CN110162171B - Motor driving signal setting method, electronic device and storage medium - Google Patents
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Abstract
The invention provides a motor driving signal setting method, wherein a driving signal comprises an acceleration driving signal for accelerating a motor, and the method comprises the following steps: acquiring boundary conditions of the acceleration driving signal, wherein the boundary conditions comprise the number range of acceleration periods of the acceleration driving signal, the amplitude range of the acceleration driving signal and the total acceleration duration; acquiring a plurality of acceleration driving signal parameters meeting a first preset condition according to the boundary condition; inputting each acceleration driving signal parameter into a preset operation model to obtain the motor vibration quantity under each acceleration driving signal parameter; one acceleration driving signal parameter at which the vibration amount of the motor is the largest is set as a parameter of the acceleration driving signal. The invention also provides an electronic device and a storage medium. The motor driving signal setting method, the electronic device and the storage medium provided by the invention can search out the driving signal meeting the high-frequency acceleration in the boundary condition.
Description
[ technical field ] A method for producing a semiconductor device
The present invention relates to the field of signal processing, and in particular, to a motor driving signal setting method, an electronic device, and a storage medium.
[ background of the invention ]
Today, various electronic devices are developed day by day at a high speed, and the devices tend to be more attractive, more intelligent and more convenient to update on the whole. Therefore, various manufacturers adopt larger touch screens to realize the integration of display and operation in product design, and even though the traditional real keys slowly quit the visual field of people, the virtual keys are replaced. In order to enhance the experience of touch feeling, the touch feeling feedback of the virtual key is added on many existing devices, namely, the vibration touch feeling is added, but the various functions of the virtual key are that if only a uniform vibration form is adopted to be set as the feedback touch feeling, the brought touch feeling experience is quite single, the difference of the key functions cannot be reflected, and the experience distortion is caused.
The high-frequency mechanical wave penetration capability is strong, and a human body is sensitive to the high-frequency mechanical wave, so that the high-frequency accelerated short signal driving motor can bring strong penetration and sensitive touch experience.
Therefore, it is necessary to provide a method for setting a driving signal for high-frequency acceleration of the driving motor.
[ summary of the invention ]
The invention aims to provide a motor driving signal setting method, electronic equipment and a storage medium, so as to realize a driving signal for driving a motor to accelerate at high frequency.
The technical scheme of the invention is as follows: a motor drive signal setting method, the drive signal including an acceleration drive signal for accelerating the motor, the method comprising:
acquiring boundary conditions of the acceleration driving signal, wherein the boundary conditions comprise the number range of acceleration periods of the acceleration driving signal, the amplitude range of the acceleration driving signal and the total acceleration duration;
acquiring a plurality of acceleration driving signal parameters meeting a first preset condition according to the boundary condition, wherein each acceleration driving signal parameter comprises the number of acceleration periods, the duration of each acceleration period and an acceleration driving signal amplitude corresponding to each acceleration period;
inputting each acceleration driving signal parameter into a preset operation model to obtain the motor vibration quantity under each acceleration driving signal parameter;
setting one acceleration driving signal parameter, in which the vibration amount of the motor is the largest, as a parameter of the acceleration driving signal.
Preferably, the operation model is a model established based on a correspondence relationship between the motor vibration amount and the drive signal.
Preferably, the acceleration driving signal amplitude is a voltage value.
Preferably, the sum of the acceleration periods is equal to the total acceleration duration.
Preferably, the amplitudes of the driving signals in two adjacent acceleration periods in each of the acceleration driving signal parameters are opposite numbers to each other.
Preferably, the driving signal further includes a deceleration driving signal for decelerating the motor, the driving signal is formed by sequentially combining the acceleration driving signal and the deceleration driving signal in time order, and after setting the parameter of the acceleration driving signal with the largest vibration amount of the motor as the parameter of the motor driving signal, the method further includes:
acquiring a deceleration parameter range of the deceleration driving signal, wherein the deceleration parameter range comprises an amplitude range of each deceleration driving signal and a duration range of each deceleration period;
acquiring a first deceleration period parameter meeting a second preset condition according to the deceleration parameter range, wherein the first deceleration period parameter comprises the amplitude of a deceleration driving signal corresponding to a first deceleration period and the deceleration duration of the first deceleration period;
splicing the first deceleration period parameter with the parameter of the acceleration driving signal, and inputting the parameter into the preset operation model to calculate the motor vibration amount;
judging whether the vibration quantity of the motor reaches a preset vibration quantity or not;
and if the preset vibration quantity is reached, setting the first deceleration period parameter as the parameter of the deceleration driving signal.
