WO2021134359A1

WO2021134359A1 - Motor steady-state single-frequency distortion compensation method and apparatus

Info

Publication number: WO2021134359A1
Application number: PCT/CN2019/130197
Authority: WO
Inventors: 李涛; 向征; 郭璇
Original assignee: 瑞声声学科技(深圳)有限公司; 瑞声科技(新加坡)有限公司
Priority date: 2019-12-30
Filing date: 2019-12-30
Publication date: 2021-07-08

Abstract

Provided is a motor steady-state single-frequency distortion compensation method, characterized in that the method comprises: a construction step: obtaining an expected acceleration spectrum according to an excitation signal and a motor linear model; an acquisition step: obtaining a voltage spectrum of the excitation signal according to a Fourier transform, and collecting the actual motor acceleration of a motor unit to obtain an actually measured acceleration spectrum and a total harmonic distortion value of the actually measured acceleration spectrum; and a compensation step: carrying out iterative calculation according to the total harmonic distortion value to obtain a correction voltage with minimal distortion. Therefore, the adverse effect of the nonlinearity of a motor itself on the tactile experience is reduced.

Description

Method and device for compensating steady-state single-frequency distortion of motor

【Technical Field】

The invention relates to the technical field of distortion compensation, in particular to a method for compensating steady-state single-frequency distortion of a motor.

【Background technique】

With the development of mobile technology, the number of smart mobile devices continues to increase. Linear Resonance Actuator (LRA, commonly known as motor) used to control the touch feedback function is used in smart mobile devices such as smart phones, smart watches, and tablets. The application in is becoming more and more popular.

Many audio and vibration electronic devices have certain non-linear characteristics, resulting in different degrees of distortion in the signal output through the device. As a vibration device, the non-linearity of the vibrator motor will cause the actual vibration effect of the motor to deviate from the expected vibration effect, especially for the type of motor with large non-linearity, which affects the motor's use in mobile phones, smart wear and other electronic The tactile feedback experience on consumer devices.

Therefore, it is necessary to provide a compensation method and device that reduces or even eliminates the adverse effect of the non-linearity of the motor itself on the tactile experience.

[Utility model content]

The purpose of the present invention is to provide a compensation method and device that reduces or even eliminates the adverse effect of the non-linearity of the motor itself on the tactile experience.

The technical scheme of the present invention is as follows: a method for compensating steady-state single-frequency distortion of a motor, the method comprising:

Construction steps: Obtain the desired acceleration spectrum according to the excitation signal and the linear model of the motor;

Obtaining step: obtaining the voltage spectrum of the excitation signal according to the Fourier transform, and collecting the actual motor acceleration of the single motor to obtain the measured acceleration spectrum and the total harmonic distortion value of the measured acceleration spectrum;

Compensation steps: iteratively calculate the minimum distortion correction voltage according to the total harmonic distortion value.

Preferably, the construction step specifically includes:

Step a: Generate a steady-state single-frequency excitation signal;

Step b: The excitation signal obtains the expected acceleration frequency spectrum through the linear model of the motor.

Preferably, the obtaining step specifically includes:

Step c: the excitation signal is Fourier transformed to obtain the voltage spectrum of the excitation signal;

Step d: The excitation signal collects the actual motor acceleration through the motor unit;

Step e: Obtain the measured acceleration frequency spectrum and the total harmonic distortion value of the measured acceleration frequency spectrum according to the motor acceleration.

Preferably, the compensation step specifically includes:

Step f: Obtain the acceleration frequency spectrum error according to the measured acceleration frequency spectrum and the expected acceleration frequency spectrum;

Step g: Construct a linear frequency response model according to the voltage spectrum of the excitation signal and the expected acceleration spectrum;

Step h: Obtain the corrected voltage spectrum of the excitation signal according to the voltage spectrum of the excitation signal, the acceleration spectrum error and the linear frequency response model;

Step i: the corrected voltage spectrum of the excitation signal is subjected to inverse Fourier transform to obtain the corrected voltage;

Step j: Return to step c and repeat to step i, define the number of repetitions as n, the total harmonic distortion value of the nth order is THD _n , and the total harmonic distortion value of the _{n-1th order is THD n-1} . Conditional expression: When THD _n > THD _n-1 , the corrected voltage obtained during the n-1th repetition is output.

Preferably, the excitation signal is a single frequency sine wave.

Preferably, the excitation signal obtains a desired acceleration waveform through a motor linear model, and the desired acceleration waveform is Fourier transformed to obtain a desired acceleration frequency spectrum.

Preferably, the acceleration of the motor is collected by an acceleration sensor.

