CN116451042A - Motor waveform description method, device, equipment and storage medium - Google Patents
Motor waveform description method, device, equipment and storage medium Download PDFInfo
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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Abstract
The embodiment of the application provides a motor waveform description method, a motor waveform description device, motor waveform description equipment and a storage medium, wherein the method comprises the following steps: determining N zero crossings of a waveform to be described; wherein N is an integer greater than 2; determining an N-1 section of waveform included in the waveform to be described based on the N zero crossing points; determining a parameter value of each section of waveform in the N-1 sections of waveforms; an expression for each segment of the waveform is determined based on the parameter values for each segment of the waveform.
Description
Technical Field
The present application relates to the field of motor waveform technology, and relates to, but is not limited to, a motor waveform description method, apparatus, device, and storage medium.
Background
The motor waveform design method currently used in the industry is to connect at the peak of two waveform signals (i.e. waveforms) and control the ending amplitude of the nth segment waveform signal and the starting amplitude of the n+1th segment waveform signal to be equal. When the amplitude values of the waveform signals of each section are inconsistent, the mode can not uniformly express the amplitude values; and the beginning and ending waveform segments are (1/4) pi periods, and the middle wave band is (1/2) pi periods, so that the representation modes are not uniform.
Disclosure of Invention
The embodiment of the application provides a motor waveform description method, a motor waveform description device, motor waveform description equipment and a storage medium.
In a first aspect, embodiments of the present application provide a motor waveform description method, the method including: determining N zero crossings of a waveform to be described; wherein N is an integer greater than 2; determining an N-1 section of waveform included in the waveform to be described based on the N zero crossing points; determining a parameter value of each section of waveform in the N-1 sections of waveforms; an expression for each segment of the waveform is determined based on the parameter values for each segment of the waveform.
In some embodiments, the determining the parameter value of each of the N-1 segment waveforms comprises: acquiring a parameter value of each section of waveform in the N-1 section of waveform from the digital signal corresponding to the waveform to be described; wherein the parameter values include peak value, frequency, time stamp of start point and time stamp of end point.
In some embodiments, the method further comprises: determining an ith section target waveform based on the stored expression of the ith section waveform; wherein, the value of i is an integer which is from 1 to N-1; and splicing the 1 st section of target waveform to the N-1 st section of target waveform in sequence based on zero crossing points of the 1 st section of target waveform to the N-1 st section of target waveform to obtain a driving waveform for driving the motor to vibrate.
In some embodiments, the waveform to be described comprises a vibration waveform acquired after vibration of the motor; the method further comprises the steps of: acquiring a target driving waveform for driving the motor to vibrate; obtaining a simulated vibration waveform corresponding to the target driving waveform; and comparing the vibration waveform with the simulation vibration waveform to determine the vibration effect of the motor.
In some embodiments, the method further comprises: determining whether the amplitudes of the starting point and the ending point of the waveform to be described are zero; and returning the amplitude values of the starting point and the ending point to zero under the condition that the amplitude values of the starting point and/or the ending point are not zero.
In some embodiments, the length of time of the ith one of the N-1 segments of waveforms is 0.5T i The method comprises the steps of carrying out a first treatment on the surface of the Wherein T is i And i is an integer which is less than or equal to N-1 and starts from 1 for the period of the ith section of waveform.
In some embodiments, the frequency of the ith waveform is a fixed value, and the frequencies of two adjacent waveforms are the same or different.
In a second aspect, embodiments of the present application provide a motor waveform description apparatus, including: a first determining module, configured to: determining N zero crossings of a waveform to be described; wherein N is an integer greater than 2; a second determining module, configured to: determining an N-1 section of waveform included in the waveform to be described based on the N zero crossing points; a third determining module, configured to: determining a parameter value of each section of waveform in the N-1 sections of waveforms; a fourth determining module, configured to: an expression for each segment of the waveform is determined based on the parameter values for each segment of the waveform.
In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory, and a communication bus; the processor, when executing the running program stored in the memory, implements the method described in any of the embodiments above.
