CN107024985A - Linear motor brake method and device, and haptic feedback system - Google Patents
Linear motor brake method and device, and haptic feedback system Download PDFInfo
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- CN107024985A CN107024985A CN201710062586.8A CN201710062586A CN107024985A CN 107024985 A CN107024985 A CN 107024985A CN 201710062586 A CN201710062586 A CN 201710062586A CN 107024985 A CN107024985 A CN 107024985A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
Abstract
The present invention provides a kind of linear motor brake method and device and haptic feedback system.The brake method includes step：S100：The vibration information of linear motor of the detection in vibrational state, and analyze the vibration velocity for obtaining the linear motor；S200：To linear motor input and the anti-phase first brake drive signal of the vibration velocity, to reduce the amplitude of the linear motor for the first time, the first brake of the linear motor is realized；S300：The vibration information of the linear motor after the first brake of detection；S400：The vibration information detected in step S300 is analyzed, feedback brake drive signal is obtained according to vibration information analysis result；S500：To the linear motor input feedback brake drive signal after first brake, to reduce the amplitude of the linear motor again, the secondary braking of the linear motor is realized.The rapid reduction of the achievable linear motor amplitude of the present invention, shortens braking time, and in linear motor amplitude very little, can also realize the Quick brake function of linear motor.
Description
Technical field
The invention belongs to linear motor field, and in particular to a kind of linear motor brake method, linear motor brake gear
And the haptic feedback system with this kind of linear motor brake gear.
Background technology
Linear motor is used because its size is small, it is fast to start, brake is fast superior function in the application of vibrational feedback
More and more extensively, it is usually used in simulating various vibration situations.In types of applications, there is a class circumstances dictate linear motor to shake
Dynamic can realize is braked quickly, but the acceleration of linear motor often can just be checked slowly very much.Fig. 1 shows of the prior art
A kind of linear motor brake gear.This kind of device generally includes main control module 5, the drive module 2 being connected with main control module 5
And the linear motor 1 being connected with the drive module 2.In this kind of haptic feedback system and in the absence of feedback control, therefore its nothing
Method monitors and fed back the fluctuation and environmental change of individual parameter.There is a kind of linear motor with feedback control in the prior art
Linear motor brake is controlled using default voltage and waveform in brake gear, the device, it can not realize optimal most fast brake；
When vibrating very little, driving voltage precision, sample rate and its slight change in itself, voltage bit number, optimization measurement apparatus and
Because the deviation that environmental change etc. is brought limits the effect that further control drive waveforms implement brake.In addition, this kind feeds back
Control can only be based on the tracking to F0, and can only be driven in partial periodicity, and it causes that work of braking could be completed after several cycles
Make, and stability is bad.The time of this kind of linear motor brake gear and the graph of a relation of voltage are as shown in Figure 2.
The content of the invention
The present invention proposes a kind of linear motor brake method, and the present invention on the basis of existing technology, is controlled by feeding back
System increases secondary braking process on the basis of first brake, to realize Quick brake.
Technical scheme is as follows：
A kind of linear motor brake method, comprises the following steps：
S100：The vibration information of linear motor of the detection in vibrational state, and analysis obtains shaking for the linear motor
Dynamic speed；
S200：To linear motor input and the anti-phase first brake drive signal of the vibration velocity, to reduce institute for the first time
The amplitude of linear motor is stated, the first brake of the linear motor is realized；
S300：The vibration information of the linear motor after the first brake of detection；
S400：The vibration information detected in step S300 is analyzed, obtained instead according to vibration information analysis result
Feedback brake drive signal；
S500：To the linear motor input feedback brake drive signal after first brake, to reduce the linear horse again
The amplitude reached, realizes the secondary braking of the linear motor.
Further, in the step S200, the first brake drive signal is fixed waveform drive signal.
Further, in the step S300, the vibration information is that the vibration velocity of linear motor and/or vibration accelerate
The inverse electromotive force produced when degree and/or linear motor vibration.