The present invention also provides a steady-state single-frequency distortion compensation device for a motor, which is characterized in that it comprises:

Signal generating device, used to generate a steady-state single-frequency excitation signal and send it to the motor unit;

Single motor, responding to excitation signal;

The construction module is used to obtain the desired acceleration frequency spectrum according to the excitation signal and the linear model of the motor;

Obtaining module: used to obtain the voltage spectrum of the excitation signal according to the Fourier transform, and collect the actual motor acceleration of a single motor to obtain the measured acceleration spectrum and the total harmonic distortion value of the measured acceleration spectrum;

Compensation module: It is used to iteratively calculate the minimum distortion correction voltage according to the total harmonic distortion value.

The present invention also provides a terminal device, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program when the computer program is executed. The steps of the motor steady-state single-frequency distortion compensation method are described.

The present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and is characterized in that, when the computer program is executed by a processor, the method for compensating the steady-state single frequency distortion of the motor is realized. step.

Compared with the prior art, the present invention has the beneficial effects of constructing the desired acceleration spectrum of the excitation signal, obtaining the voltage spectrum of the excitation signal, and the measured acceleration spectrum, and obtaining the corrected voltage of the excitation signal by iterative calculation according to the total harmonic distortion value. So as to reduce the adverse effect of the non-linearity of the motor itself on the tactile experience.

【Explanation of the drawings】

Figure 1 is a flow chart of the distortion compensation method of the present invention;

Figure 2 is a flow chart of the method of constructing steps of the present invention;

Figure 3 is a flow chart of the method of obtaining steps according to the present invention;

Figure 4 is a flow chart of the compensation step method of the present invention;

Figure 5 is a schematic diagram of the configuration of the signal generating device of the present invention;

Figure 6 is a waveform diagram of the measured acceleration of the excitation voltage of the present invention;

Figure 7 is a spectrum diagram of the measured acceleration wave of the excitation voltage of the present invention;

Fig. 8 is a waveform diagram of the measured acceleration of the corrected voltage of the present invention;

Fig. 9 is a waveform diagram of the measured acceleration of the corrected voltage of the present invention;

FIG. 10 is a schematic diagram of a terminal device according to Embodiment 3 of the present invention;

FIG. 11 is a structural block diagram of Embodiment 2 of the present invention.

【Detailed ways】

The present invention will be further described below in conjunction with the drawings and embodiments.

Example one

This embodiment provides a method for compensating steady-state single-frequency distortion of a motor. The method includes:

Step S10: a construction step, obtaining a desired acceleration frequency spectrum according to the excitation signal and the linear model of the motor; specifically, the step 10 specifically includes:

Step S11: Generate a steady-state single-frequency excitation signal;

In this embodiment, the excitation signal is a single-frequency sine wave u(t) with _{a specified voltage amplitude V p} =8, a frequency F _{0 =60 Hz, and a period T=100.} The measured acceleration waveform diagram and its spectrogram under this parameter are shown in Figure 6 and Figure 7 respectively; the excitation voltage of the excitation signal can be any of wav, mat, txt, and act formats. The source can be a computer, a mobile device, or other hardware and software devices with signal generation and transmission functions in the field. In this embodiment, the excitation signal is generated and sent by a computer.

Step S12: The excitation signal obtains the expected acceleration frequency spectrum through the linear model of the motor.

Wherein, the excitation signal u(t) obtains the desired acceleration waveform through the linear model of the motor, and the desired acceleration waveform is obtained through the Fourier transform to obtain the desired acceleration frequency spectrum.

The transfer function of the linear model of the motor is defined as H _z , which satisfies the conditional formula:

Among them, φ ₀ represents the electromagnetic force coefficient, _Reb represents the resistance, M _d represents the vibrator mass, K _d represents the spring stiffness coefficient, C _d represents the damping coefficient, and T _z represents the sampling time interval.

The desired acceleration waveform is defined as x ^* (t), and the spectrum for calculating the desired acceleration is

Satisfy the conditional formula:

Among them, T represents the period of the desired acceleration waveform x ^* (t), and k represents the k-th frequency after Fourier transform.

Step S20: obtaining step, obtaining the voltage spectrum of the excitation signal according to the Fourier transform, and collecting the actual motor acceleration of the motor to obtain the measured acceleration spectrum and the total harmonic distortion value of the measured acceleration spectrum; specifically, the step S20 specifically includes:

Step S21: the excitation signal is Fourier transformed to obtain the voltage spectrum of the excitation signal;

Define the voltage spectrum of the excitation signal as

Meet the definition:

Among them, T represents the period of the excitation signal u(t), and k represents the k-th frequency after Fourier transform

Step S22: The excitation signal collects the actual motor acceleration through the motor unit.

