# US 11,309,820 B2 · Signal equalization method, device and storage medium based on motor vibration acceleration

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- Number: US 11,309,820 B2
- Document ID: US11309820B2
- Status: Granted
- Kind: B2
- Application number: 16/992,124
- Filed: 2020-08-13
- Published: 2021-02-25
- Granted: 2022-04-19
- Earliest claimed: 2019-08-20
- Assignees: AAC Technologies Pte. Ltd.
- Applicants: AAC Technologies Pte. Ltd.
- Inventors: Yingming Qin
- Web page: https://patentgrep.com/patent/US11309820B2

## CPC

- H02P 25/032: Reciprocating, oscillating or vibrating motors
- G01P 15/097: by vibratory elements
- G01R 31/343: {in operation}
- H02P 23/20: Controlling the acceleration or deceleration
- H02P 25/06: Linear motors
- H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- G01P: MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT (measuring or recording blood flow A61B5/02, A61B8/06; monitoring speed or deceleration of electrically-propelled vehicles B60L3/00; vehicle lighting systems adapted to indicate speed B60Q1/54; determining position or course in navigation, measuring ground distance in geodesy or surveying G01C; combined measuring devices for measuring two or more variables of movement G01C23/00; measuring velocity of sound G01H; measuring velocity of light G01J7/00; measuring direction or velocity of solid objects by reception or emission of radiowaves or other waves and based on propagation effects, e.g. Doppler effect, propagation time, direction of propagation, G01S; measuring speed of nuclear radiation G01T; measuring acceleration of gravity G01V; {measuring or recording the speed of trains B61L23/00; speed indicators incorporated in motor vehicles B60K35/00; measuring frequency or phase G01R; traffic control G08G})
- G01R: MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES (indicating correct tuning of resonant circuits H03J3/12)

## Abstract

The disclosure discloses a signal equalization method including: step S10: calculating an motor excitation signal according to an expected target acceleration signal; step S20: obtaining the output voltage according to the motor excitation signal, and setting the maximum output voltage of the signal power amplifier as voltage threshold; step S30: judging whether the output voltage is less than the voltage threshold. The technical proposal of the disclosure obtains a motor excitation signal and an output voltage by calculating an expected target acceleration signal, then compares the output voltage with the maximum output voltage of a signal power amplifier, improving the security of output voltage; according to the voltage peak area reduction method, the output voltage and the maximum operating displacement threshold of the motor are calculated to obtain a more safe output voltage.

## Claims

### Claim 1

A motor actuation method, comprising steps of:
Step S10: calculating a motor excitation signal according to an expected target acceleration signal;
Step S20: obtaining an output voltage according to the motor excitation signal, and setting a maximum output voltage of the signal power amplifier as voltage threshold;
Step S30: judging whether the output voltage is less than the voltage threshold, and executing step S40 when the output voltage is greater than or equal to the voltage threshold; executing step S50 when the output voltage is less than the voltage threshold;
Step S40: reducing the output voltage to a safe voltage;
Step S50: calculating an excitation voltage by a voltage peak area reduction method according to the output voltage or the safe voltage, and exciting the motor to vibrate according to the excitation voltage by a signal power amplification device.

### Claim 2 (depends on 1)

The motor actuation method as described in claim 1, wherein step S50 comprises:
Step S501: calculating the output voltage or the safe voltage according to the voltage peak area reduction method to obtain the vibration displacement L1, and setting a displacement threshold;
Step S502: judging whether the vibration displacement L1 is larger than the displacement threshold, and when the vibration displacement L1 is less than or equal to the displacement threshold, outputting voltage V1; entering step S503 when the vibration displacement L1 is greater than the displacement threshold;
Step S503: reducing the output voltage or the safe voltage according to the maximum operating displacement threshold of the motor, and making voltage peak area reduction method calculation of the reduced output voltage or the safe voltage to obtain the vibration displacement L2, and obtaining the output voltage V2 until the vibration displacement L2 is less than or equal to the displacement threshold.

### Claim 3 (depends on 1)

The acceleration motor actuation method as described in claim 1, wherein the step S40 specifically comprises:
sealing down part of the output voltage exceeding the voltage threshold in equal proportion, so that the output voltage is reduced to be within the maximum output voltage range of the signal power amplifier, and outputting the safe voltage.

### Claim 4 (depends on 1)

The motor actuation method as described in claim 1, wherein the step S10 further comprises a step of acquiring basic parameters of the motor.

### Claim 5 (depends on 1)

The motor actuation method as described in claim 1, wherein the step S50 of calculating the excitation voltage by the voltage peak area reduction method comprises steps of:
Step S5011: inputting the original signal X and the threshold value L;
where X is the output voltage value of step S30 or step S40, and the threshold value L is the maximum vibration displacement of the motor;
Step S5012: determining an error array V of the same length as the original signal X, and setting the initial value of V to 0;
Step S5013: traversing the original signal X, and determining the value of V (I) according to the magnitude of X (i) and L;
if the absolute value of X (I) is less than L, V (I)=0;
if X(I)>L,V(I)=X(I)−L;
if X(I)≤−L,V(I)=X(I)+L;
Step S5014: passing the error signal V (I) through a low-pass FIR filter to obtain V;
Step S5015: obtaining the clipped signal X′, X′=X−V′.

### Claim 6 (depends on 1)

The motor actuation method as described in claim 1, wherein the step S10 of calculating the motor excitation signal according to the expected target acceleration signal is specifically as follows:
determining the relationship between the expected target acceleration signal and the excitation signal, as expressed by the following equation (1):
V
(
s
)
a
(
s
)
=
1
-
b
1
⁢
a
+
b
2
⁢
a
1
-
a
1
⁢
d
+
a
2
⁢
d
·
S
2
+
b
1
⁢
a
·
S
+
b
2
⁢
a
S
2
+
a
1
⁢
d
·
S
+
a
2
⁢
d
(
1
)
wherein, for ease of calculation, b1a, b2a, a1d and b2d are all intermediate parameter values, b1a, b2a, a1d and b2d are expressed by the equations (2), (3), (4), (5) respectively:
b1a=−2e−ωo cos(ω0·√{square root over (1−ρ2)}) (2)
b2a=e−2ω0ρ (3)
a1d=−2e−ωdρd cos(ωd·√{square root over (1−ρ2d)}) (4)
b2d=ρ−2ωdρd (5)
Where, for ease of calculation, ρ and Ct are also intermediate parameter values, ρ and Ct are expressed by the equations (6), (7) respectively:
ρ
=
1
2
·
C
t
k
d
·
m
d
(
6
)
C
t
=
C
d
+
Φ
0
2
R
e
(
7
)
Wherein Kd represents the elastic coefficient of the motor, md represents the mass of the motor vibrator, Re represents the motor resistance; Cd represents the mechanical damping of the motor; Ø0 represents the total damping of the motor;
Wherein, for ease of calculation, ρd, ω0 and ωd are also intermediate parameter values, ρd, ω0 and ωd are expressed by the equations (8), (9), (10) respectively:
ρ
d
=
1
2
·
Q
d
(
8
)
ω
0
=
k
d
m
d
(
9
)
ω
d
≈
0.5
⁢
⁢
ω
0
(
10
)
Wherein, Qd is valued 2.