阅读说明：本技术 振动系统中的电机保护方法及设备、存储介质 (Motor protection method and device in vibration system and storage medium ) 是由 郑亚军 向征 于 2020-06-24 设计创作，主要内容包括：本发明提供了一种振动系统中的电机保护方法及设备、计算机可读存储介质,该电机保护方法包括：获取原始激励电压信号的时频曲线；获取异向位移保护曲线,并结合时频曲线得到原始激励电压信号的时域曲线；根据时域曲线计算每一时刻的安全门限电压,从而得到安全门限电压曲线；分别判断每一时刻的原始激励电压信号的电压值是否大于安全门限电压曲线对应时刻的电压值；若判断为是,则根据安全门限电压曲线对应时刻的电压值修正原始激励电压信号的电压值。通过上述实施方式,本发明能够避免电机的异向振动过大,有效的保护了电机的正常工作。(The invention provides a motor protection method and equipment in a vibration system and a computer readable storage medium, wherein the motor protection method comprises the following steps: acquiring a time-frequency curve of an original excitation voltage signal; acquiring a heterodromous displacement protection curve, and combining a time-frequency curve to obtain a time-domain curve of an original excitation voltage signal; calculating the safe threshold voltage at each moment according to the time domain curve so as to obtain a safe threshold voltage curve; respectively judging whether the voltage value of the original excitation voltage signal at each moment is greater than the voltage value at the moment corresponding to the safety threshold voltage curve; if the voltage value of the original excitation voltage signal is judged to be positive, the voltage value of the original excitation voltage signal is corrected according to the voltage value of the safety threshold voltage curve at the corresponding moment. Through the embodiment, the motor can avoid overlarge anisotropic vibration, and the normal work of the motor is effectively protected.)

1. A method of protecting a motor in a vibratory system, the method comprising:

acquiring a time-frequency curve of an original excitation voltage signal;

acquiring a heterodromous displacement protection curve, and obtaining a time domain curve of the original excitation voltage signal by combining the time frequency curve;

calculating the safe threshold voltage at each moment according to the time domain curve so as to obtain a safe threshold voltage curve;

respectively judging whether the voltage value of the original excitation voltage signal at each moment is greater than the voltage value at the moment corresponding to the safety threshold voltage curve;

if the voltage value of the original excitation voltage signal is judged to be the voltage value of the corresponding moment of the safety threshold voltage curve, the voltage value of the original excitation voltage signal is corrected according to the voltage value of the corresponding moment of the safety threshold voltage curve.

2. The method of claim 1, wherein the obtaining a time-frequency curve of the original excitation voltage signal comprises:

carrying out Fourier transform on the original excitation voltage signal to obtain a time-frequency relation of the original excitation voltage signal;

and marking the central frequency of each moment according to the time-frequency relation so as to obtain the time-frequency curve.

3. The motor protection method of claim 1, wherein the obtaining a heterodromous displacement protection curve and combining the time-frequency curve to obtain a time-domain curve of the original excitation voltage signal comprises:

respectively acquiring frequency information corresponding to each moment in the time-frequency curve;

and comparing the frequency information corresponding to each moment with the anisotropic displacement protection curve respectively to obtain a displacement protection value corresponding to each moment, so as to obtain the time domain curve.

4. The method of claim 1, wherein calculating the safe threshold voltage at each time from the time domain curve to obtain a safe threshold voltage curve comprises:

acquiring the maximum output voltage of equipment;

and calculating according to the time domain curve and the maximum output voltage of the equipment to obtain the safe threshold voltage curve.

5. The motor protection method of claim 1, wherein the obtaining a differential displacement protection curve comprises:

acquiring a heterodromous displacement frequency response curve under the maximum output voltage of equipment;

acquiring a displacement response value of each frequency in the anisotropic displacement frequency response curve;

and respectively calculating the displacement response value of each frequency and the anisotropic displacement threshold value to obtain the anisotropic displacement protection curve.

6. The motor protection method according to claim 1, wherein calculating the displacement response value of each frequency and the anisotropic displacement threshold value to obtain the anisotropic displacement protection curve comprises:

respectively judging whether the displacement response value of each frequency in the heterodromous displacement frequency response curve is less than or equal to the threshold value of the heterodromous displacement;

if the judgment result is yes, the displacement protection value of the corresponding frequency in the displacement protection curve is 1;

if not, the displacement protection value of the corresponding frequency in the displacement protection curve is the ratio of the threshold value of the anisotropic displacement and the displacement response value of the corresponding frequency in the anisotropic displacement frequency response curve.

