and if the current speed is the speed extreme value, clearing the integral value of the current speed, and determining the current displacement as the initial position.
In an embodiment, the processing module is further configured to compare the current speed with at least one first speed and at least one second speed, respectively; the first speed is a speed corresponding to any time from the starting time of the first half period to the current time, the second speed is a speed corresponding to any time from the current time to the starting time of the second half period, and the starting time of the second half period is a time corresponding to the next speed extreme value;
and if the at least one first speed and the at least one second speed are both less than or equal to the current speed, or the at least one first speed and the at least one second speed are both greater than or equal to the current speed, determining the current speed as the speed extreme value.
In one embodiment, the processing module is further configured to:
comparing the current speed with a previous first speed corresponding to the previous moment and a next second speed corresponding to the next moment respectively;
and if the previous first speed and the next second speed are both less than or equal to the current speed, or the previous first speed and the next second speed are both greater than or equal to the current speed, determining the current speed as a speed extreme value.
In one embodiment, the model parameters include direct current resistance and magnetic field strength;
the processing module is also used for obtaining the current speed of the vibration unit based on the current, the current voltage, the direct current resistance, the magnetic field intensity and a preset formula; wherein, the preset formula is as follows:
where v is the current speed, i is the current, u is the current voltage, Bl is the magnetic field strength, and R is the dc resistance.
In one embodiment, the linear motor is connected with the driving module, and the driving module provides driving voltage for the linear motor to drive the vibration unit to vibrate;
the processing module comprises an output end, and the output end is connected with the driving module.
The processing module is also used for judging whether the current displacement is greater than or equal to the preset early warning displacement;
and if the current displacement is greater than or equal to the preset early warning displacement, sending an adjusting signal to the driving module so that the driving module responds to the adjusting signal to adjust the real-time driving voltage of the linear motor so as to reduce the maximum amplitude of the vibration unit in the current vibration period.
In some embodiments, a power amplifier is further disposed between the driving module and the linear motor, and the power amplifier performs power matching on the driving voltage transmitted to the power amplifier by the driving module. The driving voltage may be an analog signal or a digital signal. The power amplifier may be a class a, B, AB, or D driver as is common in the art.
In addition, a first embodiment of the vibration unit displacement detection method is provided in the embodiments of the present application, referring to fig. 2, and fig. 2 is a schematic flow chart of the first embodiment of the vibration unit displacement detection method of the present application.
In this embodiment, the method includes the steps of:
step S101, when the vibration unit of the linear motor vibrates, acquiring the current and the current voltage of the linear motor.
The linear motor comprises a shell, wherein a vibration unit is arranged in the shell, and the vibration unit vibrates in the shell in a reciprocating mode under the action of driving voltage. When the linear motor is in an operating state, the current detection module connected with the linear motor in series can be used for detecting the current of the linear motor, and the current detection module is used for sending the detected current to the processing module. And the current voltage of the linear motor is detected by a voltage detection module which is connected with the linear motor in parallel, and the current voltage obtained by detection is sent to a processing module by the voltage detection module.
And S102, obtaining the current speed of the vibration unit based on the current, the current voltage and the model parameters of the linear motor.
In particular, in the case of single frequency drive applications, the vibration of the linear motor is a process in which electrical and kinematic variables interact, coupling with each other. The coil in the shell is driven by the driving voltage to form current, the ampere force generated by the current drives the vibration unit to move, and the counter potential generated by the movement of the vibration unit influences the current in turn, so that a speed and displacement expression of the linear motor under the voltage driving with constant amplitude and constant frequency can be analyzed by combining an electrical equation and a kinematic equation of the linear motor.
It can be understood that, according to the structural design of the motor, an electrical equation and a kinematic equation between the voltage and the current can be obtained:
u-iR＝Blv；
Bli＝ma+rv+kx。
wherein v is the current speed, i is the current, u is the current voltage, Bl is the magnetic field strength, R is the direct current resistance, m is the vibration unit mass, R is the damping coefficient, k is the spring stiffness coefficient, and x is the vibrator displacement; and a is the vibrator acceleration. For a linear motor, Bl, R, m, R, k, etc. are model parameters of the linear motor, and a mathematical model of the linear motor can be constructed based on the model parameters.