Further, in the step S400, the feedback brake drive signal, which is used for offer, makes the linear motor shake
The electromagnetic resistance that width reduces.
The present invention also provides a kind of linear motor brake gear, including linear motor, drive module, detection module, feedback
Control module and main control module；
The detection module is connected with the main control module and the feedback control module, for detecting linear motor
Vibration information is simultaneously sent to the main control module and the feedback control module by vibration information；
The main control module is connected with the detection module and the drive module respectively, for being believed according to the vibration
Breath produces first brake control signal, and sends first brake control signal to the drive module；
The feedback control module is connected with the detection module and the drive module respectively, the feedback control module
Receive vibration information that the detection module detects and carry out vibration information analysis, obtained instead according to vibration information analysis result
Brake control signal is presented, and feedback brake control signal is sent to drive module；
The drive module is connected with the main control module, the feedback control module and the linear motor respectively,
The first brake control signal that the drive module is sent according to the main control module respectively produces the first brake
Drive signal is to drive the linear motor to realize first brake, and the feedback sent according to the feedback control module is braked and controlled
Signal processed produces feedback brake drive signal, to drive the linear motor to realize secondary braking.
In one embodiment, the vibration information for the linear motor vibration velocity and/or vibration acceleration and/or
The inverse electromotive force that linear motor is produced when vibrating；The detection module include velocity sensor and/or acceleration transducer and/
Or Electromotance Sensor.
In one embodiment, the first brake drive signal is the letter anti-phase with the vibration velocity of the vibrating motor
Number.
Further, the feedback brake drive signal is used to provide the electromagnetism resistance for reducing the linear motor amplitude
Power.
Further, the feedback control module is connected with main control module, and feedback brake control signal is sent to
Main control module, main control module stores the feedback brake control signal.
The present invention also provides a kind of haptic feedback system, including touch detection module, and above any described linear
Motor brake device；
The touch detection module detection tactile manipulation action, tactile manipulation is converted into by the tactile manipulation detected action
Signal, and the tactile manipulation signal is sent to the main control module in the linear motor brake gear；
The tactile manipulation signal that main control module in the linear motor brake gear is detected to touch detection module
Analyzed, first brake control is obtained according to tactile manipulation signal analysis result and with reference to the vibration information of the linear motor
Signal, controls the drive module in the linear motor brake gear to produce first brake drive signal, and driving linear motor is real
Now first brake.
Further, the haptic feedback system also includes memory module, for storing touch feedback file, makes the line
Property motor brake device in content of the main control module according to touch feedback file and vibration letter with reference to the linear motor
Breath produces first brake control signal.
Further, the touch detection module is piezoelectric transducer.
Further, the haptic feedback system also include wireless communication module, for other haptic feedback systems or
Intelligent terminal carries out radio communication, or for being connected into network.
The present invention proposes a kind of linear motor brake method and device, and haptic feedback system, and it is used stops for the first time
The mode of car (opened loop control) realizes the rapid reduction of linear motor amplitude, and the control by the way of feedback brake (closed-loop control)
The Natural Attenuation of producing linear motor, so as to further reduce the cycle of oscillation of the vibrating motor, shortens braking time；The brake side
Method can still realize the Quick brake function of linear motor in linear motor amplitude very little.
Brief description of the drawings
Fig. 1 is linear motor brake device structure schematic diagram in the prior art；
Fig. 2 is linear motor brake method lab diagram in the prior art；
Fig. 3 is linear motor brake method flow diagram in the embodiment of the present invention 1；
Fig. 4 is linear motor brake methods experiment figure in the embodiment of the present invention 1；
Fig. 5 is linear motor brake device structural representation in the embodiment of the present invention 2；
Fig. 6 is linear motor brake device structural representation in the embodiment of the present invention 3；
Fig. 7 is haptic feedback system structural representation in the embodiment of the present invention 4.
Embodiment
Below in conjunction with the accompanying drawings and embodiment, technical scheme is described in detail.It should be appreciated that shown in accompanying drawing
Each parts are schematic and nonrestrictive, and each feature is drawn not in scale.