7. The motor protection method according to claim 1, further comprising outputting the voltage value of the original excitation voltage signal if it is determined that the voltage value of the original excitation voltage signal is smaller than the voltage value at the time corresponding to the voltage of the safety threshold curve.

8. The motor protection method of claim 1, further comprising outputting the modified voltage value of the original excitation voltage signal to a vibration system to enable a device to play a haptic effect based on the modified voltage value of the original excitation voltage signal.

9. A motor protection device in a vibration system, characterized in that the motor protection device comprises a processor and a memory, the memory stores computer instructions, the processor is coupled with the memory, and the processor executes the computer instructions to realize the motor protection method according to any one of claims 1-8 when in operation.

10. A computer-readable storage medium, on which a computer program is stored, the computer program being executable by a processor to implement a motor protection method according to any one of claims 1 to 8.

Technical Field

The invention relates to the technical field of motor vibration, in particular to a motor protection method and device in a vibration system and a storage medium.

Background

The wide application of tactile feedback to portable electronic equipment and vehicle-mounted touch screens promotes the rapid development of linear motors. The linear motor is used as a unidirectional electromagnetic driver, can be precisely controlled, provides rich haptic effects, and brings perfect haptic experience to users.

Generally, a linear motor drives a tool where the motor is located to reciprocate through the reciprocating motion of a vibrator, so that the vibration touch feeling on the tool is realized. In practical engineering, unidirectional vibration of a linear motor is often used to provide vibration touch feeling, and the unidirectional vibration is convenient to control when the vibration touch feeling is designed. However, due to the structural characteristics of the linear motor, when the motor is operated, the vibrator vibrates in other directions (called as anisotropic vibration) in addition to reciprocating vibration in a desired direction (called as X-direction vibration).

In engineering, the X-direction vibration is "desired" designed by designers, and "undesired" is caused when the motor operates during the anisotropic vibration. Therefore, the excitation voltage designed by the operator is directed to the response of the motor in the expected direction, and the response in other directions is ignored. As is well known, a practical linear motor is a multi-degree-of-freedom vibration system, and has a plurality of resonance frequencies, and each direction has its corresponding resonance frequency. The center frequency of the designed excitation voltage, when near the resonant frequency corresponding to the opposite direction, causes a large vibration in the opposite direction, resulting in a large "undesired" vibration component of the motor, thereby causing a deterioration in the haptic effect and even a reduction in the lifetime of the device.

Disclosure of Invention

The invention mainly provides a motor protection method, equipment and a storage medium in a vibration system, and can solve the problems of poor haptic effect and shortened service life of equipment caused by overlarge anisotropic vibration component of a motor in the prior art.

In order to solve the technical problems, the invention adopts a technical scheme that: there is provided a motor protection method in a vibration system, the motor protection method including: acquiring a time-frequency curve of an original excitation voltage signal; acquiring a heterodromous displacement protection curve, and obtaining a time domain curve of the original excitation voltage signal by combining the time frequency curve; calculating the safe threshold voltage at each moment according to the time domain curve so as to obtain a safe threshold voltage curve; respectively judging whether the voltage value of the original excitation voltage signal at each moment is greater than the voltage value at the moment corresponding to the safety threshold voltage curve; if the voltage value of the original excitation voltage signal is judged to be the voltage value of the corresponding moment of the safety threshold voltage curve, the voltage value of the original excitation voltage signal is corrected according to the voltage value of the corresponding moment of the safety threshold voltage curve.

Wherein, the acquiring the time-frequency curve of the original excitation voltage signal comprises: carrying out Fourier transform on the original excitation voltage signal to obtain a time-frequency relation of the original excitation voltage signal; and marking the central frequency of each moment according to the time-frequency relation so as to obtain the time-frequency curve.

The obtaining of the anisotropic displacement protection curve and the obtaining of the time domain curve of the original excitation voltage signal by combining the time frequency curve include: respectively acquiring frequency information corresponding to each moment in the time-frequency curve; and comparing the frequency information corresponding to each moment with the anisotropic displacement protection curve respectively to obtain a displacement protection value corresponding to each moment, so as to obtain the time domain curve.