Specifically, a signal generating device is used to make the excitation signal u(t) pass through a single motor, and the acceleration sensor is used to collect the actual motor acceleration.

Step S23: Obtain the measured acceleration frequency spectrum and the total harmonic distortion value of the measured acceleration frequency spectrum according to the motor acceleration;

Define the motor acceleration as y(t), the measured motor acceleration spectrum is X _k , and the total harmonic distortion of the measured motor acceleration spectrum is THD, which satisfies the conditional formula:

Among them, T represents the period of motor acceleration y(t), k represents the k-th frequency after Fourier transform; N represents the maximum order of the harmonic component, G ₁ represents the effective value of the fundamental component, and G _n represents all harmonics The effective value of the component.

Step S30: Compensation step, iteratively calculate the minimum distortion correction voltage according to the total harmonic distortion value. Specifically, the step S30 specifically includes:

Step S31: Obtain the acceleration frequency spectrum error according to the measured acceleration frequency spectrum and the expected acceleration frequency spectrum;

Define the measured acceleration spectrum X _k and the expected acceleration spectrum

The acceleration spectrum error between is E _k , which satisfies the conditional formula:

k represents the k-th frequency after Fourier transform.

Step S32: Construct a linear frequency response model according to the voltage spectrum of the excitation signal and the expected acceleration spectrum;

Define the response function of the linear frequency response model as H _lin (kF0), which satisfies the conditional formula:

In the above formula:

Take k=2, 3, and 4 respectively, take the frequency _{spectrum of a sine wave u k} (t) with a _{frequency of k×F 0} and an amplitude of 1Vp _{as H in} (kF ₀ ), and take the spectrum of the _{expected acceleration x k (t) as} H _out (kF ₀ ), T represents the period of the sine wave u _k (t) or expected acceleration x _k (t), and k represents the k-th frequency after Fourier transform.

Step S33: Obtain the corrected voltage spectrum of the excitation signal according to the voltage spectrum of the excitation signal, the acceleration spectrum error and the linear frequency response model;

Define the modified voltage spectrum of the excitation signal as

Satisfy the conditional formula:

Step S34: the corrected voltage spectrum of the excitation signal is subjected to inverse Fourier transform to obtain the corrected voltage.

Define the modified voltage as u _new (t), which satisfies the conditional formula:

Step S35: Return to step S21, repeat steps S21, S22, S22, S23, S31, S32, S33, S34 in sequence, define the number of repetitions as n, the total harmonic distortion of the _nth is THD n, and the n-1th The total harmonic distortion value of the second order is THD _n-1 . When the conditional formula is satisfied: THD _n > THD _n-1 _{, the corrected voltage u new} (t) obtained during the n-1th repetition is output, and the motor acceleration is finally obtained The voltage signal with the minimum THD is used as the corrected voltage value after distortion compensation. The measured acceleration waveform and its frequency spectrum under this correction parameter are shown in Figure 8 and Figure 9, respectively. Compared with Figure 6-9 above, it can be seen that the distortion The second to fourth harmonic components in the acceleration waveform before compensation are effectively eliminated after being processed by the algorithm, thereby significantly reducing the total harmonic distortion (THD) of the acceleration, that is, reducing the degree of distortion. After calculation, the acceleration THD before optimization is about 95%, and the THD after optimization is about 15%. According to this, the THD is reduced by about 84%, and a good optimization effect is achieved.

Example two

This embodiment provides a steady-state single-frequency distortion compensation device for a motor. The device is used to implement the distortion compensation method of the first embodiment and includes:

The signal generating device 1 is used to generate a steady-state single-frequency excitation signal and send it to a single motor; the signal generating device may be a computer, a mobile device, or other software and hardware devices with signal generation and transmission functions in the field. In this implementation, the excitation signal is generated by a computer, and a signal collector 11 (NI-DAQ 4431) that collects the excitation signal and a power amplifier 12 that amplifies the signal is also arranged between the signal generator 1 and the motor unit 2 (AMP1, AMP2). The signal generating device 1 includes a generating module 13 for generating an excitation signal and a sending module 14 for sending the excitation signal to a single motor.

The motor unit 2 receives the excitation signal from the signal generating device 1. In this embodiment, the motor is placed on a standard 100g tool 21, which is installed on the sponge 22 to isolate the influence of environmental factors on the motor distortion compensation process. The motor unit 2 at least includes a receiving module 23 that receives the excitation signal.