When the amplitude a of the rated working voltage of the linear motor and the angular frequency ω of the rated working voltage are both configured, the driving voltage can be expressed as a sinusoidal signal:
ud＝Asin(ωt)。
therefore, step S102 specifically includes:
obtaining the current speed of the vibration unit based on the current, the current voltage, the direct current resistance, the magnetic field intensity and a preset formula; wherein, the preset formula is as follows:
where v is the current speed, i is the current, u is the current voltage, Bl is the magnetic field strength, and R is the dc resistance.
After the processing module obtains the current and the current voltage, the current speed of the vibration unit can be calculated according to a preset formula.
It can be understood that, in the present embodiment, the vibration unit reciprocates along the length direction of the housing, and the speed of the vibration unit moving along the moving direction may be positive, and the speed of the vibration unit moving in the direction opposite to the moving direction may be negative.
And step S103, determining the speed information of the vibration unit according to the current speed and the historical speed.
The speed of the vibration unit at any moment in the vibration process can be obtained by calculating the current and voltage values corresponding to the moment, so that a speed-time curve graph, namely speed information, of the vibration unit can be constructed according to the time data and the historical speed data.
And step S104, integrating the speed information of the vibration unit from the starting time of the previous half period to the current time to obtain the current displacement of the vibration unit, wherein the starting time of the previous half period is the time corresponding to the last speed extreme value.
The speed extremes may include a maximum in speed for positive direction motion, i.e., a maximum in rate for positive direction motion, and a minimum in speed for negative direction motion, i.e., a maximum in rate for negative direction motion.
As can be appreciated, since the driving voltage for driving the vibration of the vibration unit is a sinusoidal signal:
ud＝Asin(ωt)。
at this time, the velocity expression v (t) and the displacement expression x (t) of the vibration unit are as follows:
wherein, ω is0Is the resonant angular frequency of the linear motor,
a22and b are both coefficients, wherein,
as can be seen from the velocity expression v (t) and the displacement expression x (t) of the vibration unit, the velocity of the vibration unit is advanced by the displacement 90 degrees in phase, so that when the velocity is at an extreme value, such as at a maximum or minimum value, the displacement is exactly at the 0 position, i.e., the initial position. It is worth mentioning that u is due todAsin (ω t), the speed will therefore have two extremes per drive voltage period.
Therefore, in this embodiment, the time corresponding to the upper speed extreme value in the speed-time graph, that is, the starting point of the first half-cycle starting time, that is, the time corresponding to the nearest peak or trough before the current time in the speed-time graph, may be the starting point, and at this time, the displacement of the vibration unit is 0. And constructing a target time period by taking the current time as an end point, and integrating the speed curve in the time period to obtain an integral value, wherein the integral value is the displacement of the vibration unit in the target time period.
It can be understood that, in the present embodiment, the vibration unit reciprocates along the length direction of the housing, and the displacement of the vibration unit moving along the moving direction may be positive, and the displacement of the vibration unit moving in the direction opposite to the moving direction may be negative. Therefore, in any vibration cycle, when the vibration unit moves to a speed of 0 for a positive direction, the amplitude and positive displacement of the vibration unit reach maximum values, and when the vibration unit starts to move in a negative direction, the amplitude and displacement start to decrease because the speed is negative. For the negative direction, when the speed is 0, the amplitude of the vibration unit reaches the maximum value, and the negative displacement reaches the minimum value, when the vibration unit moves to start moving in the positive direction, because the speed is positive, the amplitude starts to decrease, and the negative displacement starts to increase.
In this embodiment, the current voltage and the current of the linear motor are detected through the above steps, the current speed of the vibration unit is calculated by combining the model parameters of the linear motor, and then the speed information is integrated to obtain the current displacement of the vibration unit. Therefore, the method obtains the displacement of the vibration unit through voltage and current observation, avoids introducing a displacement sensor, avoids the problems of complex wiring, reduced reliability, increased volume, weight and cost and the like caused by the installation of the displacement sensor, and reduces the cost of the linear motor.