Embodiment 1
As shown in figure 3, the present invention proposes a kind of linear motor brake method, heretofore described linear motor can also claim
For linear electric motors, line motor or linear electric machine, the linear motor includes stator and oscillator, including oscillator and stator, described
Stator can be produced the structure of induced field by driving, and the oscillator interacts with stator, produces induced electromotive force.In the present invention
The brake of the linear motor, is that the stator is driven the sensing produced with former induced field in the opposite direction by brake drive signal
Magnetic field, so that drive oscillator vibration to weaken, the process that amplitude reduces.
The present invention specifically includes following steps：
S100：The vibration information of linear motor of the detection in vibrational state, and analysis obtains shaking for the linear motor
Dynamic speed.Wherein, what is produced when vibration velocity and/or linear motor of the vibration information including linear motor vibrate is reverse electronic
Gesture.The vibration velocity of the linear motor can be obtained according to the vibration information.Certainly, in other embodiments of the invention, except
Calculated and obtained outside the vibration velocity of linear motor by inverse electromotive force, it would however also be possible to employ other modes, such as velocity sensor
The vibration velocity of the linear motor is directly measured Deng physical means.
S200：To linear motor input and the anti-phase first brake drive signal of the vibration velocity, to reduce institute for the first time
The amplitude of linear motor is stated, the first brake of the linear motor is realized.Wherein, the brake drive signal can be fixed waveform
Drive signal, such as square wave driving signal or sinusoidal drive signals, the design parameter of drive signal, such as amplitude and frequency can roots
It is adjusted according to actual conditions.Wherein, the first brake is actually the opened loop control to linear motor.It is preferred that, by first
After secondary brake, the vibration acceleration of the linear motor drops to less than the 10% of initial acceleration.
S300：The vibration information of linear motor after the first brake of detection.The vibration information includes the vibration of linear motor
The inverse electromotive force produced when vibration acceleration and/or the linear motor vibration of speed and/or linear motor.The vibration velocity
Vibrating sensor detection can be used；Acceleration transducer can be used in the acceleration, and such as accelerometer is detected；It is described reverse
Electromotance Sensor can be used to be detected for electromotive force, such as magnetoelectricity sensing type sensor, hall sensor or piezoelectric transducer.
The vibration information of linear motor is gathered in this step, the vibration that can individually gather the vibration velocity, linear motor of linear motor adds
A kind of information in the inverse electromotive force produced when speed and linear motor vibration, can also gather two kinds of information therein, also may be used
Three kinds of information are gathered.
S400：The vibration information detected in step S300 is analyzed, obtained instead according to vibration information analysis result
Feedback brake drive signal.In step S400, it counter can be pushed away according to the vibration information of the linear motor and obtain linear motor
Vibration velocity, then obtains feedback brake drive signal according to the vibration velocity.Wherein, feedback brake drive signal is used to carry
The electromagnetic resistance reduced for the amplitude for making the linear motor；The electromagnetic resistance is by tracking the change of the vibration velocity of the linear motor
Change what is obtained, and electromagnetic resistance and the linear motor vibration damping same-phase.
S500：To the linear motor input feedback brake drive signal after first brake, to reduce the linear horse again
The amplitude reached, realizes the secondary braking of the linear motor.Wherein, the secondary braking is actually to carry out closed loop to linear motor
Control.
In the present embodiment, first brake is realized by the way of opened loop control first, makes the linear motor with most fast speed
Degree drops to acceleration extremely low level (for example decay to initial acceleration less than 10%)；Then pass through the side of closed-loop control
Formula realizes the secondary braking (automatic negative-feedback brake) of linear motor, linear motor Natural Attenuation is thus controlled, so that further
Reduce the cycle of oscillation of the vibrating motor, shorten the braking time of the linear motor.The brake method can be in linear motor amplitude
Remain to realize Quick brake when very small.