Preferably, after determining whether the vibration amount of the motor reaches a preset vibration amount, the method further includes:
if the vibration quantity does not reach the preset vibration quantity, acquiring a second deceleration time interval parameter meeting a second preset condition according to the deceleration parameter range, wherein the second deceleration time interval parameter comprises the amplitude of a deceleration driving signal corresponding to the second deceleration time interval and the deceleration duration of the second deceleration time interval;
splicing the parameters of the acceleration driving signal, the first deceleration period parameter and the second deceleration period parameter in sequence, and inputting the parameters into the preset operation model to calculate the vibration quantity of the motor;
judging whether the vibration quantity of the motor reaches a preset vibration quantity or not;
and if the preset vibration quantity is reached, setting the first deceleration period parameter and the second deceleration period parameter as the parameters of the deceleration driving signal.
Preferably, after the setting the amplitude of the acceleration driving signal and the deceleration duration as the parameters of the deceleration driving signal, the method further comprises:
generating a motor driving signal according to the parameters of the acceleration driving signal and the parameters of the deceleration driving signal;
inputting the motor driving signal to an external device, the external device including a motor;
collecting vibration data of the external equipment;
judging whether the vibration data of the external equipment is in a preset range or not;
and if the vibration data of the external equipment is in a preset range, storing the parameters of the acceleration driving signal and the parameters of the deceleration driving signal.
Preferably, after determining whether the vibration data of the electronic device is within a preset range, the method further includes:
and if the vibration data of the electronic equipment is not in a preset range, modifying the boundary condition.
The invention also provides an electronic device comprising a processor and a memory, the memory having stored therein a computer readable program configured to be executed by the processor, the computer readable program, when executed by the processor, implementing the method as described above.
The invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the above-mentioned method.
The invention has the beneficial effects that: the number of acceleration periods, the duration of each acceleration period and the amplitude of the acceleration driving signal corresponding to each acceleration period are set according to the boundary condition of the acceleration driving signal, the parameters of the acceleration driving signal meeting the boundary condition are input into a preset operation model, the parameters of the acceleration driving signal with the largest motor vibration quantity are set as the parameters of the acceleration driving signal, and therefore the driving signal meeting high-frequency acceleration is searched out in the boundary condition.
[ description of the drawings ]
FIG. 1 is a flowchart of a method for setting a motor driving signal according to a first embodiment of the present invention;
FIG. 2 is a diagram illustrating a hardware connection for establishing an operation model according to an embodiment of the present invention;
FIG. 3 is a flowchart of a motor driving signal setting method according to a second embodiment of the present invention;
FIG. 4 is a flowchart of a method for setting a motor driving signal according to a third embodiment of the present invention;
FIG. 5 is a graph illustrating the verification result of the motor driving signal setting method according to the embodiment of the present invention;
fig. 6 is a schematic diagram of an electronic device according to an embodiment of the present invention.
[ detailed description ] embodiments
The invention is further described with reference to the following figures and embodiments.
As shown in fig. 1, a motor drive signal setting method according to a first embodiment of the present invention includes an acceleration drive signal for accelerating the motor, and includes:
step S101: and acquiring boundary conditions of the acceleration driving signal, wherein the boundary conditions comprise the number range of acceleration periods, the amplitude range of the acceleration driving signal and the total acceleration duration of the acceleration driving signal.
Wherein the number of acceleration periods is related to the frequency of the acceleration driving signal, and the frequency is higher the greater the number of acceleration periods within the fixed time. The acceleration driving signal amplitude may be a voltage value, and the total acceleration duration is a signal duration of the acceleration driving signal.
Step S102: and acquiring a plurality of acceleration driving signal parameters meeting a first preset condition according to the boundary condition, wherein each acceleration driving signal parameter comprises the number of acceleration periods, the duration of each acceleration period and the amplitude of the acceleration driving signal corresponding to each acceleration period.