Based on the above embodiments, a second embodiment of the vibration unit displacement detection method of the present application is provided. Referring to fig. 3, fig. 3 is a schematic flow chart of a vibration unit displacement detection method according to a second embodiment of the present application.
In this embodiment, after step S104, the method further includes:
and step S105, judging whether the current speed is a speed extreme value.
Specifically, step S104 includes:
step A10, comparing the current speed with at least one first speed and at least one second speed respectively; the first speed is a speed corresponding to any time from the starting time of the first half period to the current time, the second speed is a speed corresponding to any time from the current time to the starting time of the second half period, and the starting time of the second half period is a time corresponding to the next speed extreme value;
specifically, for the speed-time profile, the first speed may be a speed corresponding to any one of the current time and a time corresponding to a peak or a trough of the speed profile that is the closest to the current time. The second speed is the speed corresponding to any time from the current time to the time corresponding to the nearest wave crest or wave trough in the speed curve after the current time. Namely, the speed of the current moment is compared with the speed corresponding to the moment around the current moment.
Step A20, determining the current speed as the speed extreme value if the at least one first speed and the at least one second speed are both less than or equal to the current speed, or the at least one first speed and the at least one second speed are both greater than or equal to the current speed.
At this time, the current speed at a certain moment is compared with at least one first speed corresponding to at least one moment before the certain moment and at least one second speed corresponding to at least one moment after the certain moment in numerical value, and if the at least one first speed and the at least one second speed are both less than or equal to the current speed, the current speed is the maximum speed value in the positive direction. When the at least one first speed and the at least one second speed are both greater than or equal to the current speed, the current speed is the minimum speed value in the negative direction.
In some embodiments, since the vibration unit has a fast vibration speed, in order to reduce the calculation amount and increase the calculation speed, step S105 includes:
step B10, comparing the current speed with the previous first speed corresponding to the previous moment and the next second speed corresponding to the next moment respectively;
and step B20, if the last first speed and the next second speed are both less than or equal to the current speed, or the last first speed and the next second speed are both greater than or equal to the current speed, determining the current speed as a speed extreme value.
At this time, the speeds at the consecutive 3 times are compared, and when the speed at the intermediate time is simultaneously less than or equal to the speeds at the two times adjacent to the front and the back, or when the speed at the intermediate time is simultaneously greater than or equal to the speeds at the two times adjacent to the front and the back, the speed at the intermediate time is determined to be an extreme value, and the intermediate time is recorded as the time at which the speed appears to be the extreme value.
And S106, if the current speed is the speed extreme value, clearing the integral value of the current speed, and determining the current displacement as the initial position.
As can be seen from the velocity expression v (t) and the displacement expression x (t) of the vibration unit, the velocity of the vibration unit is advanced by the displacement phase of 90 degrees, and thus the displacement is exactly at the 0 position when the velocity is at the maximum or minimum.
It is worth mentioning that u is due todAsin (t) so that in each drive voltage period, the speed will have two extremes, a maximum for positive direction motion, and a minimum for negative direction motion, and a maximum for negative direction motion.
Therefore, in the embodiment, by utilizing the characteristic that when the speed is at the maximum value or the minimum value, the displacement is just at the initial position, the integral is subjected to zero clearing calibration in each vibration period of the vibration unit, and then the integral is re-integrated on the basis of the zero clearing calibration, so that the problems of divergence and error accumulation caused by continuous integral are avoided, and the accuracy of displacement detection is improved.
Based on the above embodiments, a third embodiment of the vibration unit displacement detection method of the present application is provided. Referring to fig. 4, fig. 4 is a schematic flow chart of a third embodiment of the vibration unit displacement detection method of the present application.
In this embodiment, the linear motor is connected to the driving module, and the driving module provides a driving voltage for the linear motor to drive the vibration unit to vibrate. The processing module comprises an output end, and the output end is connected with the driving module.