, can be according to actual feelings it is appreciated that linear motor brake method proposed by the present invention, it is not limited to brake twice
Condition, on the basis of first brake, circulation step S300-S500, until reaching expected braking effect, end loop.For example,
Three brakes or four brakes etc. can be carried out according to actual conditions.
Method proposed by the invention and prior art are contrasted below by emulation experiment.By Fig. 2 and Fig. 4 institutes
Show, Fig. 2 is linear motor brake method lab diagram in the prior art, Fig. 4 is linear motor brake method in the embodiment of the present invention 1
Lab diagram.In Fig. 2, curve 9 is input control signal, and curve 10 is linear motor vibration acceleration signal, and curve 11 is linear
The output acceleration signal of motor.From curve 10 and 11, driven using fixed model after linear motor brake, linear motor
Vibration acceleration original vibrational state is still kept within a period of time, that is, response speed of braking is slow.And in Fig. 4, curve 12
For linear motor vibration acceleration signal after first brake, curve 13 is linear motor vibration acceleration signal after secondary braking.
After brake method using the present invention, after first brake, the vibration acceleration reduction degree of linear motor is weaker, and secondary stops
After car, linear motor has reached approximately the state for stopping vibration, i.e., linear motor brake method proposed by the invention is notable
Reduce braking time, brake fast response time.
Embodiment 2
As shown in figure 5, the present invention proposes a kind of linear motor brake gear, the linear motor brake gear includes line
Property motor 1, drive module 2, detection module 3, feedback control module 4 and main control module 5.
The detection module 3 is connected 4 connections with main control module 5 and feedback control module, for detecting linear motor 1
Vibration information is simultaneously sent to feedback control module 4 by vibration information.Wherein, the vibration information is the vibration of the linear motor
The inverse electromotive force produced when speed and/or the vibration of vibration acceleration and/or linear motor.Corresponding, detection module 3 can be speed
Spend sensor, the vibration velocity for detecting linear motor；The detection module is alternatively acceleration transducer, for detection line
The vibration acceleration of property motor；The detection module is alternatively Electromotance Sensor, is produced for detecting during linear motor vibrations
Inverse electromotive force, magnetoelectricity sensing type sensor, hall sensor or piezoelectric transducer can be used in the Electromotance Sensor
In one or more.
The main control module 5 is connected with the detection module 3 and with drive module 2 respectively, for according to the vibration
Information produces first brake control signal, and sends first brake control signal to the drive module.
The feedback control module 4 is connected with detection module 3 and drive module 2 respectively, and feedback control module 4 receives detection
Vibration information that module 3 is detected simultaneously carries out vibration information analysis, and feedback brake control is obtained according to vibration information analysis result
Signal, and feedback brake control signal is sent to drive module.
The drive module 2 is connected with main control module 5, feedback control module 4 and linear motor 1 respectively, drive module 2
The first brake control signal sent respectively according to main control module 5 produces first brake drive signal to drive the linear horse
First brake is realized up to 1, and the feedback brake control signal sent according to feedback control module 4 produces feedback brake driving letter
Number, to drive the linear motor to realize secondary braking.Wherein, the first brake drive signal is and the vibrating motor
The anti-phase signal of vibration velocity.Feedback brake drive signal is used to provide the electromagnetism resistance for reducing the amplitude of the linear motor
Power；Change of the electromagnetic resistance by tracking the vibration velocity of the linear motor is obtained, and electromagnetic resistance and the linear motor
Brake same-phase.
The linear motor 1 brakes under the driving of brake drive signal for the first time and feedback brake drive signal respectively.
Fig. 1 is linear motor brake device structure schematic diagram in the prior art, it is seen then that linear motor of the prior art is stopped
Car device only includes linear motor 1, drive module 2 and main control module 5, and the process of linear motor brake is realized in the prior art
As main control module 5 sends first brake control signal, and driving linear electric machine 1 brakes.Methods described using default voltage and
Drive waveform linear electric machine brakes, and brake corresponding speed and accuracy be not high, and can not further adjust, it is impossible to provides optimal
Most fast solution.
