CN111562839B - Method and device for presenting haptic effects based on displacement, storage medium and device - Google Patents
Method and device for presenting haptic effects based on displacement, storage medium and device Download PDFInfo
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 234
- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000000694 effects Effects 0.000 title claims abstract description 48
- 230000008859 change Effects 0.000 claims abstract description 143
- 230000036962 time dependent Effects 0.000 claims abstract description 26
- 238000004364 calculation method Methods 0.000 claims description 39
- JJBCTCGUOQYZHK-UHFFFAOYSA-N 2-acetyloxybenzoate;(5-amino-1-carboxypentyl)azanium Chemical compound OC(=O)C(N)CCCC[NH3+].CC(=O)OC1=CC=CC=C1C([O-])=O JJBCTCGUOQYZHK-UHFFFAOYSA-N 0.000 claims description 17
- 230000001419 dependent effect Effects 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 9
- 238000013016 damping Methods 0.000 claims description 6
- 238000007405 data analysis Methods 0.000 claims description 3
- 238000013017 mechanical damping Methods 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 abstract description 3
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000001747 exhibiting effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003155 kinesthetic effect Effects 0.000 description 1
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/032—Reciprocating, oscillating or vibrating motors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
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- G06F2203/014—Force feedback applied to GUI
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Abstract
The embodiment of the invention provides a method and a device for presenting a haptic effect based on displacement of a motor vibrator, which solve the technical problem of low haptic control effect when the haptic effect is defined by adopting a mode of defining acceleration waveform in the prior art. According to the embodiment of the invention, the displacement waveform of the motor vibrator is defined, a user can input the vibration duration T, the vibration frequencies F1 and F2 and the absolute values A1 and A2 of the vibration intensity according to own preference, the relative intensity of the vibration displacement of the motor vibrator is converted into the absolute intensity of the vibration displacement of the motor vibrator, the time-dependent change rule of the displacement of the motor vibrator (namely the displacement waveform of the motor vibrator) is generated, and then the time-dependent change rule of the displacement is subjected to displacement equalization to obtain the driving voltage, so that the haptic effect is realized.
Description
[ field of technology ]
The present invention relates to the field of control technologies, and in particular, to a method and apparatus for presenting haptic effects based on displacement, a storage medium, and a device.
[ background Art ]
Electronic devices may provide a rich interface for users, and in some interface devices may also provide kinesthetic feedback or haptic feedback to users, commonly referred to as "haptic effects. The haptic effect may provide a prompt or the like to the user to prompt the user for a particular event or the like. While custom haptic effects can bring about a rich haptic experience. An effective vibration waveform is customized according to the performance of the motor and the output capacity of the device. The custom haptic effect in the prior art generally defines the haptic effect by defining an acceleration waveform, but the driving voltage obtained by equalizing the acceleration is usually at an unbalanced position of the motor vibrator after the voltage is over, resulting in a larger residual vibration, thereby reducing the control effect of the haptic sense.
[ invention ]
In view of this, the embodiments of the present invention provide a method and apparatus for presenting a haptic effect based on displacement, a storage medium, and a device, by defining a displacement waveform of a motor vibrator, a user may input a vibration duration T, vibration frequencies F1, F2, and absolute values of vibration intensities A1, A2 according to his own preference, generate a law of change of displacement of the motor vibrator over time (i.e., a displacement waveform of the motor vibrator) by converting a relative intensity of vibration displacement of the motor vibrator into an absolute intensity of vibration displacement of the motor vibrator, and then perform displacement equalization on the law of change of displacement over time to obtain a driving voltage, thereby implementing the haptic effect.
In one aspect, an embodiment of the present invention provides a method for presenting a haptic effect based on displacement of a motor vibrator, including: obtaining vibration parameters of the motor vibrator; carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute intensity of displacement of the motor vibrator along with time; generating a displacement time-varying rule X (t) of the motor vibrator according to the displacement absolute intensity time-varying rule D (t); performing displacement balance calculation on the displacement change law X (t) along with time to generate a voltage change law V (t) along with time; and driving the motor vibrator to vibrate according to the time variation rule V (t) of the voltage.