In this embodiment, after step S104, the method further includes:
s107, judging whether the absolute value of the current displacement is larger than or equal to a preset early warning displacement;
and S108, if the absolute value is larger than or equal to the preset early warning displacement, sending an adjusting signal to the driving module so that the driving module responds to the adjusting signal to adjust the real-time driving voltage of the linear motor, so as to reduce the maximum amplitude of the vibration unit in the current vibration period.
It is understood that, in order to achieve a sufficiently strong vibration feedback, the vibration unit of the linear motor generally performs a displacement motion in the motor housing as much as possible, which easily causes the motor vibrator to collide with the motor housing during the motion process, thereby causing structural damage to the motor and even causing failure of the motor.
Therefore, when the absolute value of the current displacement of the vibration unit is detected to be greater than or equal to the preset early warning displacement, the current driving voltage u is useddAs Asin (ω t) continues to be driven, the vibration unit may collide with the housing when moving to the maximum displacement, that is, when the amplitude of the current vibration cycle is maximum. It is worth mentioning that the specific value of the pre-warning displacement may be determined according to the margin between the maximum amplitudes of the linear motor housing and the vibration unit.
In this embodiment, if the absolute value of the current displacement is greater than or equal to the preset early warning displacement, an adjustment signal is sent to the driving module, so that the driving module responds to the adjustment signal to adjust the real-time driving voltage of the linear motor, so as to reduce the maximum amplitude of the vibration unit in the current vibration period.
When driving voltage udWhen Asin (ω t) changes, the displacement of the corresponding vibration unit also changes, and therefore the drive voltage can be changed by changing the motor rated operating voltage amplitude a and rated operating voltage angular frequency ω to suppress further increase in the absolute value of the displacement.
In this embodiment, current displacement can be used to feed back and carry out real-time supervision to the oscillator position in the drive module, and in case the vibrating element is close to the casing, the absolute value of current displacement is greater than or equal to and predetermines early warning displacement promptly, just suppresses the further increase of displacement through adjusting driving voltage signal to the casing space allowance of reserving when can suitably reducing motor structural design reduces the volume, weight and the cost of motor, reduces the motor risk of failing. Namely, under the condition of smaller motor space design allowance, the failure risk of the motor caused by the fact that the vibrator collides the shell is effectively reduced.
In addition, referring to fig. 1, the present invention also provides an electronic device, including:
a linear motor;
the driving module is connected with the linear motor and provides driving voltage for the linear motor so as to drive the vibration unit to vibrate; and
a state detection circuit.
The specific structure of the state detection circuit refers to the above embodiments, and since the electronic device adopts all the technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here.
The electronic device can be an electronic device such as a smart phone, a tablet computer or smart glasses.
In addition, an embodiment of the present invention further provides a computer storage medium, where a vibration unit state detection program is stored on the storage medium, and the vibration unit state detection program, when executed by a processor, implements the steps of the vibration unit state detection method as described above. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in embodiments of the computer-readable storage medium referred to in the present application, reference is made to the description of embodiments of the method of the present application. It is determined that, by way of example, the program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vibration unit displacement detection method, characterized in that the method comprises:
when a vibration unit of a linear motor vibrates, acquiring the current and the current voltage of the linear motor;
obtaining a current speed of the vibration unit based on the current, the current voltage, and model parameters of the linear motor;
determining speed information of the vibration unit according to the current speed and the historical speed;
and integrating the speed information of the vibration unit from the starting time of the previous half period to the current time to obtain the current displacement of the vibration unit, wherein the starting time of the previous half period is the time corresponding to the last speed extreme value.
2. The vibrating unit displacement detecting method according to claim 1, wherein after the integrating the current velocity and taking the integrated value of the current velocity as the current displacement of the vibrating unit, the method further comprises:
judging whether the current speed is a speed extreme value or not;
and if the current speed is the speed extreme value, clearing the integral value of the current speed, and determining the current displacement as the initial position.