In one embodiment, the acceleration drive signal is a square wave, the sum of the acceleration periods is equal to the total acceleration duration, the number of acceleration periods is set, and the total acceleration duration is proportionally assigned to the acceleration periods in each of the acceleration drive signal parameters to obtain the duration of the acceleration periods in each of the acceleration drive signal parameters. For example, if the total acceleration period is 5 seconds and the number of acceleration periods is 3, the duration of each acceleration period in the acceleration drive signal parameter may be 2, 1, 3, 1, etc. In each acceleration driving signal parameter, the driving signal amplitudes of two adjacent acceleration periods are opposite numbers, for example, the voltage amplitudes of 3 acceleration periods are Vp, -Vp and Vp, respectively.
Step S103: and inputting each acceleration driving signal parameter into a preset operation model to obtain the motor vibration quantity under each acceleration driving signal parameter.
The preset operation model is a pre-established model and is a model established according to the corresponding relation between the motor vibration quantity and the driving signal. As shown in fig. 2, the computer 1 sends the frequency sweep signal to the tool 3 through the power amplifier 2 to drive the motor 4 to vibrate, the accelerometer 5 collects acceleration data of the tool 3 when the motor 4 vibrates and sends the acceleration data to the computer, meanwhile, the signal amplifier 6 collects voltage data of the motor 4 and sends the voltage data to the computer, and the computer establishes an operation model according to the acceleration data and the corresponding voltage data. The operation model can be a mathematical model established through a second-order model or a mathematical model established through a kernel function.
Step S104: setting one acceleration driving signal parameter, in which the vibration amount of the motor is the largest, as a parameter of the acceleration driving signal.
Specifically, each acceleration driving signal parameter corresponds to a motor vibration amount, and the acceleration driving signal parameter with the largest motor vibration amount is set as the parameter of the acceleration driving signal, so that the acceleration driving signal of the motor can be generated according to the parameter of the acceleration driving signal.
In the above embodiment, a plurality of acceleration driving signal parameters are obtained according to the boundary condition of the acceleration driving signal, where each acceleration driving signal parameter includes the number of acceleration periods, the duration of each acceleration period, and the amplitude of the acceleration driving signal corresponding to each acceleration period, each acceleration period parameter is input into a preset operation model, and the acceleration driving signal parameter with the largest vibration amount is set as the parameter of the acceleration driving signal, so that the parameter of the acceleration driving signal corresponding to the largest vibration amount is calculated within the set total acceleration period, and the acceleration driving signal is generated according to the parameter of the acceleration driving signal, so that the motor can rapidly reach high-frequency vibration.
As shown in fig. 3, a motor driving signal setting method according to a second embodiment of the present invention is different from the first embodiment in that the driving signal further includes a deceleration driving signal for decelerating the motor, the driving signal is formed by sequentially combining an acceleration driving signal and a deceleration driving signal in time order, and after setting one acceleration driving signal parameter with the largest vibration amount of the motor as a parameter of the acceleration driving signal, the method further includes:
step S201: and acquiring a deceleration parameter range of the deceleration driving signal, wherein the deceleration parameter range comprises an amplitude range of each deceleration driving signal and a duration range of each deceleration period.
The deceleration driving signal amplitude may be a voltage value, for example, the deceleration voltage range is [ -Vp, Vp ].
Step S202: and acquiring a first deceleration period parameter meeting a second preset condition according to the deceleration parameter range, wherein the first deceleration period parameter comprises the amplitude of a deceleration driving signal corresponding to the first deceleration period and the deceleration duration of the first deceleration period.
The second preset condition is that the amplitude of the deceleration driving signal is in the range of the deceleration driving signal, and the deceleration duration is in the duration range of the deceleration period.
Step S203: and after the first deceleration period parameter is spliced with the parameter of the acceleration driving signal, inputting the parameter into the preset operation model to calculate the vibration quantity of the motor.
Specifically, a first deceleration period parameter and a parameter of the acceleration driving signal are substituted into a preset operation model for calculation, and each group of data corresponds to a motor vibration amount.
Step S204: and judging whether the vibration quantity of the motor reaches a preset vibration quantity.
The preset vibration quantity is the set minimum vibration quantity, and after-shock after braking can meet the set value.
Step S205: and if the preset vibration quantity is reached, setting the first deceleration period parameter as the parameter of the deceleration driving signal.
In one embodiment, if a first deceleration period parameter is added and substituted into the preset model, and the vibration quantity of the motor meets the requirement, the deceleration driving signal only includes one deceleration period, and the motor driving signal parameter is obtained after the parameter of the acceleration driving signal and the deceleration parameter are spliced.