Wherein, the calculating the safe threshold voltage at each moment according to the time domain curve to obtain the safe threshold voltage curve comprises: acquiring the maximum output voltage of equipment; and calculating according to the time domain curve and the maximum output voltage of the equipment to obtain the safe threshold voltage curve.

Wherein, the obtaining the anisotropic displacement protection curve comprises: acquiring a heterodromous displacement frequency response curve under the maximum output voltage of equipment; acquiring a displacement response value of each frequency in the anisotropic displacement frequency response curve; and respectively calculating the displacement response value of each frequency and the anisotropic displacement threshold value to obtain the anisotropic displacement protection curve.

Wherein, calculating the displacement response value of each frequency and the threshold value of the anisotropic displacement to obtain the anisotropic displacement protection curve comprises: respectively judging whether the displacement response value of each frequency in the heterodromous displacement frequency response curve is less than or equal to the threshold value of the heterodromous displacement; if the judgment result is yes, the displacement protection value of the corresponding frequency in the displacement protection curve is 1; if not, the displacement protection value of the corresponding frequency in the displacement protection curve is the ratio of the threshold value of the anisotropic displacement and the displacement response value of the corresponding frequency in the anisotropic displacement frequency response curve.

And if the voltage value of the original excitation voltage signal is judged to be smaller than the voltage value of the safety threshold curve voltage at the corresponding moment, outputting the voltage value of the original excitation voltage signal.

And outputting the corrected voltage value of the original excitation voltage signal to a vibration system, so that the equipment plays the haptic effect based on the corrected voltage value of the original excitation voltage signal.

In order to solve the technical problem, the invention adopts another technical scheme that: there is provided a motor protection device in a vibration system, the motor protection device comprising a processor and a memory, the memory storing computer instructions, the processor being coupled to the memory, the processor executing the computer instructions when in operation to implement the motor protection method described above.

In order to solve the technical problem, the invention adopts another technical scheme that: there is provided a computer readable storage medium having stored thereon a computer program for execution by a processor to implement a motor protection method as described above.

The invention has the beneficial effects that: different from the situation in the prior art, the embodiment of the invention corrects the original excitation voltage signal by presetting the anisotropic displacement protection curve, and simultaneously limits the voltage value within the safe voltage range by combining the safe threshold voltage value of the motor, thereby avoiding the excessive anisotropic vibration of the motor and effectively protecting the normal work of the motor.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:

FIG. 1 is a schematic flow chart diagram of one embodiment of a motor protection method of the present invention;

FIG. 2 is a schematic flow chart illustrating an embodiment of step S100 in FIG. 1 according to the present invention;

FIG. 3 is a schematic diagram of the original excitation voltage signal of the present invention;

FIG. 4 is a graph illustrating the time-frequency relationship of the original excitation voltage signal according to the present invention;

FIG. 5 is a schematic diagram of a time-frequency curve of an original excitation voltage signal according to the present invention;

FIG. 6 is a flowchart illustrating an embodiment of step S200 of FIG. 1 according to the present invention;

FIG. 7 is a schematic diagram of the anisotropic displacement protection curve of the present invention;

FIG. 8 is a schematic flow chart illustrating another embodiment of step S200 in FIG. 1 according to the present invention;

FIG. 9 is a schematic diagram of a time domain plot of the present invention;

FIG. 10 is a schematic flow chart diagram illustrating an embodiment of step S300 in FIG. 1 according to the present invention;

FIG. 11 is a schematic block diagram of one embodiment of a motor protection apparatus in a vibration system provided in accordance with the present invention;

FIG. 12 is a schematic block diagram of an embodiment of a computer-readable storage medium provided by the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a motor protection method according to the present invention, and as shown in fig. 1, the motor protection method according to the present invention includes the following steps:

s100, acquiring a time-frequency curve of the original excitation voltage signal.

Referring to fig. 2, fig. 2 is a schematic flow chart of an embodiment of step S100 of the present invention, and step S100 of fig. 2 further includes the following sub-steps:

s110, Fourier transform is carried out on the original excitation voltage signal to obtain the time-frequency relation of the original excitation voltage signal.

In the invention, the obtained original excitation voltage signal V0 is subjected to short-time Fourier transform, so that the time-frequency relation FT of the original excitation voltage signal is obtained. With reference to fig. 3 and fig. 4, fig. 3 is a schematic diagram of the original driving voltage signal of the present invention, and fig. 4 is a schematic diagram of a time-frequency relationship of the original driving voltage signal of the present invention. Optionally, the time-frequency relationship analysis based on short-time fourier may refer to the prior art, and will not be described herein.