In an embodiment of the present invention, the data processing is performed on the vibration parameter, and a time-dependent change rule D (t) of the absolute intensity of the displacement of the motor vibrator is generated, and the method further includes: analyzing the vibration parameters to obtain the vibration duration T, the first vibration frequency F1, the second vibration frequency F2, the first relative intensity value A1 and the second relative intensity value A2 of the motor vibrator; generating a frequency change law F (T) of the motor vibrator along with time according to the first vibration frequency F1 and the second vibration frequency F2 within the vibration duration T; generating a law H (t) of the change of the relative intensity of the motor vibrator with time in the vibration duration according to the first relative intensity value A1 and the second relative intensity value A2; generating a law ASL (f) of displacement of the motor vibrator along with the frequency within a range of the frequency along with the time n ) The method comprises the steps of carrying out a first treatment on the surface of the And ASL (f) according to the displacement variation law with frequency n ) And generating an absolute intensity of displacement of the motor vibrator according to the law of change of the relative intensity with time H (t)A law D (t) of the variation of the degree over time.
In an embodiment of the present invention, the frequency of the motor vibrator varies in a sinusoidal cycle with time during the vibration period.
In an embodiment of the present invention, the generating generates a displacement-versus-frequency law ASL (f n ) Further comprises: generating a change rule V (f) of the voltage required by the motor vibrator along with the frequency and a maximum voltage V required by the motor vibrator on the premise that the motor vibrator exerts maximum capability in a preset voltage range in a range of the frequency along with the time max Maximum displacement X that the motor vibrator can reach max The method comprises the steps of carrying out a first treatment on the surface of the According to the change rule V (f) of the voltage required by the motor vibrator along with the frequency, the maximum voltage V max Said maximum displacement X max Calculating a first critical frequency f of the motor vibrator 1 And a second critical frequency f 2 The method comprises the steps of carrying out a first treatment on the surface of the Generating a change law X (f) of displacement of the motor vibrator with frequency under the maximum voltage in a range that the frequency changes with time; according to the change rule V (f) of the voltage required by the motor vibrator along with the frequency, carrying out voltage equalization calculation on the change rule X (f) of the displacement of the motor vibrator along with the frequency under the maximum voltage to generate the change rule ASL (f) of the displacement of the motor vibrator along with the frequency n )。
In an embodiment of the present invention, the maximum voltage V is determined according to a frequency-dependent variation rule V (f) of the voltage required by the motor vibrator max Said maximum displacement X max Calculating a first critical frequency f of the motor vibrator 1 And a second critical frequency f 2 Comprising:
the first critical frequency f 1 Is equal to:
the first critical frequency f 2 Is equal to:
wherein, in the formula (2),
wherein in the formula (1), the formula (2) and the formula (3), V max For the maximum voltage X max For the maximum displacement, R e For the DC impedance of the motor, m is the mass of the motor, c d C is the mechanical damping coefficient of the motor t K is the stiffness coefficient of the motor and BL is the electromagnetic force coefficient of the motor, which is the total damping of the motor.
In an embodiment of the present invention, according to a frequency-dependent variation rule V (f) of a voltage required by the motor vibrator, a voltage equalization calculation is performed on a frequency-dependent variation rule X (f) of a displacement of the motor vibrator under the maximum voltage, so as to generate a frequency-dependent variation rule ASL (f) n ) Comprising:
law of variation of displacement of motor vibrator with frequency ASL (f n ) The calculation formula of (2) is as follows:
Wherein, in the formula (4),
wherein in the formula (5) and the formula (6), R e Is the direct current impedance of the motor, m isMass, c of the motor t K is the stiffness coefficient of the motor and BL is the electromagnetic force coefficient of the motor, which is the total damping of the motor.
In one embodiment of the invention, ASL (f) is determined according to the frequency variation law of the displacement n ) And the law of change of the relative intensity with time H (t) generates a law of change of the absolute intensity of displacement of the motor vibrator with time D (t), further comprising: the calculation formula of the law D (t) of the change of the displacement absolute intensity of the motor vibrator along with time is as follows:
D(t)＝ASL(f n ) H (t) formula (7).
In an embodiment of the present invention, generating the time-dependent displacement law X (t) of the motor vibrator according to the time-dependent displacement law D (t) of the absolute intensity of the displacement, further includes: generating a time-dependent frequency change law f (t) of the motor vibrator; and generating a displacement time-varying law X (t) of the motor vibrator according to the given frequency time-varying law f (t) of the motor vibrator and the displacement absolute intensity time-varying law D (t).
