Disclosure of Invention
The invention mainly provides a method, equipment and a storage medium for evaluating the application frequency bandwidth of a motor, which can realize comprehensive evaluation of the application frequency bandwidth of the motor.
In order to solve the technical problems, the invention adopts a technical scheme that: provided is an evaluation method of a motor application frequency bandwidth, the evaluation method including: acquiring balanced excitation voltages of the motor at different frequencies; collecting the vibration acceleration of the motor under the excitation of the balanced excitation voltage; calculating vibration distortion THD of the motor and intensity HSL of the vibration acceleration of the motor relative to human body perceived acceleration under different frequencies according to the vibration acceleration and the balanced excitation voltage; testing minimum distortion values which can be perceived by human bodies under different frequencies to obtain a distortion experience threshold; and evaluating the application frequency bandwidth of the motor according to the vibration distortion THD, the intensity HSL of the vibration acceleration of the motor relative to the human body perceived acceleration and the distortion experience threshold.
Wherein the evaluating the application frequency bandwidth of the motor according to the vibration distortion THD, the intensity HSL of the vibration acceleration of the motor relative to the human body perceived acceleration, and the distortion experience threshold value comprises: acquiring a first frequency corresponding to the vibration distortion THD equal to the distortion experience threshold; acquiring the minimum frequency and the maximum frequency corresponding to the intensity HSL of the vibration acceleration of the motor relative to the human body perceived acceleration; and judging that the application frequency bandwidth of the motor is the difference between the maximum frequency and the first frequency when the minimum frequency is smaller than or equal to the first frequency, and judging that the application frequency bandwidth of the motor is the difference between the maximum frequency and the minimum frequency when the minimum frequency is larger than the first frequency.
Wherein, the vibration distortion THD of the motor is calculated according to the vibration acceleration and the balanced excitation voltage according to the following formula:
where n represents the harmonic order, P represents the harmonic energy, f represents the frequency,representing the sum of 2 nd to 5 th order harmonic energy of the frequency bin, +.>Representing the sum of the fundamental to 5 th order harmonic energy.
The intensity HSL of the vibration acceleration of the motor relative to the human body perceived acceleration is obtained by the difference between the logarithm of the vibration acceleration and the equal vibration induced acceleration weighting curve, and the calculation formula is as follows:
HSL＝20*log10(ACC)-20*log10(0.01*fm.^5-0.071*fm.^4+0.19*fm.^3-0.16*fm.^2+0.044*fm+0.26)；
wherein ACC is the vibration acceleration, log10 (ACC) is the vibration acceleration log;
20 x log10 (0.01 x fm.+ -. 5-0.071 x fm.+ -. 4+0.19 x fm.+ -. 3-0.16 x fm.+ -. 2+0.044 x fm+0.26) is the resonant acceleration weighting curve, fm is the motor frequency.
The method for acquiring the equal vibration sensing acceleration weighting curve comprises the following steps: inverting the minimum human body perception sensitivity curve to obtain an equivalent vibration sensing displacement weighting curve; and obtaining the equal vibration sensing acceleration weighting curve according to the equal vibration sensing displacement weighting curve.
Wherein the acquiring the vibration acceleration of the motor under the excitation of the balanced excitation voltage comprises: energizing the motor with the balanced energizing voltage; and respectively collecting and storing the vibration acceleration of the motor at different frequencies.
Wherein the obtaining the balanced excitation voltage of the motor at different frequencies comprises: setting relevant parameters of an equalizer according to the maximum displacement of preset frequency vibration under rated voltage; and calculating the balanced excitation voltage of the motor at different frequencies according to the relevant parameters of the equalizer.
In order to solve the technical problems, the invention adopts another technical scheme that: there is provided an evaluation device for motor application frequency bandwidth comprising a processor and a memory, the memory storing computer instructions, the processor being coupled to the memory, the processor executing the computer instructions in operation to implement the above-described evaluation method.
In order to solve the technical problems, 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 an evaluation method as described above.
The beneficial effects of the invention are as follows: compared with the prior art, the invention provides the evaluation method, the evaluation device and the storage medium for the motor application frequency bandwidth, and the motor application frequency bandwidth can be comprehensively evaluated by combining the vibration distortion of the motor at different frequencies after equalization, the distortion experience threshold value and the intensity of the vibration acceleration of the motor relative to the human body perceived acceleration, thereby considering the intensity in the haptic experience and the vibration distortion.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 together, fig. 1 is a flowchart illustrating an embodiment of a method for evaluating a motor application frequency bandwidth according to the present invention, where the method for evaluating a motor application frequency bandwidth in the embodiment may specifically include:
s100, obtaining balanced excitation voltages of the motor at different frequencies.