In a fourth aspect, embodiments of the present application provide a storage medium having stored thereon a computer program which, when executed by a processor, implements a method as described in any of the above embodiments.
In the embodiment of the application, first, N zero crossings of a waveform to be described are determined; wherein N is an integer greater than 2; based on N zero crossing points, secondly, determining N-1 sections of waveforms included in the waveforms to be described; thirdly, determining a parameter value of each section of waveform in the N-1 sections of waveforms; finally, an expression for each segment of the waveform is determined based on the parameter values for each segment of the waveform. Thus, in the embodiment of the application, the waveform to be described is divided into at least N-1 segments of waveforms through N zero crossing points, and an expression of each segment of waveform is obtained. Compared with a description method that the waveform to be described is divided into a plurality of sections of waveforms through peak points, the description method in the embodiment of the application can uniformly express the amplitude values, can obtain the expression of the uniform waveform and can better expand the waveform.
Drawings
In the drawings (which are not necessarily drawn to scale), like numerals may describe similar components in different views. Like reference numerals having different letter suffixes may represent different instances of similar components. The drawings illustrate generally, by way of example and not by way of limitation, various embodiments discussed herein.
Fig. 1 is a graph showing the effect of a multi-segment waveform obtained by a description method of a Ma Dabo vibration waveform in the related art;
fig. 2 is a schematic implementation flow chart of a motor waveform description method according to an embodiment of the present application;
FIG. 3 is a multi-segment waveform effect diagram according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a composition structure of a motor waveform describing apparatus according to an embodiment of the present application;
fig. 5 is a schematic diagram of a specific hardware structure of an electronic device according to an embodiment of the present application;
fig. 6 is a schematic diagram of a composition structure of an electronic device according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the specific embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced without one or more of these details. In other instances, well-known features have not been described in detail so as not to obscure the application; that is, not all features of an actual implementation are described in detail herein, and well-known functions and constructions are not described in detail.
In the drawings, the size of layers, regions, elements and their relative sizes may be exaggerated for clarity. Like numbers refer to like elements throughout.
It will be understood that when an element or layer is referred to as being "on" … …, "" adjacent to "… …," "connected to" or "coupled to" another element or layer, it can be directly on, adjacent to, connected to or coupled to the other element or layer, or intervening elements or layers may be present. In contrast, when an element is referred to as being "directly on" … …, "" directly adjacent to "… …," "directly connected to" or "directly coupled to" another element or layer, there are no intervening elements or layers present. It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the present application. When a second element, component, region, layer or section is discussed, it does not necessarily mean that the first element, component, region, layer or section is present in the present application.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.
Before describing the embodiments of the present application, a description method of motor waveforms in the related art will be described with reference to fig. 1.
Fig. 1 shows a vibration waveform of a motor, and in describing the waveform, peak points of the waveform, for example, peak point (24,80), peak point (86-100), peak point (155,127) and peak point (213-60) are generally determined first. Then, the vibration waveform is divided into 5 segments based on the four peak points, namely, a waveform before the peak point (24,80) is regarded as a first segment waveform, a waveform between the peak point (24,80) and the peak point (86, -100) is regarded as a second segment waveform, a waveform between the peak point (86, -100) and the peak point (155,127) is regarded as a third segment waveform, a waveform between the peak point (155,127) and the peak point (213, -60) is regarded as a fourth segment waveform, and a waveform after the peak point (213, -60) is regarded as a fifth segment waveform. Finally, an expression for each segment of the waveform is determined.
The description method of the motor waveform in the related art has the following drawbacks: 1) When the amplitude values of the waveforms in each section are inconsistent, for example, the initial amplitude value of the waveform in the second section is 80, the ending amplitude value is-100, and the absolute values of the amplitude values of the two waveform in the second section are unequal, so that the amplitude values cannot be uniformly expressed; 2) The waveform segments of the beginning (first segment) and ending (fifth segment) are 1/4 pi period, the middle wave band (second to fourth segment) is 1/2 pi period, and the waveform expression in the half period is hard to unify by adopting the mode of connecting at the peak value because the frequency of the waveform of each half period gradually changes once and the envelope of the waveform also changes.
