Search

CN-121994177-A - Test method, apparatus, electronic device, test system, storage medium, and program product

CN121994177ACN 121994177 ACN121994177 ACN 121994177ACN-121994177-A

Abstract

The embodiment of the application provides a testing method, a device, electronic equipment, testing equipment, a testing system, a storage medium and a program product, wherein the testing equipment is connected with the electronic equipment, an ultrasonic motor is arranged in the electronic equipment, and the testing equipment determines a plurality of testing moments and a plurality of reference displacements corresponding to the ultrasonic motor at the testing moments according to the configured preset duration and first displacement; determining a plurality of test parameters corresponding to a plurality of test moments according to a plurality of reference displacements, sending the plurality of test parameters to the electronic equipment, receiving a plurality of operation data corresponding to the plurality of test moments sent by the electronic equipment, determining a second displacement and a phase difference adjusting curve of the ultrasonic motor within a preset duration according to the plurality of test parameters and the plurality of operation data, and determining a test result of the phase difference adjusting curve according to the first displacement, the second displacement and a preset threshold value. The method is based on the phase difference adjusting curve to rapidly and efficiently realize accurate positioning of the ultrasonic motor.

Inventors

  • REN WEIHAO
  • SUN JIANFENG
  • PENG NAI
  • XU PEIDONG
  • MAO YAN

Assignees

  • 上海卫星互联网研究院有限公司

Dates

Publication Date
20260508
Application Date
20241101

Claims (16)

