阅读说明：本技术 马达振动位移的控制方法、存储介质及电子设备 (Method for controlling vibration displacement of motor, storage medium, and electronic apparatus ) 是由 郑亚军 向征 于 2019-12-27 设计创作，主要内容包括：本发明提供的一种马达振动位移的控制方法、存储介质及电子设备,本发明通过预设的限制位移值和指定的马达系统响应,更新预设的基础电压信号,更进一步的,若线性电机在更新后的基础电压信号驱动下振子无法从位移原点处运动至限制位移处,则为基础电压信号增设若干段正负交替的启动电压,以使马达在增设启动电压后的基础电压信号驱动下,振子能够从位移原点处运动至限制位移处。可以看出,本发明对基础电压信号是一种有方向性的推导更新,计算速度快且效率更高。与现有技术相比,马达在本实施例的驱动方式下,不仅启动快且可以使振子实现最大限制位移。(The invention provides a control method of motor vibration displacement, a storage medium and an electronic device, the invention updates a preset basic voltage signal through a preset displacement limiting value and a specified motor system response, and further, if a vibrator cannot move to the displacement limiting position from a displacement origin point under the drive of the updated basic voltage signal of a linear motor, a plurality of sections of starting voltages with alternating positive and negative are added to the basic voltage signal, so that the vibrator can move to the displacement limiting position from the displacement origin point under the drive of the basic voltage signal after the motor is added with the starting voltage. It can be seen that the present invention is a directional derivation and update for the base voltage signal, and has a fast calculation speed and higher efficiency. Compared with the prior art, the motor is fast in starting and can enable the vibrator to realize maximum displacement limitation under the driving mode of the embodiment.)

1. The method for controlling the vibration displacement of the motor is applied to a linear motor so as to enable a vibrator of the linear motor to move from a displacement origin to a displacement limiting position, and is characterized by comprising the following steps of:

s1, presetting a limit displacement value and a basic voltage signal;

the basic voltage signal is set specifically to set a voltage amplitude and set a voltage duration;

s2, updating the preset voltage duration of the basic voltage signal to the actual voltage duration according to a specified motor system response, the limit displacement value and the basic voltage signal, and acquiring the initial displacement value of the oscillator;

s3, judging whether the initial displacement value of the vibrator is equal to 0 or not;

if yes, outputting a current basic voltage signal;

if not, adding a plurality of sections of positive and negative alternative starting voltages for the basic voltage signal according to the response of the motor system and the initial displacement value of the oscillator, and outputting the current basic voltage signal;

s4, driving the motor by using the current basic voltage signal to realize vibration displacement;

the motor system response is that the vibrator moves from a displacement origin to a displacement end point under the driving of the motor by the driving voltage, and the speeds of the vibrator at the displacement origin and the displacement end point are both 0; the motor system response is used for acquiring the actual voltage duration corresponding to the driving voltage and the initial displacement value of the vibrator according to the driving voltage and a set displacement end point value.

2. The method for controlling the vibrational displacement of the motor according to claim 1, wherein said step S2 includes:

s21, under the response of the motor system, setting the limit displacement value as a displacement end value and setting the basic voltage signal as a driving voltage;

and S22, after the actual voltage duration corresponding to the basic voltage signal and the initial displacement value of the oscillator are obtained, updating the preset voltage duration of the basic voltage signal into the actual voltage duration.

3. The method for controlling the vibrational displacement of the motor according to claim 1, wherein said step S3 includes:

s31, if the initial displacement value of the vibrator is not equal to 0, setting a first section starting voltage; setting the starting voltage specifically to set a voltage amplitude and set a voltage duration, wherein the voltage amplitude of the first-stage starting voltage is opposite to the voltage amplitude of the basic voltage signal in direction;

s32, under the response of the motor system, setting the initial displacement value of the vibrator as a displacement end point value, and setting the first-stage starting voltage as a driving voltage;

and S33, after the actual voltage duration corresponding to the first section of starting voltage and the current initial displacement value of the oscillator are obtained, updating the preset voltage duration of the first section of starting voltage into the actual voltage duration.

4. The method for controlling the vibrational displacement of the motor according to claim 3, wherein said step S3 further includes:

and S34, if the current initial displacement value of the vibrator is equal to 0, adding the first section starting voltage for the current basic voltage signal, and executing the step S4 after outputting the current basic voltage signal.