In view of this, the embodiment of the present application provides a motor waveform description method, referring to fig. 2, the method includes steps S201 to S203, wherein:
step S201, determining N zero crossings of a waveform to be described; wherein N is an integer greater than 2;
here, the waveform to be described may be a driving waveform or a vibration waveform, wherein the driving waveform is a waveform that drives the motor to vibrate, and the vibration waveform is a waveform acquired after the motor vibrates. The waveform to be described may be a positive waveform, a negative waveform, or a mixed waveform; the positive waveform is a waveform with the amplitude being greater than or equal to zero, the negative waveform is a waveform with the amplitude being less than or equal to zero, and the mixed waveform comprises a positive waveform and a negative waveform, namely, the amplitude of the waveform is positive and negative. The type of waveform to be described may be a sine wave, a square wave or a triangle wave.
It should be noted that, the waveform to be described may be a smooth waveform or a distorted waveform, which is not limited in this embodiment of the present application. In the case where the waveform to be described is a smooth waveform, the expression of each section of the waveform obtained will be relatively accurate, and in the case where the waveform to be described is a distorted waveform, the expression of each section of the waveform obtained will be relatively low in accuracy.
The zero crossing point is a coordinate point corresponding to a part with zero amplitude or amplitude exceeding zero in a preset range; wherein the preset range may be empirically set. That is, the zero crossing point includes a coordinate point whose amplitude is zero, and a coordinate point whose amplitude is near zero. N is an integer greater than 2, e.g., N may be equal to 4 or 5, etc.
In fig. 3, a waveform a to be described is shown, which is a mixed waveform composed of a positive waveform and a negative waveform. Referring to fig. 3, the waveform to be described includes 5 zero crossings, where N is equal to 5. The 5 zero crossings are (0, 5), (49,1), (124,0), (184,0), and (245,0), respectively, where the abscissa represents time and the ordinate represents amplitude.
Step S202, determining N-1 sections of waveforms included in the waveforms to be described based on N zero crossing points;
here, the waveform to be described is divided into N-1 segments of waveforms based on N zero crossings. With continued reference to fig. 3, the waveform between the 1 st zero crossing (0, 5) and the 2 nd zero crossing (49,1) is a first segment of the waveform; the waveform between the 2 nd zero crossing point (49,1) and the 3 rd zero crossing point (124,0) is a second-segment waveform; the waveform between the 3 rd zero crossing point (124,0) and the 4 th zero crossing point (184,0) is a third segment waveform; the waveform between the 4 th zero crossing (184,0) and the 5 th zero crossing (245,0) is the fourth segment waveform. The four waveforms are all sine waves, the first waveform and the third waveform are all positive waveforms, and the second waveform and the fourth waveform are all negative waveforms.
Step S203, determining the parameter value of each section of waveform in the N-1 sections of waveforms;
in implementation, a parameter value of each of the N-1 waveforms may be obtained from a digital signal corresponding to the waveform to be described, where the parameter value includes a peak value, a frequency, a timestamp of a start point, and a timestamp of an end point.
Here, the peak value may be the largest one of the plurality of amplitude values of a segment of the waveform between the adjacent two zero-crossing points, that is, the peak point of each segment of the waveform may be determined according to the zero-crossing point and the amplitude value, so that the amplitude value may be uniformly represented according to the zero-crossing point and the amplitude value.
With continued reference to fig. 3, the time stamp of the start point and the time stamp of the end point of the first segment waveform are 0 milliseconds (ms) and 49ms, respectively; the time stamp of the start point and the time stamp of the end point of the second segment waveform are 49ms and 124ms, respectively; the time stamp of the start point and the time stamp of the end point of the third segment waveform are 124ms and 184ms, respectively; the start and end points of the fourth segment waveform have time stamps of 184ms and 245ms, respectively. Here, each segment of the waveform is 0.5 pi period.
Step S204, based on the parameter value of each segment of waveform, determining the expression of each segment of waveform.