Reference picture 5, the linear motor brake gear that the present invention is provided adds detection module 3 and feedback control module 4.
During work, main control module 5 sends first brake control signal to drive module 2, and drive module 2 is according to first brake control letter
Number produce first brake drive signal drives line motor is braked for the first time.The first brake drive signal can be fixed ripple
Shape, such as uses square wave or sine wave, and the parameter such as amplitude or frequency of waveform etc. can be adjusted as the case may be, and linear motor 1 exists
Braked for the first time under the driving of drive module 2.Detection module 3 detects the vibration information of linear motor 1 after first brake, and will
The vibration information detected is sent to feedback control module 4；Feedback control module 4 is analyzed vibration information, according to analysis
As a result obtain feedback brake control signal and send to drive module 2；Drive module 2 produces anti-according to feedback brake control signal
Feedback brake drive signal driving linear motor carries out secondary braking.
Compared with prior art, linear motor brake gear proposed by the invention uses detection module 3 and feedback control
The method that module 4 is used in combination, on the basis of first brake, is stopped again according to the specific works state of linear motor
Car, makes brake process have preferable adaptivity, can be chosen different according to actual conditions regulation feedback brake control signal
There is provided the brake solution tallied with the actual situation for feedback brake drive signal.
Embodiment 3
As shown in fig. 6, being a kind of linear motor brake gear proposed by the present invention, the present embodiment and the difference of embodiment 2
It is, feedback control module 4 is connected with main control module 5.Operationally, feedback control module 4 is except feedback brake is controlled
Signal is sent to drive module 2, also sends feedback brake control signal to main control module 5, main control module 5 stores described
Feed back brake control signal.In the present embodiment, the feedback brake control signal that 5 pairs of main control module is produced every time is stored,
It is easy to monitor the working condition of feed back control system 2 and linear motor 1 at any time, and the feedback brake control of all storages can be believed
Number with obtained vibration information binding analysis is detected in linear motor brake process, obtain linear motor optimum feedback control letter
Number, i.e., under the driving of the feedback control signal, the brake fast response time of linear motor, stability are strong, precision is high, brake
Effect is best.
Embodiment 4
As shown in fig. 7, for a kind of haptic feedback system proposed by the present invention, including the linear motor proposed in embodiment 2
Brake gear and touch detection module 6.The detection of the touch detection module 6 tactile manipulation action, by the tactile manipulation detected
Action is converted into tactile manipulation signal, and the tactile manipulation signal is sent into the master control in the linear motor brake gear
Molding block 5.Wherein, the touch detection module 6 can be the device of various tactile detectables, and piezoelectric sensing is used in the present embodiment
Device, detects pressure signal.
In the course of work, when there is the external world to give touch detection module 6 one operational motions, touch detection module 6 will be described
Operational motion is converted into electric signal, i.e. tactile manipulation signal, and the tactile manipulation signal is sent to the linear motor stopped
Main control module 5 in car device.Main control module 5 is analyzed the tactile manipulation signal that touch detection module 6 is detected,
First brake control signal is obtained according to tactile manipulation signal analysis result and with reference to the vibration information of the linear motor, is controlled
Drive module in the linear motor brake gear produces first brake drive signal, and driving linear motor is stopped for the first time
Car.Haptic feedback system proposed by the present invention can drive linear motor to be braked for the first time according to outer signals, be used for example, working as
Person's pressing touch detection module 6, because touch detection module 6 is piezoelectric transducer in the present invention, then touch detection module 6 will be by
Press operation is converted into electric signal, i.e. tactile manipulation signal, and linear motor brake gear is according to the tactile manipulation signal and combines
The vibration information of the linear motor carries out first brake drive control.
In addition, haptic feedback system proposed by the invention also includes memory module 7 and wireless communication module 8, the nothing
Line communication module 8 can be Bluetooth communication device, infrared communications set or WIFI communicators.The memory module 7 is used to store
Touch feedback file, makes the linear motor brake gear to be realized just according to the content driven linear motor of touch feedback file
Secondary brake operation, the tactile manipulation signal without being detected according to touch detection module 6 drives the first brake of linear motor.