And S120, marking the central frequency of each moment according to the time-frequency relation so as to obtain a time-frequency curve.

Further, according to the obtained time-frequency relationship FT of the original excitation voltage signal, the center frequency of the time-frequency relationship FT at each moment is marked, so as to obtain a time-frequency curve FC of the original excitation voltage signal, as shown in fig. 5, where fig. 5 is a schematic time-frequency curve of the original excitation voltage signal.

S200, obtaining a displacement protection curve, and obtaining a time domain curve of the original excitation voltage signal by combining the time frequency curve.

Referring to fig. 6, fig. 6 is a flowchart illustrating an embodiment of step S200 of the present invention, and fig. 6 shows an embodiment of a method for obtaining a displacement protection curve, specifically, step S200 further includes the following sub-steps:

and S210, acquiring a heterodromous displacement frequency response curve under the maximum output voltage of the equipment.

Specifically, the displacement frequency response curve YZ under the maximum output voltage Vmax of the device can be obtained through software simulation or actual measurement (the magnitude of the sweep frequency measurement response can be adopted in both modes).

S220, obtaining a displacement response value of each frequency in the anisotropic displacement frequency response curve.

And S230, respectively calculating the displacement response value of each frequency and the threshold value of the anisotropic displacement to obtain a displacement protection curve.

It can be understood that the criterion for judging the excessive anisotropic vibration of the motor structure in the invention is as follows: whether the magnitude of the heterodromous displacement of the vibrator exceeds a threshold value of the heterodromous displacement. Wherein, the threshold values of the different directional displacements of different motor structures are different. If the magnitude of the anisotropic vibration displacement exceeds the threshold value of the anisotropic displacement, the vibrator can be provided with other components, and the motor can not work normally.

Optionally, the displacement response value YZ of each frequency and the anisotropic displacement threshold value Yzmax of the structure are respectively calculated to obtain the anisotropic displacement protection curve DCP, as shown in fig. 7, and fig. 7 is a schematic diagram of the anisotropic displacement protection curve of the present invention. Wherein, the heterodromous displacement threshold values of different structures are different, and the obtained heterodromous displacement protection curves are also different. Specifically, whether a displacement response value YZ of each frequency in the heterodromous displacement frequency response curve is less than or equal to a threshold value Yzmax of the heterodromous displacement is respectively judged;

1. if the obtained displacement response value YZ is greater than the threshold Yzmax of the anisotropic displacement, it indicates that the displacement protection value corresponding to the frequency in the displacement protection curve is the ratio of the threshold Yzmax of the anisotropic displacement and the displacement response value YZ corresponding to the frequency in the anisotropic displacement frequency response curve, and the calculation of the anisotropic displacement protection curve DCP is as follows:

DCP＝Yzmax/YZ；

2. if the obtained displacement response value YZ is less than or equal to the anisotropic displacement threshold value Yzmax, it indicates that the displacement protection value corresponding to the frequency in the displacement protection curve is 1, and the anisotropic displacement protection curve DCP is calculated as follows:

DCP＝1；

it can be understood that, in the present invention, the abscissa of the anisotropic displacement protection curve DCP is frequency f, the ordinate is a protection value (weighted value in fig. 7) of (0, 1), representing each frequency point, the displacement protection value is different, wherein, the smaller the displacement protection value of the ordinate is, the higher the protection degree is, when the frequency in the D anisotropic displacement protection curve DCP is fn, if dpc (fn) ═ 1, it indicates that the frequency point fn does not need protection, and if dpc (fn) ═ 0.1 indicates that the frequency point fn needs greater protection.

Optionally, the anisotropic displacement protection curve obtained through the above steps is stored in a memory of the device to be called for use. The device referred to in the present invention may be any device having communication and storage functions, for example: the system comprises intelligent equipment with a network function, such as a tablet Computer, a mobile phone, an electronic reader, a remote controller, a Personal Computer (PC), a notebook Computer, vehicle-mounted equipment, a network television, wearable equipment and the like.

Optionally, please further refer to fig. 8, fig. 8 is a schematic flowchart illustrating another embodiment of step S200 according to the present invention, and as shown in fig. 8, step S200 further includes the following sub-steps:

s210a, respectively obtaining frequency information corresponding to each time in the time-frequency curve.