  1. 1. The testing method is characterized by being applied to testing equipment, wherein the testing equipment is connected with electronic equipment, an ultrasonic motor is arranged in the electronic equipment, and the method comprises the following steps of: determining a plurality of test moments and a plurality of reference displacements of the ultrasonic motor corresponding to the test moments according to the configured preset duration and first displacement; determining a plurality of test parameters corresponding to the plurality of test moments according to the plurality of reference displacements, sending the plurality of test parameters to the electronic equipment, and receiving a plurality of operation data corresponding to the plurality of test moments sent by the electronic equipment; Determining a second displacement and phase difference adjusting curve of the ultrasonic motor in the preset time period according to the plurality of test parameters and the plurality of operation data, wherein the phase difference adjusting curve is used for adjusting a driving signal of the ultrasonic motor in the preset time period, and the driving signal is used for driving the ultrasonic motor to operate; and determining a test result of the phase difference adjusting curve according to the first displacement, the second displacement and a preset threshold value.
  2. 2. The method of claim 1, wherein the number of the plurality of test moments is M, and wherein the determining a plurality of test parameters corresponding to the plurality of test moments based on the plurality of reference displacements comprises: Sequencing M test moments; aiming at a first test moment, acquiring equipment parameters and initial phase differences of the ultrasonic motor, and determining the equipment parameters and the initial phase differences as test parameters corresponding to the ultrasonic motor at the first test moment; Aiming at the ith test moment, acquiring the running data and the test parameters of the ultrasonic motor at the ith-1 test moment, and determining the test parameters of the ultrasonic motor at the ith test moment according to the running data, the test parameters and the M reference displacements of the ith-1 test moment; and (3) sequentially taking 2 and 3 parts and M which is an integer larger than 1.
  3. 3. The method of claim 2, wherein determining the test parameters of the ultrasonic motor at the i-th test instant based on the i-1-th test instant's operational data, the test parameters, and the M reference displacements, comprises: Determining the reference displacement of the ultrasonic motor at the i-1 th test moment in the M reference displacements; Determining the operation displacement of the ultrasonic motor at the ith-1 test moment according to the operation data of the ith-1 test moment; According to the test parameters of the ith-1 test moment, determining the phase difference of the ultrasonic motor at the ith-1 test moment; According to the reference displacement, the running displacement and the phase difference of the ith-1 test moment, the ith phase difference of the ultrasonic motor at the ith test moment is determined, and the ith phase difference and the equipment parameters are determined to be the test parameters of the ultrasonic motor at the ith test moment.
  4. 4. A method according to claim 3, wherein said determining the ith phase difference of the ultrasonic motor at the ith test instant from the operational displacement, reference displacement and phase difference of the ith test instant comprises: When the running displacement of the ith-1 test moment is larger than the reference displacement of the ith-1 test moment, determining the difference between the phase difference of the ith-1 test moment and a preset adjustment amount as the ith phase difference; And under the condition that the running displacement of the ith-1 testing moment is smaller than or equal to the reference displacement of the ith-1 testing moment, determining the sum of the phase difference of the ith-1 testing moment and a preset adjustment amount as the ith phase difference.
  5. 5. The method of any of claims 1-4, wherein determining a second displacement and phase difference adjustment profile of the ultrasonic motor over the predetermined time period based on the plurality of test parameters and the plurality of operational data comprises: Determining a plurality of phase differences corresponding to the ultrasonic motor at the plurality of test moments according to the plurality of test parameters, and determining the phase difference adjusting curve according to the plurality of phase differences corresponding to the plurality of test moments; and determining a plurality of operation displacements of the ultrasonic motor corresponding to the plurality of test moments according to the plurality of operation data, and determining the second displacement according to the plurality of operation displacements corresponding to the plurality of test moments.
  6. 6. The method of any of claims 1-5, wherein determining a plurality of test moments and a plurality of reference displacements of the ultrasonic motor corresponding to the plurality of test moments based on the configured preset time period and first displacement comprises Acquiring preset configuration parameters; Determining a plurality of testing moments according to the preset configuration parameters and the preset duration; determining an objective function according to the preset configuration parameters, the preset duration and the first displacement; And determining the reference displacements corresponding to the test moments based on the objective function.
  7. 7. The method according to any one of claims 1-6, further comprising: generating a reference displacement curve of the ultrasonic motor within the preset duration according to a plurality of reference displacements corresponding to the plurality of test moments; And generating an operation displacement curve of the ultrasonic motor within the preset duration according to a plurality of operation displacements corresponding to the plurality of test moments.
  8. 8. The method of any one of claims 1-7, wherein determining the test result of the phase difference adjustment curve based on the first displacement, the second displacement, and a preset threshold value comprises: determining a displacement difference of the first displacement and the second displacement; Under the condition that the displacement difference is smaller than or equal to the preset threshold value, determining that the test result is successful; and under the condition that the displacement difference is larger than the preset threshold value, determining the test result as test failure.
  9. 9. The test device is characterized by being applied to test equipment, wherein the test equipment is connected with electronic equipment, an ultrasonic motor is arranged in the electronic equipment, and the test device comprises: The processing module is used for determining a plurality of test moments and a plurality of reference displacements of the ultrasonic motor corresponding to the test moments according to the configured preset duration and the first displacement; The processing module is further used for determining a plurality of test parameters corresponding to the plurality of test moments according to the plurality of reference displacements; The receiving and transmitting module is used for sending the plurality of test parameters to the electronic equipment and receiving a plurality of operation data corresponding to the plurality of test moments sent by the electronic equipment; The processing module is further configured to determine a second displacement and a phase difference adjustment curve of the ultrasonic motor within the preset duration according to the plurality of test parameters and the plurality of operation data, where the phase difference adjustment curve is used to adjust a driving signal of the ultrasonic motor within the preset duration, and the driving signal is used to drive the ultrasonic motor to operate; the processing module is further configured to determine a test result of the phase difference adjustment curve according to the first displacement, the second displacement and a preset threshold.
  10. 10. An electronic device is characterized by comprising a driver, an ultrasonic motor and a displacement detection assembly, wherein, The driver is respectively connected with the test equipment and the ultrasonic motor, and is used for receiving the test parameters sent by the test equipment, generating corresponding driving signals according to the test parameters and sending the driving signals to the ultrasonic motor; The ultrasonic motor is further connected with the displacement detection assembly, and is used for receiving the driving signal and driving the displacement detection assembly to detect the operation process of the ultrasonic motor under the action of the driving signal; The displacement detection component is further connected with the testing equipment, and is used for detecting the operation process of the ultrasonic motor to obtain operation data of the ultrasonic motor, and sending the operation data to the testing equipment, wherein the operation data are used for the testing equipment to determine the operation displacement of the ultrasonic motor under the testing parameters.
  11. 11. The electronic device of claim 10, wherein the displacement detection assembly comprises a mirror, a lens, and an image sensor, the mirror being positioned between a laser light source and the lens, the lens being positioned between the mirror and the image sensor, wherein, The reflecting mirror is connected with the ultrasonic motor, the reflecting mirror rotates under the drive of the ultrasonic motor, and the reflecting mirror is used for reflecting laser emitted by the laser source to the lens; the lens is used for focusing the laser reflected by the reflecting mirror on the image sensor; the image sensor is used for generating a spot image based on the spot focused by the lens.
  12. 12. The electronic device according to claim 10 or 11, wherein the test parameters comprise device parameters of the ultrasonic motor and a phase difference of the ultrasonic motor, the driver being specifically configured to: the drive signal is generated based on the device parameter and the phase difference.
  13. 13. A test apparatus, comprising: At least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 8.
  14. 14. The test system is characterized by comprising test equipment and electronic equipment, wherein the test equipment is connected with the electronic equipment, and an ultrasonic motor is arranged in the electronic equipment; the test apparatus is for implementing the method of any one of claims 1 to 8.
  15. 15. A computer readable storage medium having stored therein computer executable instructions for implementing the method of any of claims 1 to 8 when the computer executable instructions are executed by a processor.
  16. 16. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1 to 8.