The touch feedback file is the file of record touch feedback control signal, such as touch feedback based on oscillation intensity relative value
File, the touch feedback file based on oscillation intensity absolute value and the touch feedback file based on particular terminal device.It is described
Wireless communication module 8 is used to carry out radio communication with other haptic feedback systems or intelligent terminal, or for being connected into network.Example
Such as, haptic feedback system and other intelligent terminal wireless connections are realized transmission of wireless signals by the wireless communication module 8, are touched
The control signal driving linear motor that feeling reponse system can send out according to the intelligent terminal received brakes for the first time.For another example
Haptic feedback system access network is realized network data transmission by the wireless communication module 8, and touch feedback text is downloaded from network
Part, is braked for the first time with the touch feedback file driving linear motor of download.
The linear motor brake gear used in the haptic feedback system of proposition in the present embodiment is proposition in embodiment 2
Linear motor brake gear, it is possible to use the linear motor brake gear proposed in embodiment 3.
It should be appreciated that above the explanation that is carried out by preferred embodiment to technical scheme be it is schematical rather than
Restricted.One of ordinary skill in the art can be to the technical side described in each embodiment on the basis of above-described embodiment
Case is modified, or carries out equivalent substitution to which part technical characteristic；And these modifications or replacement, it should all cover at this
Within the protection domain of invention.Therefore, protection scope of the present invention should be defined by scope of the claims.
Claims (13)
1. a kind of linear motor brake method, it is characterised in that comprise the following steps：
S100：The vibration information of linear motor of the detection in vibrational state, and analyze the vibration speed for obtaining the linear motor
Degree；
S200：To linear motor input and the anti-phase first brake drive signal of the vibration velocity, to reduce the line for the first time
The amplitude of property motor, realizes the first brake of the linear motor；
S300：The vibration information of the linear motor after the first brake of detection；
S400：The vibration information detected in step S300 is analyzed, obtaining feedback according to vibration information analysis result stops
Car drive signal；
S500：To the linear motor input feedback brake drive signal after first brake, to reduce the linear motor again
Amplitude, realizes the secondary braking of the linear motor.
2. linear motor brake method according to claim 1, it is characterised in that in the step S200, described first
Brake drive signal is fixed waveform drive signal.
3. linear motor brake method according to claim 1, it is characterised in that in the step S300, the vibration
The inverse electromotive force that information is produced when being vibrated for the vibration velocity and/or vibration acceleration and/or linear motor of linear motor.
4. linear motor brake method according to claim 1, it is characterised in that in the step S400, the feedback
Brake drive signal is used to provide the electromagnetic resistance for reducing the linear motor amplitude.
5. a kind of linear motor brake gear, it is characterised in that including linear motor, drive module, detection module, feedback control
Module and main control module；
The detection module is connected with the main control module and the feedback control module, the vibration for detecting linear motor
Vibration information is simultaneously sent to the main control module and the feedback control module by information；
The main control module is connected with the detection module and the drive module respectively, for being produced according to the vibration information
Raw first brake control signal, and send first brake control signal to the drive module；
The feedback control module is connected with the detection module and the drive module respectively, and the feedback control module is received
Vibration information that the detection module is detected simultaneously carries out vibration information analysis, and obtaining feedback according to vibration information analysis result stops
Car control signal, and feedback brake control signal is sent to drive module；
The drive module is connected with the main control module, the feedback control module and the linear motor respectively, described
The first brake control signal that drive module is sent according to the main control module respectively produces the first brake and driven
Signal is to drive the linear motor to realize brake for the first time, and the feedback brake control sent according to the feedback control module is believed
Number produce feedback brake drive signal, to drive the linear motor to realize secondary braking.