Here, the expression of each segment waveform can be obtained by substituting the parameter value of each segment waveform into a waveform function such as a sine (sin) function. For example, the peak value of the first waveform is 80, the frequency is 200 hertz (Hz), and the phase is 0, then the expression of the first waveform may be y=80×sin (2pi×200 t) =80×sin (400 pi t), where t has a value of 0 to 49; for another example, the second waveform has a peak value of-100, a frequency of 150Hz, and a phase of 0, and the second waveform may have an expression of y= -100×sin (2pi×150t) = -100×sin (300 pi t), where t has a value of 49 to 124. From the above, the method can uniformly and simply process the waveform amplitude configuration, and can better expand the waveform.
After the expression of the ith waveform is obtained, the expression of the ith waveform may also be stored in a memory for convenience of subsequent use.
In some embodiments, the length of time of the ith waveform between the ith zero crossing and the (i+1) th zero crossing in the N-1 th waveform is 0.5T i The method comprises the steps of carrying out a first treatment on the surface of the Wherein T is i Is the period of the ith waveform segment. In practice, the period of the first waveform may be 0.005 seconds(s), i.e., the frequency of the first waveform is 200Hz, the period of the second waveform may be 0.0067s, i.e., the frequency of the second waveform is 150Hz, and the periods of the third and fourth waveforms are the same as the period of the first waveform. Under the condition that the periods of any two waveforms are not equal, the driving waveform with richer vibration sense can be obtained through subsequent reconstruction.
It should be noted that, the time length of the ith waveform is the time period between the start point timestamp and the end point timestamp of the ith waveform.
In the embodiment of the application, first, N zero crossings of a waveform to be described are determined; wherein N is an integer greater than 2; based on N zero crossing points, secondly, determining N-1 sections of waveforms included in the waveforms to be described; thirdly, determining a parameter value of each section of waveform in the N-1 sections of waveforms; finally, an expression for each segment of the waveform is determined based on the parameter values for each segment of the waveform. Thus, in the embodiment of the application, the waveform to be described is divided into at least N-1 segments of waveforms through N zero crossing points, and an expression of each segment of waveform is obtained. Compared with a description method that the waveform to be described is divided into a plurality of sections of waveforms through peak points, the description method in the embodiment of the application can uniformly express the amplitude values, can obtain the expression of the uniform waveform and can better expand the waveform.
In implementation, the frequency of the ith section of waveform is a fixed value, and the frequencies of two adjacent sections of waveforms are the same or different. The frequency of the ith section of waveform is a constant value, namely the frequency of the ith section of waveform is unchanged, namely the frequencies at two sides of the peak value of the ith section of waveform are symmetrical. With continued reference to fig. 3, the first waveform and the second waveform have different frequencies, so that a driving waveform with richer vibration sense can be reconstructed in a subsequent process. With continued reference to fig. 3, the third and fourth waveforms have approximately the same frequency.
It should be noted that, the motor waveform description method provided in the embodiment of the present application may be applied to a device having a motor, or an electronic apparatus integrated with the device. Here, the electronic device may be, for example, a computer, a smart phone, a tablet computer, a notebook computer, a palm computer, a personal digital assistant (Personal Digital Assistant, PDA), a portable media player (Portable Media Player, PMP), a navigation device, a wearable device, or the like, which is not particularly limited in the embodiments of the present application.
In the embodiment of the application, the motor may be a rotor motor or a linear motor. Wherein, the linear motor is driven by alternating current, and the energized coil is stressed by ampere force in a magnetic field, so that the motor is driven to vibrate. The alternating current can generate instant high voltage, so that the motor is started and stopped quickly, different vibration senses can be realized by changing the frequency of the alternating current, and various use scenes are matched; the conversion of the motor linear vibration kinetic energy into the vibration of the wearable device is also more direct and has good directivity.
The linear motor is divided into a transverse linear motor and a Z-axis linear motor, and compared with the Z-axis linear motor, the transverse linear motor is provided with two spring coils, so that alternating currents with different frequencies can be respectively supplied, and richer and finer vibration sense is realized. The type of motor to be used is not limited to this, and is set according to practical situations.