Referring to fig. 2, fig. 2 is a flowchart illustrating an embodiment of step S100 of the present invention, where step S100 of fig. 2 further includes the following sub-steps:
s110, setting relevant parameters of the equalizer according to the maximum displacement of the preset frequency vibration under the rated voltage.
Specifically, the balanced excitation voltage signal in the embodiment of the present invention is a step signal, and the related parameters of the equalizer need to be set at the maximum displacement of the preset frequency vibration (the present invention refers to the natural frequency F0 point of the motor) under the rated voltage. The relevant parameters of the equalizer may include, among others, its insertion loss, equalization value, equalization bias, reflection loss, current-carrying capacity, etc.
S120, calculating the balanced excitation voltage of the motor under different frequencies according to the relevant parameters of the equalizer.
Further, according to the relevant parameters of the equalizer, the balanced excitation voltage signals of the motor under different frequencies are calculated. Alternatively, the maximum output value of the balanced excitation voltage of the motor in the embodiment of the present invention is 9V.
S200, collecting vibration acceleration of the motor under the excitation of the balanced excitation voltage.
Referring to fig. 3, fig. 3 is a flowchart illustrating an embodiment of step S200 of the present invention, where step S200 of fig. 3 further includes the following sub-steps:
s210, exciting the motor by using the balanced excitation voltage.
Optionally, the motor is excited by the balanced excitation voltage at different frequencies acquired in step S100.
S220, respectively collecting and storing vibration acceleration of motors at different frequencies.
And respectively acquiring vibration acceleration data of motors at different frequencies by adopting acceleration sensors and storing the vibration acceleration data.
S300, calculating vibration distortion THD of the motor at different frequencies and intensity HSL of the vibration acceleration of the motor relative to the human body perceived acceleration according to the vibration acceleration and the balanced excitation voltage.
Alternatively, the vibration distortion THD represents a nonlinear output of the motor, i.e., the harmonic component of each frequency point and the duty cycle of its fundamental wave. Specifically, vibration distortions at different frequencies may be calculated from the acquired equilibrium excitation voltage and the vibration acceleration value acquired in step S200. Alternatively, the frequency range in embodiments of the present invention may be 30Hz-500Hz. That is, the vibration distortion of the motor in the frequency range of 30Hz-500Hz can be calculated according to the balanced excitation voltage and the vibration acceleration values of the motor at different frequencies. Wherein, the calculation formula of the vibration distortion of the motor is:
alternatively, THD represents a square root sum of the ratio of the effective value of the harmonic component to the effective value of the fundamental component for each frequency point, where n represents the harmonic order, P represents the harmonic energy, f represents the frequency,representing the sum of 2 nd to 5 th order harmonic energy of the frequency bin, +.>Representing the sum of the fundamental to 5 th order harmonic energy.
Referring to fig. 4, fig. 4 is a flowchart of an embodiment of step S300 of the present invention, and as shown in fig. 4, the embodiment describes in detail a method for obtaining the intensity HSL of the vibration acceleration of the motor relative to the human body perceived acceleration, specifically, step S300 further includes the following sub-steps:
s310, calculating to obtain steady acceleration values of all frequency points after motor equalization according to the vibration acceleration.
Optionally, the specific calculation mode of the intensity HSL of the vibration acceleration of the motor relative to the human body perceived acceleration is that the steady-state acceleration value of each frequency point after motor equalization is calculated according to the collected vibration acceleration data.
And S320, weighting the steady acceleration value and the minimum human body perceived sensitive acceleration to obtain the intensity of the vibration acceleration of the motor relative to the human body perceived acceleration.
Further, the steady acceleration value and the minimum human body perceived sensitive acceleration are weighted to obtain the intensity of the vibration acceleration of the motor relative to the human body perceived acceleration. The intensity of the vibration acceleration of the motor relative to the human body perceived acceleration is obtained by the difference between the logarithm of the moving acceleration and the equal vibration acceleration weighting curve, and the calculation formula is as follows:
HSL＝20*log10(ACC)-20*log10(0.01*fm.^5-0.071*fm.^4+0.19*fm.^3-0.16*fm.^2+0.044*fm+0.26)；
wherein ACC is the vibration acceleration, log10 (ACC) is the vibration acceleration log; 20 x log10 (0.01 x fm.+ -. 5-0.071 x fm.+ -. 4+0.19 x fm.+ -. 3-0.16 x fm.+ -. 2+0.044 x fm+0.26) is the resonant acceleration weighting curve, fm is the motor frequency.