3. The method as claimed in claim 2, wherein the determining whether the current speed is an extreme speed value comprises:
comparing the current speed with at least one first speed and at least one second speed respectively; the first speed is a speed corresponding to any time from the starting time of the first half period to the current time, the second speed is a speed corresponding to any time from the current time to the starting time of the second half period, and the starting time of the second half period is a time corresponding to the next speed extreme value;
and if the at least one first speed and the at least one second speed are both smaller than or equal to the current speed, or the at least one first speed and the at least one second speed are both larger than or equal to the current speed, determining the current speed as a speed extreme value.
4. The vibration unit displacement detection method according to claim 3, wherein the comparing the current velocities with at least one first velocity and at least one second velocity, respectively, comprises:
comparing the current speed with a previous first speed corresponding to a previous moment and a next second speed corresponding to a next moment respectively;
determining the current speed as a speed extreme value if the at least one first speed and the at least one second speed are both less than or equal to the current speed, or if the at least one first speed and the at least one second speed are both greater than or equal to the current speed, including:
and if the previous first speed and the next second speed are both smaller than or equal to the current speed, or the previous first speed and the next second speed are both larger than or equal to the current speed, determining the current speed as a speed extreme value.
5. The vibration unit displacement detection method according to claim 1, wherein the linear motor is connected to a driving module, and the driving module provides a driving voltage to the linear motor to drive the vibration unit to vibrate;
after the integrating the speed information of the vibration unit from the starting time of the previous half period to the current time to obtain the current displacement of the vibration unit, the method further comprises:
judging whether the absolute value of the current displacement is greater than or equal to a preset early warning displacement or not;
if the absolute value is larger than or equal to the preset early warning displacement, an adjusting signal is sent to the driving module, so that the driving module responds to the adjusting signal to adjust the real-time driving voltage of the linear motor, and the maximum amplitude of the vibration unit in the current vibration period is reduced.
6. The vibration unit displacement detection method according to any one of claims 1 to 5, wherein the model parameters include a direct current resistance and a magnetic field strength;
the obtaining a current speed of the vibration unit based on the current, the current voltage, and model parameters of the linear motor includes:
obtaining the current speed of the vibration unit based on the current, the current voltage, the direct current resistance, the magnetic field strength and a preset formula; wherein the preset formula is as follows:
wherein v is the present speed, i is the present current, u is the present voltage, Bl is the magnetic field strength, and R is the direct current resistance.
7. A state detection circuit, comprising:
the current detection module is connected with the linear motor to detect the current of the linear motor;
the voltage detection module is connected with the linear motor to detect the current voltage of the linear motor;
the processing module is respectively connected with the current detection module and the voltage detection module and is used for acquiring the current and the current voltage of the linear motor when a vibration unit of the linear motor vibrates; obtaining a current speed of the vibration unit based on the current, the current voltage, and model parameters of the linear motor; determining speed information of the vibration unit according to the current speed and the historical speed; and integrating the speed information of the vibration unit from the starting time of the previous half period to the current time to obtain the current displacement of the vibration unit, wherein the starting time of the previous half period is the time corresponding to the last speed extreme value.
8. The status detection circuit of claim 7, wherein the linear motor is connected to a driving module, and the driving module provides a driving voltage to the linear motor to drive the vibration unit to vibrate;
the processing module is connected with the driving module;
the processing module is further used for judging whether the current displacement is greater than or equal to a preset early warning displacement; if the current displacement is larger than or equal to the preset early warning displacement, an adjusting signal is sent to the driving module, so that the driving module responds to the adjusting signal to adjust the real-time driving voltage of the linear motor, and the maximum amplitude of the vibration unit in the current vibration period is reduced.
9. An electronic device, comprising:
a linear motor;
the driving module is connected with the linear motor and provides driving voltage for the linear motor so as to drive the vibration unit to vibrate; and
a state detection circuit according to claim 7 or 8.
10. A computer-readable storage medium, characterized in that a vibration unit state detection program is stored thereon, which when executed by a processor implements the vibration unit displacement detection method according to any one of claims 1 to 6.
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