In some embodiments, the motor waveform description method further comprises the steps of:
step S205, determining an ith section target waveform based on the stored expression of the ith section waveform; wherein, the value of i is an integer which is from 1 to N-1;
here, the expression of the i-th segment waveform may be retrieved from the memory.
And S206, based on zero crossing points of the 1 st section of target waveform to the N-1 st section of target waveform, splicing the 1 st section of target waveform to the N-1 st section of target waveform in sequence to obtain a driving waveform for driving the motor to vibrate.
Here, step S205 and step S206 are steps of reconstructing a driving waveform for driving the motor vibration from the expressions obtained in step S201 to step S204. The method does not use the mode of splicing at the waveform peak values of two frequencies any more, but adopts the mode of splicing at zero amplitude, namely the zero crossing point, so that the expression of each frequency waveform is better unified.
In the embodiment of the application, the waveform to be described can be divided into N-1 sections of waveforms according to the N zero crossing point, the expression of each section of waveform is obtained, and the driving waveform for driving the motor to vibrate can be obtained by reconstructing the expression of each section of waveform, so that the application scene of the description method can be improved.
In some embodiments, the waveform to be described comprises a vibration waveform acquired after vibration of the motor; the motor waveform description method further comprises the following steps:
step S207, obtaining a target driving waveform for driving the motor to vibrate;
step S208, obtaining a simulated vibration waveform corresponding to the target driving waveform;
here, the simulated vibration waveform is a vibration waveform obtained by simulating the target drive waveform, and thus the simulated vibration waveform is an ideal vibration waveform.
Step S209, comparing the vibration waveform with the simulation vibration waveform, and determining the vibration effect of the motor.
In the embodiment of the application, the vibration effect of the motor can be determined by acquiring the simulated vibration waveform corresponding to the driving waveform and comparing the simulated vibration waveform with the simulated vibration waveform. If the vibration waveform is consistent with the simulated vibration waveform, the vibration effect of the motor is expected; if the vibration waveform and the simulated vibration waveform are inconsistent, the vibration effect of the motor is not expected.
In some embodiments, the motor waveform description method further comprises the steps of:
s301, determining whether the amplitude of a starting point and an ending point of a waveform to be described is zero;
s302, under the condition that the amplitude of the starting point and/or the ending point is not zero, the amplitude of the starting point and the ending point is zeroed.
Here, the amplitude of the start point and/or the end point being non-zero may be the waveform to be described is incomplete; zeroing the magnitudes of the start point and the end point may mean reassigning the magnitudes of the start point and the end point to zero, thereby making the waveform to be described more complete.
In the embodiment of the application, under the condition that the amplitude of the starting point and/or the ending point of the waveform to be described is not zero, the amplitude of the starting point and the ending point is zeroed, so that the expression of each section of waveform can be accurately obtained, and the driving waveform can be accurately reconstructed.
The embodiment of the present application also provides a motor waveform describing apparatus, referring to fig. 4, a motor waveform describing apparatus 400 includes:
a first determining module 401, configured to: determining N zero crossings of a waveform to be described; wherein N is an integer greater than 2;
a second determining module 402, configured to: determining N-1 sections of waveforms included in the waveforms to be described based on N zero crossing points;
a third determining module 403, configured to: determining a parameter value of each section of waveform in the N-1 sections of waveforms;
a fourth determining module 404, configured to: an expression for each segment of the waveform is determined based on the parameter values for each segment of the waveform.
In some embodiments, the third determination module 403 includes: an acquisition unit configured to: acquiring a parameter value of each section of waveform in the N-1 sections of waveforms from digital signals corresponding to the waveforms to be described; wherein the parameter values include peak value, frequency, time stamp of start point and time stamp of end point.
In some embodiments, the motor waveform description apparatus further includes:
a fifth determining module, configured to: determining an ith section target waveform based on the stored expression of the ith section waveform; wherein, the value of i is an integer which is from 1 to N-1;
and the splicing module is used for: and splicing the 1 st section of target waveform to the N-1 st section of target waveform in sequence based on zero crossing points of the 1 st section of target waveform to the N-1 st section of target waveform to obtain a driving waveform for driving the motor to vibrate.