The construction module 3 is used to obtain the desired acceleration frequency spectrum according to the excitation signal and the linear model of the motor;

Obtaining module 4: used to obtain the voltage spectrum of the excitation signal according to the Fourier transform, and to collect the actual motor acceleration of the motor to obtain the measured acceleration spectrum and the total harmonic distortion value of the measured acceleration spectrum; the acquisition module includes a first An acquisition module 41, a second acquisition module 42, a third acquisition module 43, and an acceleration sensor 44, the first acquisition module 41 is used to calculate the voltage spectrum, and the second acquisition module 42 is used to calculate the measured acceleration spectrum, The third obtaining module 43 is used to calculate the total harmonic distortion value, and the acceleration sensor 44 is used to collect the actual acceleration of the motor.

Compensation module 5: It is used to iteratively calculate the minimum distortion correction voltage according to the total harmonic distortion value. The compensation module 5 includes a first compensation module 51, a second compensation module 52, a third compensation module 53, a fourth compensation module 54, and a fifth compensation module 55. The first compensation module 51 is used to calculate the acceleration spectrum error The second compensation module 52 is used to construct a linear frequency corresponding model, the third compensation module 53 is used to calculate and obtain the corrected voltage spectrum, and the fourth compensation module 54 is used to calculate and obtain the corrected voltage. The fifth compensation module 55 is used to determine whether the total harmonic distortion value THD _n-1 meets the conditional formula: THD _n > THD _n-1 , and obtain the corrected voltage by iterative calculation.

Example three

This embodiment provides a terminal device 6, including a memory 61, a processor 62, and a computer program 63 stored in the memory 61 and running on the processor 62, and the processor 62 executes the computer program At 63 o'clock, the steps of the motor steady-state single-frequency distortion compensation method of the first embodiment are implemented.

Exemplarily, the computer program 63 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 61 and executed by the processor 62 to complete this invention. The one or more modules/units may be a series of instruction segments of the computer program 63 capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 63 in the terminal device 6. For example, the computer program 63 may be divided into a construction module, an acquisition module, and a compensation module (unit module in the virtual device), and the specific functions of each module are as follows:

Obtaining module 4: used to obtain the voltage spectrum of the excitation signal according to the Fourier transform, and to collect the actual motor acceleration of a single motor to obtain the measured acceleration spectrum and the total harmonic distortion value of the measured acceleration spectrum;

Compensation module 5: It is used to iteratively calculate the minimum distortion correction voltage according to the total harmonic distortion value.

The terminal device 6 may be a computing device such as a desktop computer, a notebook, a palmtop computer, and a cloud server. The terminal device 6 may include, but is not limited to, a processor 62 and a memory 61. Those skilled in the art can understand that FIG. 10 is only an example of the terminal device 6 and does not constitute a limitation on the terminal device 6. It may include more or less components than those shown in the figure, or a combination of certain components, or different components. For example, the terminal device 6 may also include an input/output device, a network access device, a bus, and the like.

The so-called processor 62 may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors 62, digital signal processors 62 (Digital Signal Processor, DSP), application specific integrated circuits (ASICs). ), off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor 62 may be a microprocessor 62 or the processor 62 may also be any conventional processor 62 or the like.

The memory 61 may be an internal storage unit of the terminal device 6, such as a hard disk or memory of the terminal device 6. The memory 61 may also be an external storage device of the terminal device 6, for example, a plug-in hard disk equipped on the terminal device 6, a smart memory card (Smart Media Card, SMC), or a Secure Digital (SD). Card, Flash Card, etc. Further, the memory 6181 may also include both an internal storage unit of the terminal device 6 and an external storage device. The memory 6181 is used to store the computer program 63 and other programs and data required by the terminal device 6. The memory 6181 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the division of the above functional units and modules is used as an example. In practical applications, the above functions can be allocated to different functional units and modules as needed. Module completion, that is, the internal structure of the terminal device 6 is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist alone physically, or two or more units can be integrated into one unit. The above-mentioned integrated units can be hardware-based Formal realization can also be realized in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the foregoing system, reference may be made to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the above-mentioned embodiments, the description of each embodiment has its own focus. For parts that are not described in detail or recorded in an embodiment, reference may be made to related descriptions of other embodiments.

A person of ordinary skill in the art may realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered as going beyond the scope of the present invention.

In the embodiments provided by the present invention, it should be understood that the disclosed device/terminal device 6 and method may be implemented in other ways. For example, the above-described embodiment of the apparatus/terminal device 6 is only illustrative. For example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple divisions. Units or components can be combined or integrated into another system, or some features can be omitted or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiments and methods, and can also be completed by instructing relevant hardware through a computer program 63, which can be stored in a computer-readable storage medium, When the computer program 63 is executed by the processor 62, it can implement the steps of the foregoing method embodiments. The computer program 63 includes computer program 63 code, and the computer program 63 code may be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the code of the computer program 63, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory 61, read-only memory 61 (Read-Only Memory) , ROM), random access memory 61 (Random Access Memory, RAM), electrical carrier signal, telecommunications signal, software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately added or deleted according to the requirements of the legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to the legislation and patent practice, the computer-readable medium Does not include electrical carrier signals and telecommunication signals.