Referring to fig. 5, fig. 5 is a flowchart illustrating an embodiment of a method for acquiring an equal vibration acceleration weighting curve according to the present invention, where the method for acquiring an equal vibration acceleration weighting curve in fig. 5 includes the following steps:
s321, inverting the minimum human body perception sensitivity curve to obtain an equal vibration sensing displacement weighting curve.
Referring to fig. 6, fig. 6 is a schematic diagram of an embodiment of a human body minimum perception sensitivity curve according to the present invention, wherein the abscissa in fig. 6 represents frequency information, and the ordinate represents a perception Threshold, i.e. a perception Threshold (Threshold ref 1 um) of 1um, and the unit is dB. As shown in fig. 6, the frequency is 80Hz, the relative displacement is 1um, and the same hand feeling can be obtained by a larger displacement for a frequency point with a frequency of 80Hz or less, and the same hand feeling can be obtained by a smaller displacement for a frequency point with a frequency of 80Hz or more. Thus, the human body minimum perception sensitivity curve in fig. 6 can be inverted to obtain the equivalent vibration sense displacement weighting curve. Referring to fig. 7, fig. 7 is a schematic diagram of an embodiment of an isovibration sensing displacement weighting curve according to the present invention. In fig. 7, the abscissa indicates frequency information, and the ordinate indicates a displacement weight value in dB.
S322, obtaining an equal vibration acceleration weighting curve according to the equal vibration displacement weighting curve.
It can be appreciated that the acceleration and displacement of the single frequency signal satisfy:
where x represents displacement, acc is acceleration, and w represents single frequency. In this way, the relation between the acceleration and displacement of the single-frequency signal can be used for obtaining the equal vibration acceleration weighting curve. Referring to fig. 8, fig. 8 is a schematic diagram of an embodiment of an equal vibration acceleration weighting curve according to the present invention. Wherein the abscissa in FIG. 8 represents frequency information, and the ordinate represents acceleration sensing threshold, i.e. relative 1m/s2 Acceleration sensing Threshold (Threshold ref 1 m/s)2 ) The unit is dB.
S400, testing minimum distortion values perceived by human bodies under different frequencies to obtain a distortion experience threshold.
Optionally, in the embodiment of the present invention, the distortion experience threshold refers to a minimum distortion value that a human body can perceive and distinguish an effect, and the vibration frequencies are different, so that the human body can perceive the distortion threshold differently. In the practical test of the invention, the distortion experience threshold is obtained by carrying out controllable distortion processing on single-frequency signals with different frequencies, and the distortion degree of the effect is continuously increased until the distortion can be perceived, and the distortion value obtained when the distortion is perceived is the distortion experience threshold.
S500, evaluating the application frequency bandwidth of the motor according to vibration distortion THD, the intensity HSL of the vibration acceleration of the motor relative to the human body perceived acceleration and the distortion experience threshold.
Referring to fig. 9, fig. 9 is a flowchart of an embodiment of step S500 of the present invention, where step S500 of fig. 9 further includes the following sub-steps:
and S510, acquiring a corresponding first frequency when the vibration distortion THD is equal to the distortion experience threshold.
Referring to fig. 10 together, fig. 10 is a schematic diagram of an embodiment of the motor frequency bandwidth estimation according to the present invention, where, in fig. 10, curve 1 is vibration distortion THD of the motor at different frequencies, curve 2 is a distortion threshold curve within 110Hz, and curve 3 is intensity HSL of vibration acceleration of the motor relative to human body perceived acceleration. Firstly, a first frequency corresponding to when the vibration distortion THD of the motor is equal to the distortion experience threshold value, namely, a frequency corresponding to an intersection point of a curve 1 and a curve 2 in fig. 10 is the first frequency, and in the embodiment of the present invention, the first frequency is 100Hz, that is, a frequency point after the first frequency is 100Hz meets the experience distortion requirement.
S520, obtaining the minimum frequency and the maximum frequency corresponding to the intensity HSL of the vibration acceleration of the motor relative to the human body perceived acceleration.
Further referring to fig. 10, the minimum frequency and the maximum frequency corresponding to the intensity HSL of the vibration acceleration of the motor relative to the human body perceived acceleration are obtained. For example, in the first embodiment of the present invention, the frequencies corresponding to the vibration acceleration of the motor when the intensity HSL of the vibration acceleration of the motor relative to the human body perceived acceleration is 15dB are respectively the minimum frequency and the maximum frequency, such as the minimum frequency of 60Hz and the maximum frequency of 460Hz in fig. 10.