In an embodiment of the present invention, the generating the time-varying displacement rule X (t) of the motor vibrator according to the time-varying rule f (t) of the given frequency of the motor vibrator and the time-varying rule D (t) of the absolute intensity of the displacement further includes: the calculation formula of the displacement change law X (t) of the motor vibrator along with time is as follows:
X (t) =d (t) ×g (t) formula (8);
wherein, in the formula (8),
wherein,for the time-varying phase value of the motor vibrator, and (2)>The calculation formula of (2) is as follows:
in another aspect, an embodiment of the present invention provides an apparatus for presenting a haptic effect based on displacement of a motor vibrator, including: a vibration parameter generation unit configured to generate a vibration parameter of the motor vibrator; the data processing unit is used for carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute intensity of displacement of the motor vibrator along with time; the calculating unit is used for generating a displacement change rule X (t) of the motor vibrator along with time according to the displacement absolute intensity change rule D (t) along with time; performing displacement balance calculation on the displacement change law X (t) along with time to generate a voltage change law V (t); and the driving unit is used for driving the motor vibrator to vibrate according to the time-dependent voltage change rule V (t).
In an embodiment of the invention, the data processing unit further comprises: the data analysis module is used for analyzing the vibration parameters and generating a vibration duration T, a first vibration frequency F1, a second vibration frequency F2, a first relative intensity value A1 and a second relative intensity value A2 of the motor vibrator; the frequency change generation module is used for generating a frequency change rule F (T) of the motor vibrator along with time according to the first vibration frequency F1 and the second vibration frequency F2 in the vibration duration T; the relative strength change generation module is used for generating a relative strength change rule H (t) of the motor vibrator in the vibration duration according to the first relative strength value A1 and the second relative strength value A2; a displacement-dependent frequency variation generation module for generating a displacement-dependent frequency variation law ASL (f n ) The method comprises the steps of carrying out a first treatment on the surface of the And a displacement absolute intensity time-varying module for determining a displacement time-varying law ASL (f) n ) And the law H (t) of the change of the relative intensity with time generates a law D (t) of the change of the displacement absolute intensity of the motor vibrator with time.
In an embodiment of the invention, the computing unit further comprises: a given frequency generation module, configured to generate a time-dependent frequency change rule f (t) of the motor vibrator; and the calculation module is used for generating a displacement time-varying rule X (t) of the motor vibrator according to the given frequency time-varying rule f (t) of the motor vibrator and the displacement absolute intensity time-varying rule D (t).
In a third aspect, embodiments of the present invention provide a computer-readable storage medium storing a computer program for executing the steps of: obtaining vibration parameters of the motor vibrator; carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute intensity of displacement of the motor vibrator along with time; generating a displacement time-varying rule X (t) of the motor vibrator according to the displacement absolute intensity time-varying rule D (t); performing displacement balance calculation on the displacement change law X (t) along with time to generate a voltage change law V (t) along with time; and driving the motor vibrator to vibrate according to the time variation rule V (t) of the voltage.
In a fourth aspect, an embodiment of the present invention provides an electronic device, including: a processor;
a memory for storing the processor-executable instructions; wherein the processor is configured to perform the following steps: obtaining vibration parameters of the motor vibrator; carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute intensity of displacement of the motor vibrator along with time; generating a displacement time-varying rule X (t) of the motor vibrator according to the displacement absolute intensity time-varying rule D (t); performing displacement balance calculation on the displacement change law X (t) along with time to generate a voltage change law V (t) along with time; and driving the motor vibrator to vibrate according to the time variation rule V (t) of the voltage.