6. linear motor brake gear according to claim 5, it is characterised in that the vibration information is the linear horse
The inverse electromotive force produced during vibration velocity and/or vibration acceleration and/or the linear motor vibration reached；The detection module bag
Include velocity sensor and/or acceleration transducer and/or Electromotance Sensor.
7. linear motor brake gear according to claim 5, it is characterised in that the first brake drive signal be with
The anti-phase signal of the vibration velocity of the vibrating motor.
8. linear motor brake gear according to claim 5, it is characterised in that the feedback brake drive signal is used for
The electromagnetic resistance for reducing the linear motor amplitude is provided.
9. linear motor brake gear according to claim 5, it is characterised in that the feedback control module and main control
Module is connected, and feedback brake control signal is sent into main control module, the main control module storage feedback brake control
Signal.
10. a kind of haptic feedback system, it is characterised in that including touch detection module, and such as any one of claim 5-9
Described linear motor brake gear；
The touch detection module detection tactile manipulation action, tactile manipulation letter is converted into by the tactile manipulation detected action
Number, and the tactile manipulation signal is sent to the main control module in the linear motor brake gear；
The tactile manipulation signal that main control module in the linear motor brake gear is detected to touch detection module is carried out
Analysis, first brake control letter is obtained according to tactile manipulation signal analysis result and with reference to the vibration information of the linear motor
Number, control the drive module in the linear motor brake gear to produce first brake drive signal, driving linear motor is realized
First brake.
11. haptic feedback system according to claim 10, it is characterised in that the haptic feedback system also includes storage
Module, for storing touch feedback file, makes the main control module in the linear motor brake gear according to touch feedback text
The content of part and vibration information with reference to the linear motor produces first brake control signal.
12. haptic feedback system according to claim 11, it is characterised in that the touch detection module is piezoelectric sensing
Device.
13. the haptic feedback system according to profit requires 11, it is characterised in that the haptic feedback system also includes channel radio
Module is believed, for carrying out radio communication with other haptic feedback systems or intelligent terminal, or for being connected into network.
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| CN201710062586.8A CN107024985B (en) | 2017-01-24 | 2017-01-24 | Linear motor braking method and device, and tactile feedback system |
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Cited By (8)
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| CN108334193A (en) * | 2018-01-04 | 2018-07-27 | 瑞声科技(新加坡)有限公司 | A kind of generation method and device of motor brake signal |
| CN109713944A (en) * | 2019-01-17 | 2019-05-03 | 上海艾为电子技术股份有限公司 | A kind of linear motor driven chip brake method and device |
| CN109710067A (en) * | 2018-12-20 | 2019-05-03 | 上海艾为电子技术股份有限公司 | A kind of linear resonance device and its brake method |
| CN109713952A (en) * | 2019-01-21 | 2019-05-03 | 上海艾为电子技术股份有限公司 | A kind of brake method and brake control system of ERM motor |
| CN109713945A (en) * | 2019-01-21 | 2019-05-03 | 上海艾为电子技术股份有限公司 | A kind of brake method and brake system of ERM motor |
| CN111327247A (en) * | 2020-01-21 | 2020-06-23 | 上海艾为电子技术股份有限公司 | Motor control method and system |
| CN111552380A (en) * | 2020-04-20 | 2020-08-18 | 瑞声科技(新加坡)有限公司 | Haptic vibration self-adjustment method, apparatus, device, and medium |
| CN116142158A (en) * | 2021-11-30 | 2023-05-23 | 武汉市聚芯微电子有限责任公司 | Method and device for braking linear motor |
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| CN109713952A (en) * | 2019-01-21 | 2019-05-03 | 上海艾为电子技术股份有限公司 | A kind of brake method and brake control system of ERM motor |
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| CN111552380B (en) * | 2020-04-20 | 2023-05-26 | 瑞声科技(新加坡)有限公司 | Haptic vibration self-adjustment method, apparatus, device and medium |
| CN116142158A (en) * | 2021-11-30 | 2023-05-23 | 武汉市聚芯微电子有限责任公司 | Method and device for braking linear motor |
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