In another embodiment of the present invention, the frequencies corresponding to the vibration acceleration of the motor when the intensity HSL of the vibration acceleration with respect to the human body perceived acceleration is 30dB may be the minimum frequency and the maximum frequency, respectively. Of course, the above embodiments of the present invention are merely illustrative, and in other embodiments, frequencies corresponding to the vibration acceleration of the motor when the intensity HSL of the vibration acceleration relative to the human body perceived acceleration is other values may be selected as the minimum frequency and the maximum frequency, which are not particularly limited herein.
S530, judging that the application frequency bandwidth of the motor is the difference between the maximum frequency and the first frequency when the minimum frequency is smaller than or equal to the first frequency, and judging that the application frequency bandwidth of the motor is the difference between the maximum frequency and the minimum frequency when the minimum frequency is larger than the first frequency.
Alternatively, it is determined that when the minimum frequency is less than or equal to the first frequency, the application frequency bandwidth of the motor is the difference between the maximum frequency and the first frequency, for example, the minimum frequency is 60Hz when the intensity HSL of the vibration acceleration of the motor relative to the human body perceived acceleration is 15dB, the maximum frequency is 460Hz, and the minimum frequency is 60Hz less than the first frequency 100Hz, at which time the application frequency bandwidth of the motor is the difference between the maximum frequency and the first frequency, that is, the application frequency bandwidth of 15dB is 360Hz. It is understood that an application frequency bandwidth of 15dB may be defined as the lowest application bandwidth,
when the minimum frequency is larger than the first frequency, the application frequency bandwidth of the motor is judged to be the difference between the maximum frequency and the minimum frequency, for example, the minimum frequency is 123Hz when the intensity HSL of the vibration acceleration of the motor relative to the human body perceived acceleration is 30dB, the maximum frequency is 300Hz, and the minimum frequency is 174Hz and larger than the first frequency 100Hz, and at the moment, the application frequency bandwidth of the motor is the difference between the maximum frequency and the minimum frequency, namely, the application frequency bandwidth of 30dB is 177Hz. It is understood that an application frequency bandwidth of 30dB may be defined as a general application bandwidth.
It will be appreciated that not only intensity, but also the realism of the haptic sensation, for example if a vibration sensation of 100Hz is required, but a distortion of 200Hz or even 300Hz is required in the haptic experience, so that even if the intensity is met, the desired effect is not expected. The method for evaluating the motor application frequency bandwidth combines vibration distortion of the motor at different frequencies after balancing, the intensity of the vibration acceleration of the motor relative to the human body perceived acceleration and the distortion experience threshold, and can comprehensively evaluate the application bandwidth of the motor.
In the above embodiment, by combining the vibration distortion of the motor at different frequencies after equalization, the distortion experience threshold value, and the intensity of the vibration acceleration of the motor relative to the human body perceived acceleration, the comprehensive evaluation of the motor application frequency bandwidth can be realized by considering both the intensity in the haptic experience and the vibration distortion.
Referring to fig. 11, fig. 11 is a schematic block diagram of an embodiment of an evaluation apparatus for motor application frequency bandwidth provided by the present invention, where the evaluation apparatus in this embodiment includes a processor 310 and a memory 320, the processor 310 is coupled to the memory 320, the memory 320 stores computer instructions, and the processor 310 executes the computer instructions during operation to implement the method for evaluating motor application frequency bandwidth in any of the foregoing embodiments.
The processor 310 may also be referred to as a CPU (Central Processing Unit ). The processor 310 may be an integrated circuit chip with signal processing capabilities. 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 to such.
Referring to fig. 12, fig. 12 is a schematic block diagram of an embodiment of a computer readable storage medium provided in the present invention, where the computer readable storage medium stores a computer program 410, and the computer program 410 can be executed by a processor to implement the method for evaluating a motor application frequency bandwidth in any of the above embodiments.
Alternatively, the readable storage medium may be a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, randomAccess Memory), a magnetic disk or an optical disk, or may be a terminal device such as a computer, a server, a mobile phone, a tablet, or the like.
Compared with the prior art, the embodiment of the invention provides a motor application frequency bandwidth evaluation method, equipment and a storage medium, and by combining the vibration distortion of a motor at different frequencies after equalization, a distortion experience threshold value and the intensity of the vibration acceleration of the motor relative to the human body perceived acceleration, the comprehensive evaluation of the motor application frequency bandwidth can be realized by considering the intensity in haptic experience and the vibration distortion.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.