Step S206: and if the vibration quantity does not reach the preset vibration quantity, acquiring a second deceleration time interval parameter meeting a second preset condition according to the deceleration parameter range, wherein the second deceleration time interval parameter comprises the amplitude of a deceleration driving signal corresponding to the second deceleration time interval and the deceleration duration of the second deceleration time interval.
In one embodiment, if the vibration requirement cannot be met by adding one deceleration period, a second deceleration period is added.
Step S207: and sequentially splicing the parameters of the acceleration driving signal, the first deceleration period parameter and the second deceleration period parameter, and inputting the parameters into the preset operation model to calculate the vibration quantity of the motor.
Step S208: and judging whether the vibration quantity of the motor reaches a preset vibration quantity.
The preset vibration quantity is the set minimum vibration quantity, and after-shock after braking can meet the set value.
Step S209: and if the preset vibration quantity is reached, setting the first deceleration period parameter and the second deceleration period parameter as the parameters of the deceleration driving signal.
Continuing with the above embodiment, the second deceleration period parameter is spliced with the first deceleration period parameter and the parameter of the acceleration driving signal, and whether the vibration quantity meets the requirement is calculated, if so, the deceleration driving signal includes two deceleration periods, and the first deceleration period parameter and the second deceleration period parameter are set as the parameters of the deceleration driving signal. And if the vibration quantity does not meet the requirement, continuing to increase the deceleration time period and calculating the vibration quantity until the vibration quantity meets the preset vibration quantity requirement. And splicing all the deceleration period parameters meeting the vibration quantity requirement with the parameters of the acceleration driving signal to obtain the parameters of the motor driving signal.
In the above embodiment, after the parameters of the acceleration driving signal are calculated, the vibration amount is calculated every time a deceleration time interval is increased step by step until the preset vibration amount is satisfied, so as to obtain the deceleration driving signal capable of realizing the rapid braking of the motor.
As shown in fig. 4, a motor drive signal setting method according to a third embodiment of the present invention is different from the second embodiment in that, after setting the amplitude and the deceleration duration of the acceleration drive signal as parameters of the deceleration drive signal, the method further includes:
step S301: and generating a motor driving signal according to the parameters of the acceleration driving signal and the parameters of the deceleration driving signal.
Step S302: inputting the motor drive signal to an external device, the external device including a motor.
Wherein the external device receives the driving signal to drive the motor to vibrate.
Step S303: and collecting vibration data of the external equipment.
Step S304: and judging whether the vibration data of the external equipment is in a preset range.
Specifically, the acquired vibration data is compared with vibration data when the vibration amount of the motor driving signal is minimum, and whether the acquired vibration data and the vibration data are within the error range or not is judged.
Step S305: and if the vibration data of the external equipment is in a preset range, storing the parameters of the acceleration driving signal and the parameters of the deceleration driving signal.
Specifically, the driving signal obtained by combining the parameter of the acceleration driving signal and the parameter of the deceleration driving signal is stored in the format of wav, txt, mat, or the like, so as to be output to the external device.
Step S306: and if the vibration data of the electronic equipment is not in a preset range, modifying the boundary condition.
Specifically, if the acquired vibration data and the vibration data when the vibration amount of the motor driving signal is minimum are not within the error range, the boundary condition is modified, and the parameters of the acceleration driving signal and the parameters of the deceleration driving signal are acquired again.
In the above embodiment, the motor driving signal is generated according to the calculated acceleration driving signal parameter and the calculated deceleration driving signal parameter, the vibration of the external device driving motor is input, the vibration data of the external device is collected, whether the vibration data is within the preset range or not is judged, and if the vibration data is not within the preset range, the boundary condition is modified to recalculate the acceleration parameter and the deceleration parameter, so that the accurate acceleration parameter and deceleration parameter are ensured to be obtained.
In an embodiment of the invention, a motor with good linearity is selected and fixed on a tool with mk being 100g for model establishment and parameter verification, a second-order model is used for mathematical modeling, and a mode shown in fig. 2 is adopted for data acquisition. Fitting through a second-order model, and then establishing a mathematical model to obtain a transfer function:
wherein,
mt＝md+mk，
BL is the electromagnetic coefficient of the motor, Re is the static resistance, md is the oscillator mass, kd is the spring elastic coefficient, cd is the mechanical resistance, and t is the time variable. By convolution of the transfer function and the input signal, displacement response, namely displacement generated by the motor vibrator, can be obtained.