Description

Test method, apparatus, electronic device, test system, storage medium, and program product Technical Field The embodiment of the application relates to the technical field of ultrasonic motors and the like, in particular to a testing method, a testing device, electronic equipment, testing equipment, a testing system, a storage medium and a program product. Background In the conventional continuous working mode, the ultrasonic motor does not stop running immediately after reaching the target position and is powered off, but a certain overshoot displacement and vibration are generated due to inertia, which can have adverse effects on the accuracy of the positioning result of the ultrasonic motor. In the related technology, under the continuous working mode, the frequency adjustment strategy of the ultrasonic motor can be learned through a neural network algorithm, and the frequency of the ultrasonic motor is adjusted based on the frequency adjustment strategy, so that the rapid and stable speed reduction of the ultrasonic motor is realized, and the accurate positioning of the ultrasonic motor is further realized. However, the method needs to collect a large amount of data samples to complete the training of the neural network algorithm, and is complex, so that the efficiency is low when the accurate positioning of the ultrasonic motor is performed. Disclosure of Invention The embodiment of the application provides a testing method, a testing device, electronic equipment, testing equipment, a testing system, a storage medium and a program product, which are used for solving the technical problem of lower efficiency in the accurate positioning of an ultrasonic motor in the related art. In a first aspect, an embodiment of the present application provides a testing method applied to a testing device, where the testing device is connected to an electronic device, and an ultrasonic motor is disposed in the electronic device, and the method includes: determining a plurality of test moments and a plurality of reference displacements of the ultrasonic motor corresponding to the test moments according to the configured preset duration and first displacement; determining a plurality of test parameters corresponding to the plurality of test moments according to the plurality of reference displacements, sending the plurality of test parameters to the electronic equipment, and receiving a plurality of operation data corresponding to the plurality of test moments sent by the electronic equipment; Determining a second displacement and phase difference adjusting curve of the ultrasonic motor in the preset time period according to the plurality of test parameters and the plurality of operation data, wherein the phase difference adjusting curve is used for adjusting a driving signal of the ultrasonic motor in the preset time period, and the driving signal is used for driving the ultrasonic motor to operate; and determining a test result of the phase difference adjusting curve according to the first displacement, the second displacement and a preset threshold value. In one possible implementation manner, the number of the plurality of test moments is M, and the determining a plurality of test parameters corresponding to the plurality of test moments according to the plurality of reference displacements includes: Sequencing M test moments; aiming at a first test moment, acquiring equipment parameters and initial phase differences of the ultrasonic motor, and determining the equipment parameters and the initial phase differences as test parameters corresponding to the ultrasonic motor at the first test moment; Aiming at the ith test moment, acquiring the running data and the test parameters of the ultrasonic motor at the ith-1 test moment, and determining the test parameters of the ultrasonic motor at the ith test moment according to the running data, the test parameters and the M reference displacements of the ith-1 test moment; and (3) sequentially taking 2 and 3 parts and M which is an integer larger than 1. In one possible implementation manner, determining the test parameter of the ultrasonic motor at the ith test moment according to the operation data, the test parameter and the M reference displacements at the ith test moment includes: Determining the reference displacement of the ultrasonic motor at the i-1 th test moment in the M reference displacements; Determining the operation displacement of the ultrasonic motor at the ith-1 test moment according to the operation data of the ith-1 test moment; According to the test parameters of the ith-1 test moment, determining the phase difference of the ultrasonic motor at the ith-1 test moment; According to the reference displacement, the running displacement and the phase difference of the ith-1 test moment, the ith phase difference of the ultrasonic motor at the ith test moment is determined, and the ith phase difference and the equipment parameters are determined to be the te