It should be understood that the size of the sequence number of each step in the foregoing embodiment does not mean the sequence of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

Thereby, the present invention constructs the expected acceleration spectrum of the excitation signal, obtains the voltage spectrum of the excitation signal, the measured acceleration spectrum, and iteratively calculates the correction voltage of the excitation signal according to the total harmonic distortion value, thereby reducing the non-linearity of the motor itself. The adverse effects of the tactile experience.

The above are only the embodiments of the present invention. It should be pointed out here that for those of ordinary skill in the art, improvements can be made without departing from the inventive concept of the present invention, but these all belong to the present invention. The scope of protection.

Claims

A method for compensating steady-state single-frequency distortion of a motor, characterized in that the method includes:

Construction steps: Obtain the desired acceleration spectrum according to the excitation signal and the linear model of the motor;

Obtaining step: obtaining the voltage spectrum of the excitation signal according to the Fourier transform, and collecting the actual motor acceleration of the single motor to obtain the measured acceleration spectrum and the total harmonic distortion value of the measured acceleration spectrum;

Compensation steps: iteratively calculate the minimum distortion correction voltage according to the total harmonic distortion value.
The method for compensating steady-state single-frequency distortion of a motor according to claim 1, wherein the constructing step specifically includes:

Step a: Generate a steady-state single-frequency excitation signal;

Step b: The excitation signal obtains the expected acceleration frequency spectrum through the motor linear model.
The method for compensating steady-state single-frequency distortion of a motor according to claim 2, wherein the obtaining step specifically includes:

Step c: the excitation signal is Fourier transformed to obtain the voltage spectrum of the excitation signal;

Step d: The excitation signal collects the actual motor acceleration through the motor unit;

Step e: Obtain the measured acceleration frequency spectrum and the total harmonic distortion value of the measured acceleration frequency spectrum according to the motor acceleration.
The method for compensating steady-state single-frequency distortion of a motor according to claim 3, wherein the compensating step specifically includes:

Step f: Obtain the acceleration frequency spectrum error according to the measured acceleration frequency spectrum and the expected acceleration frequency spectrum;

Step g: Construct a linear frequency response model according to the voltage spectrum of the excitation signal and the expected acceleration spectrum;

Step h: Obtain the corrected voltage spectrum of the excitation signal according to the voltage spectrum of the excitation signal, the acceleration spectrum error and the linear frequency response model;

Step i: the corrected voltage spectrum of the excitation signal is subjected to inverse Fourier transform to obtain the corrected voltage;

Step j: Return to step c and repeat to step i, define the number of repetitions as n, the total harmonic distortion value of the nth order is THD n , and the total harmonic distortion value of the n-1th order is THD n-1 . Conditional expression: When THD n > THD n-1 , the corrected voltage obtained during the n-1th repetition is output.
The method for compensating steady-state single-frequency distortion of a motor according to claim 1, wherein the excitation signal is a single-frequency sine wave.
The method for compensating steady-state single-frequency distortion of a motor according to claim 2, wherein the excitation signal obtains a desired acceleration waveform through a linear model of the motor, and the desired acceleration waveform is Fourier transformed to obtain a desired acceleration frequency spectrum.
The method for compensating steady-state single-frequency distortion of a motor according to claim 3, wherein the motor acceleration is collected by an acceleration sensor.
A motor steady-state single-frequency distortion compensation device is characterized in that it comprises:

Signal generating device, used to generate a steady-state single-frequency excitation signal and send it to the motor unit;

Single motor, responding to excitation signal;

The construction module is used to obtain the desired acceleration frequency spectrum according to the excitation signal and the linear model of the motor;

Obtaining module: used to obtain the voltage spectrum of the excitation signal according to the Fourier transform, and to collect the actual motor acceleration of a single motor to obtain the measured acceleration spectrum and the total harmonic distortion value of the measured acceleration spectrum;

Compensation module: It is used to iteratively calculate the minimum distortion correction voltage according to the total harmonic distortion value.
A terminal device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program, and implements as claimed in claim 1. Steps to any one of the steps of the method for compensating steady-state single-frequency distortion of the motor.
A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, it realizes the motor steady-state unit according to any one of claims 1 to 7. Steps of frequency distortion compensation method.