In some embodiments, the motor waveform description apparatus further includes:
the first acquisition module is used for: acquiring a target driving waveform for driving the motor to vibrate;
a second acquisition module, configured to: obtaining a simulated vibration waveform corresponding to a target driving waveform;
a sixth determining module, configured to: and comparing the vibration waveform with the simulation vibration waveform to determine the vibration effect of the motor.
In some embodiments, the motor waveform description apparatus further includes:
a seventh determining module, configured to: determining whether the amplitudes of a starting point and an ending point of a waveform to be described are zero;
and the zeroing module is used for: and in the case that the amplitude of the starting point and/or the ending point is not zero, zeroing the amplitude of the starting point and the ending point.
In some embodiments, the time length of the ith one of the N-1 segments of waveforms is 0.5T i The method comprises the steps of carrying out a first treatment on the surface of the Wherein T is i The value of i is an integer which is less than or equal to N-1 from 1 for the period of the ith waveform.
In some embodiments, the frequency of the ith waveform is constant, and the frequencies of two adjacent waveforms are the same or different.
It should be noted that, the implementation of the motor waveform describing apparatus in this embodiment is consistent with the implementation thought of the motor waveform describing method, and the implementation principle is not described here again, and the corresponding content in the method can be specifically referred to.
It will be appreciated that in this embodiment, the "unit" may be a part of a circuit, a part of a processor, a part of a program or software, etc., and may of course be a module, or may be non-modular. Furthermore, the components in the present embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional modules.
The integrated units, if implemented in the form of software functional modules, may be stored in a computer-readable storage medium, if not sold or used as separate products, and based on such understanding, the technical solution of the present embodiment may be embodied essentially or partly in the form of a software product, which is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or processor to perform all or part of the steps of the method described in the present embodiment. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Accordingly, an embodiment of the present application provides a computer storage medium storing a program which, when executed by at least one processor, implements the steps of the method of any of the previous embodiments.
Based on the above-mentioned composition of the motor waveform description apparatus 400 and the computer storage medium, referring to fig. 5, a specific hardware structure diagram of an electronic device provided in an embodiment of the present application is shown. As shown in fig. 5, the electronic device 500 may include: a communication interface 501, a memory 502 and a processor 503; the various components are coupled together by a bus system 504. It is to be appreciated that bus system 504 is employed to enable connected communications between these components. The bus system 504 includes a power bus, a control bus, and a status signal bus in addition to the data bus. But for clarity of illustration, the various buses are labeled as bus system 504 in fig. 5. The communication interface 501 is configured to receive and send signals in a process of receiving and sending information with other external network elements;
a memory 502 for storing a computer program capable of running on the processor 503;
a processor 503 for executing the steps of the motor waveform description method in the above-described implementation when running the computer program.
It is to be appreciated that the memory 502 in embodiments of the present application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable EPROM (EEPROM), or a flash Memory. The volatile memory may be random access memory (Random Access Memory, RAM) which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (Double Data Rate SDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), and Direct memory bus RAM (DRRAM). The memory 502 of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
And the processor 503 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry of hardware in the processor 503 or instructions in the form of software. The processor 503 may be a general purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 502, and the processor 503 reads the information in the memory 502, and in combination with its hardware, performs the steps of the above method.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For a hardware implementation, the processing units may be implemented within one or more application specific integrated circuits (Application Specific Integrated Circuits, ASIC), digital signal processors (Digital Signal Processing, DSP), digital signal processing devices (DSP devices, DSPD), programmable logic devices (Programmable Logic Device, PLD), field programmable gate arrays (Field-Programmable Gate Array, FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units configured to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
Optionally, as another embodiment, the processor 503 is further configured to perform the steps of the method of any of the previous embodiments when running the computer program.
In some embodiments, referring to fig. 6, a schematic diagram of a composition structure of an electronic device 500 according to an embodiment of the present application is shown. As shown in fig. 6, the electronic device 500 includes at least the motor waveform describing apparatus 400 according to any one of the foregoing embodiments.