5. The method for controlling the vibrational displacement of the motor according to claim 3, wherein said step S3 further includes:

s35, if the current initial displacement value of the vibrator is not equal to 0, setting the next section of starting voltage; the voltage amplitude of the next section of starting voltage is opposite to the voltage amplitude of the current starting voltage in direction;

s36, under the response of the motor system, setting the current initial displacement value of the vibrator as a displacement end point value, and setting the next section of starting voltage as a driving voltage;

s37, after acquiring the actual voltage duration corresponding to the next section of starting voltage and the initial displacement value of the next oscillator, updating the preset voltage duration of the next section of starting voltage into the actual voltage duration;

s38, judging whether the initial displacement value of the next vibrator is equal to 0 or not;

if not, returning to the step S35;

if the current basic voltage signal is equal to the preset basic voltage signal, sequentially adding all starting voltages for the current basic voltage signal, and then outputting the current basic voltage signal.

6. The method for controlling the vibration displacement of the motor according to claim 1, wherein the motor system is responsive to the driving voltage and a set displacement end value for obtaining an actual voltage duration corresponding to the driving voltage and an initial displacement value of the vibrator, specifically:

inputting the driving voltage and a set displacement end point value into a motor virtual model, and calculating the actual voltage duration corresponding to the driving voltage and the initial displacement value of the vibrator under the response of the motor system;

wherein the motor virtual model corresponds to the motor.

7. The method for controlling the vibration displacement of the motor according to claim 1, wherein the motor system is responsive to the driving voltage and a set displacement end value for obtaining an actual voltage duration corresponding to the driving voltage and an initial displacement value of the vibrator, specifically:

A. setting the current initial displacement value to 0;

B. after the motor virtual system is driven by the current driving voltage, judging whether the speed response of the oscillator at the initial moment is equal to 0 or not;

if not, correcting the voltage duration of the current driving voltage, and then re-executing the step;

if yes, executing step C;

C. judging whether the displacement response of the vibrator is equal to the set displacement terminal value or not;

if not, after correcting the current initial displacement value, returning to the step B;

and if so, outputting the actual voltage duration corresponding to the driving voltage and the initial displacement value of the vibrator.

8. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a control program of motor vibratory displacement, which when executed by a processor, performs the steps of the control method of motor vibratory displacement according to any one of claims 1-7.

9. An electronic device, characterized in that the electronic device comprises a memory, a processor and a control program of motor vibration displacement stored on the memory and operable on the processor, the control program of motor vibration displacement being executed by the processor to implement the steps of the control method of motor vibration displacement according to any one of claims 1-7.

[ technical field ] A method for producing a semiconductor device

The present invention relates to the field of linear motor technologies, and in particular, to a method for controlling displacement of a linear motor, a storage medium, and an electronic device.

[ background of the invention ]

The linear motor has a maximum vibration intensity, that is, the vibrator has a maximum limit displacement, due to the limitation of the structural size and the limitation of the driving voltage. The traditional driving method is to generate a plurality of signals in an exhaustive mode and then select the signal which can realize the displacement limitation most quickly. However, the driving method is a random generation method, the calculation time is too long, and the efficiency is too low, so that the linear motor has the problems of slow starting and the problem that the vibrator cannot limit the displacement to the maximum under the traditional driving method.

[ summary of the invention ]

In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a method for controlling a vibrational displacement of a motor, a storage medium, and an electronic device, which are intended to solve the problems of slow start-up and failure of a vibrator to maximally limit the displacement of a linear motor in the prior art.

In a first aspect, the present invention provides a method for controlling a motor vibration displacement, which is applied to a linear motor to move a vibrator of the linear motor from a displacement origin to a displacement limiting position, and the method for controlling the motor vibration displacement includes:

s1, presetting a limit displacement value and a basic voltage signal;

the basic voltage signal is set specifically to set a voltage amplitude and set a voltage duration;

s2, updating the preset voltage duration of the basic voltage signal to the actual voltage duration according to a specified motor system response, the limit displacement value and the basic voltage signal, and acquiring the initial displacement value of the oscillator;

s3, judging whether the initial displacement value of the vibrator is equal to 0 or not;

if yes, outputting a current basic voltage signal;

if not, adding a plurality of sections of positive and negative alternative starting voltages for the basic voltage signal according to the response of the motor system and the initial displacement value of the oscillator, and outputting the current basic voltage signal;

s4, driving the motor by using the current basic voltage signal to realize vibration displacement;

the motor system response is that the vibrator moves from a displacement origin to a displacement end point under the driving of the motor by the driving voltage, and the speeds of the vibrator at the displacement origin and the displacement end point are both 0; the motor system response is used for acquiring the actual voltage duration corresponding to the driving voltage and the initial displacement value of the vibrator according to the driving voltage and a set displacement end point value.

Further, the step S2 includes:

s21, under the response of the motor system, setting the limit displacement value as a displacement end value and setting the basic voltage signal as a driving voltage;

and S22, after the actual voltage duration corresponding to the basic voltage signal and the initial displacement value of the oscillator are obtained, updating the preset voltage duration of the basic voltage signal into the actual voltage duration.