The embodiment of the invention provides a method and a device for presenting a touch effect based on displacement of a motor vibrator, which are characterized in that a user can input vibration duration T, vibration frequencies F1 and F2 and absolute values A1 and A2 of vibration intensity according to own preference by defining a displacement waveform of the motor vibrator, and generate a time-dependent change rule of the displacement of the motor vibrator (namely, the displacement waveform of the motor vibrator) by converting the relative intensity of the vibration displacement of the motor vibrator into the absolute intensity of the vibration displacement of the motor vibrator, and then perform displacement equalization on the time-dependent change rule of the displacement to obtain a driving voltage, so that the touch effect is realized.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for presenting haptic effects based on displacement of a motor vibrator according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for presenting haptic effects based on displacement of a motor vibrator according to another embodiment of the present invention;
FIG. 3 is a flow chart of a method for presenting haptic effects based on displacement of a motor vibrator according to another embodiment of the present invention;
FIG. 4 shows the voltage at maximum voltage V according to an embodiment of the present invention max A graph of a change rule X (f) of vibration displacement of the motor vibrator along with frequency;
FIG. 5 shows a variation law ASL (f) of vibration displacement of a motor vibrator with frequency under balanced voltage according to an embodiment of the present invention n ) Is a graph of (2);
FIG. 6 is a flow chart of a method for presenting haptic effects based on displacement of a motor vibrator according to another embodiment of the present invention;
FIG. 7 is a schematic diagram of an apparatus for presenting haptic effects based on displacement of a motor vibrator according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of an apparatus for presenting haptic effects based on displacement of a motor vibrator according to another embodiment of the present invention;
fig. 9 is a schematic structural diagram of an apparatus for presenting haptic effects based on displacement of a motor vibrator according to another embodiment of the present invention.
[ detailed description ] of the invention
For a better understanding of the technical solution of the present invention, the following detailed description of the embodiments of the present invention refers to the accompanying drawings.
It should be understood that the described embodiments are merely some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Exemplary method
Fig. 1 is a flowchart of a method for presenting a haptic effect based on a displacement of a motor vibrator according to an embodiment of the present invention, as shown in fig. 1, the method for presenting a haptic effect based on a displacement of a motor vibrator includes the following steps:
step S101: obtaining vibration parameters of a motor vibrator;
in step S101, the vibration parameter is a user-input custom parameter, where the custom parameter includes at least a parameter capable of exhibiting a vibration displacement of the motor vibrator, and for example, the user-input vibration parameter may include: the vibration duration T, the vibration frequency (F1, F2), and the absolute value of the vibration intensity (A1, A2).
When the user inputs the custom parameters, the user inputs a set of numbers (100,0.6,0.8,150,200) including the vibration time period T, the vibration frequencies (F1, F2), and the absolute values of the vibration intensities (A1, A2) in a predetermined format, for example.
Step S102: data processing is carried out on vibration parameters input by a user, and a change rule D (t) of the displacement absolute intensity of the motor vibrator along with time is generated;
step S103: generating a displacement change rule X (t) of the motor vibrator along with time according to the displacement absolute intensity change rule D (t) of the motor vibrator along with time;
step S104: performing displacement balance calculation on a displacement change law X (t) of the motor vibrator along with time to generate a voltage change law V (t) along with time; and
step S105: and driving the motor vibrator to vibrate according to a time-dependent voltage change rule V (t).
According to the method for presenting the haptic effect based on the displacement of the motor vibrator, provided by the embodiment of the invention, a user can input the vibration duration T, the vibration frequencies F1 and F2 and the absolute values A1 and A2 of the vibration intensity according to own preference, and the relative intensity of the vibration displacement of the motor vibrator is converted into the absolute intensity of the vibration displacement of the motor vibrator to generate the time-dependent change rule of the displacement of the motor vibrator (namely, the displacement waveform of the motor vibrator), namely, the user can define the vibration parameters of the motor vibrator, so that the self-defined displacement waveform of the motor vibrator is achieved, and then the time-dependent change rule of the displacement is subjected to displacement equalization to obtain the driving voltage, so that the haptic effect is achieved.
In an embodiment of the present invention, as shown in fig. 2, step S102: data processing is carried out on vibration parameters input by a user, and a change rule D (t) of the absolute intensity of displacement of the motor vibrator along with time is generated, and the method specifically comprises the following steps:
step S1021: analyzing the vibration parameters to generate a vibration duration T, a first vibration frequency F1, a second vibration frequency F2, a first relative intensity value A1 and a second relative intensity value A2 of the motor vibrator;
in step S101, the user typically inputs a set of numbers to represent the vibration parameters of the motor vibrator, for example, the set of numbers input by the user in step S101 is (100,0.6,0.8,150,200), and in step S1021, the set of numbers input by the user is first analyzed to obtain a vibration duration T of 100ms, a first vibration frequency F1 of 150HZ, a second vibration frequency F2 of 200HZ, a first relative intensity value A1 of 0.6, and a second relative intensity value A2 of 0.8.