In the embodiment of the present application, for the electronic apparatus 500, first, N zero crossings of a waveform to be described are determined; wherein N is an integer greater than 2; based on N zero crossing points, secondly, determining N-1 sections of waveforms included in the waveforms to be described; thirdly, determining a parameter value of each section of waveform in the N-1 sections of waveforms; finally, an expression for each segment of the waveform is determined based on the parameter values for each segment of the waveform. Thus, the embodiment of the disclosure divides the waveform to be described into at least N-1 segments of waveforms through N zero crossings, and obtains an expression of each segment of waveform. Compared with a description method of dividing a waveform to be described into a plurality of sections of waveforms through peak points, the description method in the embodiment of the disclosure can uniformly express amplitude values, can obtain an expression of a uniform waveform, and can better expand the waveform.
In several embodiments provided herein, it should be understood that the disclosed apparatus and methods may be implemented in a non-targeted manner. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the components shown or discussed are coupled to each other or directly.
The units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The features disclosed in the several method or apparatus embodiments provided in the present application may be arbitrarily combined without conflict to obtain new method embodiments or apparatus embodiments.
The foregoing is merely some implementations of the embodiments of the present application, but the scope of the embodiments of the present application is not limited thereto, and any person skilled in the art may easily think about changes or substitutions within the technical scope of the embodiments of the present application, and the changes or substitutions are intended to be covered by the scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A motor waveform description method, comprising:
determining N zero crossings of a waveform to be described; wherein N is an integer greater than 2;
determining an N-1 section of waveform included in the waveform to be described based on the N zero crossing points;
determining a parameter value of each section of waveform in the N-1 sections of waveforms;
an expression for each segment of the waveform is determined based on the parameter values for each segment of the waveform.
2. The method of claim 1, wherein determining the parameter value for each of the N-1 segments of waveforms comprises:
acquiring a parameter value of each section of waveform in the N-1 section of waveform from the digital signal corresponding to the waveform to be described; wherein the parameter values include peak value, frequency, time stamp of start point and time stamp of end point.
3. The method according to claim 2, wherein the method further comprises:
determining an ith section target waveform based on the stored expression of the ith section waveform; wherein, the value of i is an integer which is from 1 to N-1;
and splicing the 1 st section of target waveform to the N-1 st section of target waveform in sequence based on zero crossing points of the 1 st section of target waveform to the N-1 st section of target waveform to obtain a driving waveform for driving the motor to vibrate.
4. The method of claim 1, wherein the waveform to be described comprises a vibration waveform acquired after motor vibration; the method further comprises the steps of:
acquiring a target driving waveform for driving the motor to vibrate;
obtaining a simulated vibration waveform corresponding to the target driving waveform;
and comparing the vibration waveform with the simulation vibration waveform to determine the vibration effect of the motor.
5. The method according to any one of claims 1 to 4, further comprising:
determining whether the amplitudes of the starting point and the ending point of the waveform to be described are zero;
and returning the amplitude values of the starting point and the ending point to zero under the condition that the amplitude values of the starting point and/or the ending point are not zero.
6. The method of any one of claims 1 to 4, wherein the length of time of the ith one of the N-1 waveforms is 0.5T i The method comprises the steps of carrying out a first treatment on the surface of the Wherein T is i And i is an integer which is less than or equal to N-1 and starts from 1 for the period of the ith section of waveform.
7. The method of claim 6, wherein the frequency of the ith waveform is constant and the frequencies of two adjacent waveforms are the same or different.
8. A motor waveform describing apparatus, comprising:
a first determining module, configured to: determining N zero crossings of a waveform to be described; wherein N is an integer greater than 2;
a second determining module, configured to: determining an N-1 section of waveform included in the waveform to be described based on the N zero crossing points;
a third determining module, configured to: determining a parameter value of each section of waveform in the N-1 sections of waveforms;
a fourth determining module, configured to: an expression for each segment of the waveform is determined based on the parameter values for each segment of the waveform.
9. An electronic device, the electronic device comprising: a processor, a memory, and a communication bus; the processor, when executing a memory-stored operating program, implements the method of any one of claims 1 to 7.
10. A storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of claims 1 to 7.
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