Further, the step S3 includes:

s31, if the initial displacement value of the vibrator is not equal to 0, setting a first section starting voltage; setting the starting voltage specifically to set a voltage amplitude and set a voltage duration, wherein the voltage amplitude of the first-stage starting voltage is opposite to the voltage amplitude of the basic voltage signal in direction;

s32, under the response of the motor system, setting the initial displacement value of the vibrator as a displacement end point value, and setting the first-stage starting voltage as a driving voltage;

and S33, after the actual voltage duration corresponding to the first section of starting voltage and the current initial displacement value of the oscillator are obtained, updating the preset voltage duration of the first section of starting voltage into the actual voltage duration.

Still further, the step S3 further includes:

and S34, if the current initial displacement value of the vibrator is equal to 0, adding the first section starting voltage for the current basic voltage signal, and executing the step S4 after outputting the current basic voltage signal.

Still further, the step S3 further includes:

s35, if the current initial displacement value of the vibrator is not equal to 0, setting the next section of starting voltage; the voltage amplitude of the next section of starting voltage is opposite to the voltage amplitude of the current starting voltage in direction;

s36, under the response of the motor system, setting the current initial displacement value of the vibrator as a displacement end point value, and setting the next section of starting voltage as a driving voltage;

s37, after acquiring the actual voltage duration corresponding to the next section of starting voltage and the initial displacement value of the next oscillator, updating the preset voltage duration of the next section of starting voltage into the actual voltage duration;

s38, judging whether the initial displacement value of the next vibrator is equal to 0 or not;

if not, returning to the step S35;

if the current basic voltage signal is equal to the preset basic voltage signal, sequentially adding all starting voltages for the current basic voltage signal, and then outputting the current basic voltage signal.

Further, the motor system response is used for acquiring an actual voltage duration corresponding to a driving voltage and an initial displacement value of the oscillator according to the driving voltage and a set displacement end point value, specifically:

inputting the driving voltage and a set displacement end point value into a motor virtual model, and calculating the actual voltage duration corresponding to the driving voltage and the initial displacement value of the vibrator under the response of the motor system;

wherein the motor virtual model corresponds to the motor.

Further, the motor system response is used for acquiring an actual voltage duration corresponding to a driving voltage and an initial displacement value of the oscillator according to the driving voltage and a set displacement end point value, specifically:

A. setting the current initial displacement value to 0;

B. after the motor virtual system is driven by the current driving voltage, judging whether the speed response of the oscillator at the initial moment is equal to 0 or not;

if not, correcting the voltage duration of the current driving voltage, and then re-executing the step;

if yes, executing step C;

C. judging whether the displacement response of the vibrator is equal to the set displacement terminal value or not;

if not, after correcting the current initial displacement value, returning to the step B;

and if so, outputting the actual voltage duration corresponding to the driving voltage and the initial displacement value of the vibrator.

In a second aspect, the present invention provides a computer-readable storage medium having stored thereon a control program of motor vibrational displacement, which when executed by a processor performs the steps of the control method of motor vibrational displacement according to the first aspect.

In a third aspect, the present invention provides an electronic device, which includes a memory, a processor, and a control program for motor vibration displacement stored on the memory and executable on the processor, wherein the control program for motor vibration displacement, when executed by the processor, implements the steps of the control method for motor vibration displacement according to the first aspect.

Has the advantages that: the invention provides a control method of motor vibration displacement, a storage medium and an electronic device, the invention updates a preset basic voltage signal through a preset displacement limiting value and a specified motor system response, and further, if a vibrator cannot move to the displacement limiting position from a displacement origin point under the drive of the updated basic voltage signal of a linear motor, a plurality of sections of starting voltages with alternating positive and negative are added to the basic voltage signal, so that the vibrator can move to the displacement limiting position from the displacement origin point under the drive of the basic voltage signal after the motor is added with the starting voltage. It can be seen that the present invention is a directional derivation and update for the base voltage signal, and has a fast calculation speed and higher efficiency. Compared with the prior art, the motor is fast in starting and can enable the vibrator to realize maximum displacement limitation under the driving mode of the embodiment.

[ description of the drawings ]

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a flowchart of a method for controlling a vibration displacement of a motor according to embodiment 1 of the present invention;

fig. 2 is a flowchart of a second method of acquiring an actual voltage duration of a driving voltage and an initial displacement value of a vibrator in embodiment 1 of the present invention;

fig. 3 is a schematic structural diagram of an electronic device provided in embodiment 2 of the present invention.

[ detailed description ] embodiments

In order to make the technical solutions of the present invention better understood, 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.