Method and apparatus for controlling motor vibration

A method for controlling motor vibration, comprising:

• obtaining an input signal based on an expected motor vibration curve;
• inputting a digital signal sequence of the input signal to an equalizer, and obtaining an output signal after processing by the equalizer;
• and
• inputting the output signal to a motor to control vibration of the motor;
• wherein the equalizer is a digital filter constructed based on a damping factor ζ and a resonance frequency ωn of the motor, and a preset system sampling frequency fs, a preset damping factor ζd, and a preset cut-off frequency ωd;
• wherein,
• the equalizer is a second-order recursive digital filter constructed based on the following formula:
• H
• ⁡
• (
• z
• )
• =
• 1
• +
• b
• 1
• ⁢
• z
• -
• 1
• +
• b
• 2
• ⁢
• z
• -
• 2
• 1
• +
• a
• 1
• ⁢
• z
• -
• 1
• +
• a
• 2
• ⁢
• z
• -
• 2
• ,
• Wherein z is the digital signal sequence inputted to the equalizer, H(z) is a transmission function of the second-order recursive digital filter, and a1, a2, b1 and b2 are coefficients in the formula and are calculated by using the following method:
• a1=−2e−ζdωd/fs cos(√{square root over (1−ζd2)}ωd/fs);
• a2=e−2ζdωd/fs;
• b1=−2e−ζdωn/fs cos(√{square root over (1−ζ2)}ωn/fs);
• and
• b2=e−2ζωn/fs.