After obtaining all parameters in the transfer function, appointing a motor resonance period T with the total duration of an acceleration section being 0.9 times according to requirements, setting the motor resonance period T as three-section acceleration, setting the voltage amplitude as 9V and the filtering frequency as 900Hz, and finding out the duration distribution of the maximum vibration quantity through continuous iterative calculation of the transfer function, wherein the obtained optimal time distribution is 9V of a first section of acceleration voltage, 0.34T of duration, 9V of a second section of acceleration voltage, 0.46T of duration, 9V of a third section of acceleration voltage and 0.1T of duration; after the acceleration section is obtained, the voltage of the deceleration section is added backwards, the first section of deceleration voltage is obtained, the duration is 0.4T, the second section of deceleration voltage is obtained, the duration is 0.51T, and the voltage of the deceleration section is-9V. As shown in fig. 5, the vibration signal is obtained with a center frequency of 260Hz, an overall duration of the electric signal of about 10 ms, and a vibration signal of about 10 ms. Therefore, the motor driving signal setting method provided by the invention has the advantages of higher center frequency, elimination of aftershock, short vibration time and capability of realizing high-penetration, sensitive and short-time touch effect.
As shown in fig. 6, the present invention further provides an electronic device, which includes a processor 11 and a memory 12, wherein the memory 12 stores a computer readable program, the computer readable program is configured to be executed by the processor 11, and the computer readable program realizes the method described above when executed by the processor.
The electronic device in this embodiment and the method in the foregoing embodiment are based on two aspects of the same inventive concept, and the detailed description of the implementation process of the method has been described in the foregoing, so that those skilled in the art can clearly understand the implementation process of the electronic device in this embodiment according to the foregoing description, and for the brevity of the description, details are not repeated here.
From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by software plus necessary general hardware platform. Based on this understanding, the technical solutions of the present invention may be embodied in the form of software products, which essentially or partially contribute to the prior art. The invention also relates to a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., having stored thereon a computer program for being executed by a processor for performing the above-mentioned method.
According to the motor driving signal setting method, the electronic device and the storage medium provided by the embodiment of the invention, the number of acceleration periods, the duration of each acceleration period and the amplitude of the acceleration driving signal corresponding to each acceleration period are set according to the boundary condition of the acceleration driving signal, the parameters of the acceleration driving signal meeting the boundary condition are input into a preset operation model, and the parameters of the acceleration driving signal with the maximum motor vibration quantity are set as the parameters of the acceleration driving signal, so that the driving signal meeting high-frequency acceleration is searched in the boundary condition.
While the foregoing is directed to embodiments of the present invention, it will be understood by those skilled in the art that various changes may be made without departing from the spirit and scope of the invention.
Claims (8)
1. A motor drive signal setting method, the drive signal including an acceleration drive signal for accelerating the motor, the method comprising:
acquiring boundary conditions of the acceleration driving signal, wherein the boundary conditions comprise the number range of acceleration periods of the acceleration driving signal, the amplitude range of the acceleration driving signal and the total acceleration duration, and the amplitude of the acceleration driving signal is a voltage value;
acquiring a plurality of acceleration driving signal parameters meeting a first preset condition according to the boundary condition, wherein each acceleration driving signal parameter comprises the number of acceleration periods, the duration of each acceleration period and an acceleration driving signal amplitude corresponding to each acceleration period, and the driving signal amplitudes of two adjacent acceleration periods in each acceleration driving signal parameter are opposite numbers;
inputting each acceleration driving signal parameter into a preset operation model to obtain a motor vibration quantity under each acceleration driving signal parameter, wherein the operation model is a model established according to the corresponding relation between the motor vibration quantity and the driving signal;
setting the parameter of the acceleration driving signal with the largest vibration quantity of the motor as the parameter of the acceleration driving signal which enables the motor to rapidly reach high-frequency vibration; the method specifically comprises the following steps:
the establishment and parameter verification process of the operation model comprises the following steps:
the motor with good linearity is selected and fixed at the mass mkThe tool is subjected to model establishment and parameter verification, fitting is carried out through a second-order model, then a mathematical model is established, and a transfer function is obtained:
wherein,
mt＝md+mk，
BL is the electromagnetic coefficient of the motor, ReIs a static resistance, mdIs the mass of the vibrator, mkIs the quality of the tool, kdIs spring elastic coefficient, cdIs a mechanical resistance, t is a time variable;
convolution is carried out on the transfer function and the input signal to obtain displacement response, namely displacement generated by the motor oscillator;
and after obtaining all parameters in the transfer function, formulating the boundary condition according to the requirement, and finding out the duration distribution of the maximum vibration quantity through continuous iterative calculation of the transfer function.