And further acquiring frequency information corresponding to each moment in the time-frequency curve FC.

S220a, comparing the frequency information corresponding to each time with the displacement protection curve to obtain a displacement protection value corresponding to each time, so as to obtain a time domain curve.

Searching for the frequency corresponding to each moment according to the time-frequency curve FC, and further comparing with the anisotropic displacement protection curve DCP to obtain the displacement protection value corresponding to the frequency, so as to obtain the displacement protection value corresponding to each moment, thereby obtaining the time-domain curve PC, as shown in fig. 9, where fig. 9 is a schematic diagram of the time-domain curve of the present invention.

And S300, calculating the safe threshold voltage at each moment according to the time domain curve, thereby obtaining a safe threshold voltage curve.

Referring to fig. 10, fig. 10 is a flowchart illustrating an embodiment of step S300 according to the present invention, and as shown in fig. 10, step S300 further includes the following sub-steps:

and S310, acquiring the maximum output voltage of the equipment.

The maximum output voltage value Xmax of the device is obtained.

And S320, calculating according to the time domain curve and the maximum output voltage of the equipment to obtain a safety threshold voltage curve.

Further, multiplying the time domain curve PC by the maximum output voltage value Xmax of the device to obtain a safety threshold voltage curve VC, whose expression is:

VC＝PC*Xmax；

s400, respectively judging whether the voltage value of the original excitation voltage signal at each moment is greater than the voltage value at the moment corresponding to the safety threshold voltage curve.

Further, after obtaining the safe threshold voltage curve VC, the original excitation voltage signal is compared with the safe threshold voltage curve. Specifically, it is respectively determined whether the voltage value of the original excitation voltage signal V0 at each time is greater than the voltage value at the time corresponding to the safety threshold voltage curve VC, that is, it is determined whether the voltage value V0(t) of the original excitation signal is greater than the safety threshold voltage VC (t) at the corresponding time in a point-by-point comparison manner, if so, step S500 is performed, otherwise, step S600 is performed.

And S500, correcting the voltage value of the original excitation voltage signal according to the voltage value of the corresponding moment of the safe threshold voltage curve.

If the voltage value V0(t) > vc (t) of the original excitation signal, the voltage value V0(t) of the original excitation signal is corrected to the safety threshold voltage vc (t) at the corresponding time, and vc (t) is output to the vibration system, so that the device performs the playing of the haptic effect based on the corrected voltage value of the original excitation voltage signal.

And S600, outputting the voltage value of the original excitation voltage signal.

If the voltage value V0(t) < vc (t) of the original excitation signal is determined, the voltage value V0(t) of the original excitation signal is directly output to the vibration system without modifying the original excitation voltage signal, so that the device plays the haptic effect based on the voltage value of the original excitation voltage signal.

In the embodiment, the original excitation voltage signal is corrected by presetting the anisotropic displacement protection curve, and meanwhile, the voltage value is limited within the safe voltage range by combining the safe threshold voltage value of the motor, so that the condition that the anisotropic vibration of the motor is overlarge can be avoided, and the normal work of the motor is effectively protected.

Referring to fig. 11, fig. 11 is a schematic block diagram of an embodiment of a motor protection device in a vibration system according to the present invention, where the motor protection device in the embodiment includes a processor 310 and a memory 320, the processor 310 is coupled to the memory 320, and the memory 320 stores computer instructions, and the processor 310 executes the computer instructions when operating to implement the motor protection method in any of the embodiments.

The processor 310 may also be referred to as a Central Processing Unit (CPU). The processor 310 may be an integrated circuit chip having signal processing capabilities. The processor 310 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor, but is not limited thereto.

Referring to fig. 12, fig. 12 is a schematic block diagram of an embodiment of a computer-readable storage medium provided by the present invention, in which a computer program 410 is stored, and the computer program 410 can be executed by a processor to implement the motor protection method in any of the above embodiments.

Alternatively, the readable storage medium may be various media that can store program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or may be a terminal device such as a computer, a server, a mobile phone, or a tablet.

Different from the prior art, the invention provides a motor protection method, equipment and a storage medium in a vibration system, which modify an original excitation voltage signal through a preset anisotropic displacement protection curve, and limit a voltage value within a safe voltage range by combining with a safe threshold voltage value of a motor, so that the anisotropic vibration of the motor can be avoided from being overlarge, and the normal work of the motor is effectively protected.

The above description is only an 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 performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.