2. The motor drive signal setting method according to claim 1, wherein a sum of the respective acceleration periods is equal to the total acceleration period.
3. The motor drive signal setting method according to claim 1, wherein the drive signal further includes a deceleration drive signal for decelerating the motor, the drive signal is formed by sequentially combining the acceleration drive signal and the deceleration drive signal in chronological order, and after setting the one of the acceleration drive signal parameters in which the vibration amount of the motor is the largest as the parameter of the motor drive signal, the method further includes:
acquiring a deceleration parameter range of the deceleration driving signal, wherein the deceleration parameter range comprises an amplitude range of each deceleration driving signal and a duration range of each deceleration period;
acquiring a first deceleration period parameter meeting a second preset condition according to the deceleration parameter range, wherein the first deceleration period parameter comprises the amplitude of a deceleration driving signal corresponding to a first deceleration period and the deceleration duration of the first deceleration period;
splicing the first deceleration period parameter with the parameter of the acceleration driving signal, and inputting the parameter into the preset operation model to calculate the motor vibration amount;
judging whether the vibration quantity of the motor reaches a preset vibration quantity or not;
and if the preset vibration quantity is reached, setting the first deceleration period parameter as the parameter of the deceleration driving signal.
4. The motor drive signal setting method according to claim 3, wherein after the determination of whether the motor vibration amount reaches a preset vibration amount, the method further comprises:
if the vibration quantity does not reach the preset vibration quantity, acquiring a second deceleration time interval parameter meeting a second preset condition according to the deceleration parameter range, wherein the second deceleration time interval parameter comprises the amplitude of a deceleration driving signal corresponding to the second deceleration time interval and the deceleration duration of the second deceleration time interval;
splicing the parameters of the acceleration driving signal, the first deceleration period parameter and the second deceleration period parameter in sequence, and inputting the parameters into the preset operation model to calculate the vibration quantity of the motor;
judging whether the vibration quantity of the motor reaches a preset vibration quantity or not;
and if the preset vibration quantity is reached, setting the first deceleration period parameter and the second deceleration period parameter as the parameters of the deceleration driving signal.
5. The motor drive signal setting method according to claim 4, wherein after the setting of the acceleration drive signal amplitude and the deceleration duration as the parameters of the deceleration drive signal, the method further comprises:
generating a motor driving signal according to the parameters of the acceleration driving signal and the parameters of the deceleration driving signal;
inputting the motor driving signal to an external device, the external device including a motor;
collecting vibration data of the external equipment;
judging whether the vibration data of the external equipment is in a preset range or not;
and if the vibration data of the external equipment is in a preset range, storing the parameters of the acceleration driving signal and the parameters of the deceleration driving signal.
6. The motor driving signal setting method according to claim 5, wherein after the determining whether the vibration data of the external device is within a preset range, the method further comprises:
and if the vibration data of the external equipment is not in a preset range, modifying the boundary condition.
7. An electronic device comprising a processor and a memory, the memory having stored therein a computer readable program configured to be executed by the processor, the computer readable program when executed by the processor implementing the method of any of claims 1-6.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-6.
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| CN110907827B (en) * | 2019-11-22 | 2022-04-01 | 瑞声科技(新加坡)有限公司 | Motor transient distortion measuring method and system |
| CN111552369B (en) * | 2019-12-17 | 2023-11-10 | 瑞声科技(新加坡)有限公司 | Vibration signal control method, storage medium and electronic device |
| CN111160159B (en) * | 2019-12-18 | 2023-06-30 | 瑞声科技(新加坡)有限公司 | Motor electric signal parameterization description method, device, equipment and medium |
| CN111490712B (en) * | 2019-12-24 | 2022-02-11 | 瑞声科技(新加坡)有限公司 | Method, apparatus and storage medium for controlling vibration frequency of linear motor |
| CN111562839B (en) * | 2020-03-30 | 2023-12-01 | 瑞声科技(新加坡)有限公司 | Method and device for presenting haptic effects based on displacement, storage medium and device |
| CN113359892B (en) * | 2021-06-21 | 2022-06-21 | 歌尔股份有限公司 | Method and device for generating transfer function of vibration motor and storage medium |
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