Step S1022: generating a frequency change law F (T) of the motor vibrator along with time according to the first vibration frequency F1 and the second vibration frequency F2 within the vibration duration T;
preferably, the frequency of the motor vibrator varies in a sinusoidal period over time within the vibration duration T, i.e. the frequency of the motor vibrator varies in a sinusoidal function over time as a rule F (T). The frequency of the motor vibrator changes along with the time in a sine period, which is beneficial to the subsequent calculation.
Step S1023: generating a law H (t) of the change of the relative intensity of the motor vibrator with time in the vibration duration according to the first relative intensity value A1 and the second relative intensity value A2;
step S1024: generates a displacement-dependent frequency variation law ASL (f) n ) The method comprises the steps of carrying out a first treatment on the surface of the And
step S1025: ASL (f) according to the change of displacement with frequency n ) Generating a law D (t) of the change of the displacement absolute intensity of the motor vibrator along with time according to the law H (t) of the change of the relative intensity along with time;
preferably, the calculation formula of the law D (t) of the change of the absolute intensity of displacement of the motor vibrator with time is as follows:
D(t)＝ASL(f n )*H(t)。
the absolute intensity of the displacement of the motor vibrator finally generated in step S102 varies with timeLaw of transformation D (t), and D (t) =asl (f n ) H (t), where H (t) is the law of change H (t) of the relative intensity (A1-A2) of the motor vibrator over the vibration period over time, has been generated in step S1023; then to obtain a specific calculation formula of the law D (t) of the change of the absolute intensity of the displacement of the motor vibrator with time, ASL (f) needs to be obtained n ) In one embodiment of the present invention, as shown in fig. 3, step S1024 (law of displacement of motor vibrator with frequency ASL (f n ) The generation of (c) specifically includes the steps of:
step S10241: in the range of the frequency changing along with time, under the premise that the motor vibrator exerts the maximum capability (namely the motor vibrator reaches the maximum displacement as far as possible) in the preset voltage range (namely the voltage allowable range), the change rule V (f) of the voltage required by the motor vibrator along with the frequency is obtained n ) Maximum voltage V required by motor vibrator max Maximum displacement X achievable by motor vibrator max ；
Wherein,
the calculation formulas of a and b in the formula (1) are as follows:
wherein in the formula (2) and the formula (3),
wherein in the formula (1), the formula (2) and the formula (3), V max Maximum voltage required for motor vibrator, X max R is the maximum displacement that the motor vibrator can reach e To be the instituteThe direct current impedance of the motor vibrator, m is the mass of the motor, c d C is the mechanical damping coefficient of the motor t K is the stiffness coefficient of the motor and BL is the electromagnetic force coefficient of the motor, which is the total damping of the motor.
In the formula (1), f 1 (first critical frequency) and f 2 The (second critical frequency) is the two critical frequencies that are easier to reach the maximum displacement, i.e. the frequency when the motor vibrator is able to reach the maximum displacement is f, then f 1 <f<f 2 ；
Step S10242: according to the change rule V (f) of the voltage required by the motor vibrator along with the frequency n ) Maximum voltage V max Maximum displacement X max Calculating a first critical frequency f of the motor vibrator 1 And a second critical frequency f 2 ；
As a result of:
the calculation formulas of a and b in the formula (1) are as follows:
thus, the first critical frequency f 1 Equal to:
the first critical frequency f 2 Equal to:
step S10243: generating V at maximum voltage in a range of frequency variation with time max A change rule X (f) of displacement of the motor vibrator along with frequency;
that is, when the motor vibrator is at the maximum voltage V max In the lower vibration, the curve of the change rule X (F) of the vibration displacement of the motor vibrator along with the frequency is shown in fig. 4 in the range of the change rule F (t) of the frequency along with time of the motor vibrator:
in fig. 4, two critical frequencies ω are when the motor vibrator reaches maximum displacement 1 And omega 2 I.e. the motor vibrator is at maximum voltage V max The two critical frequencies of maximum displacement are most easily reached when vibrating.
Although step S S10243 obtains the motor vibrator at maximum voltage V max In the lower vibration, the motor vibrator is in the range of the frequency change law F (t) with time, but the motor vibrator has lower safety when the motor vibrator vibrates at the maximum voltage, so that the voltage balance calculation needs to be performed on the frequency change law X (F) with the displacement of the motor vibrator at the maximum voltage, namely, step S10244.
Step S10244: according to the change rule V (f) of the voltage required by the motor vibrator along with the frequency, the voltage balance calculation is carried out on the change rule X (f) of the displacement of the motor vibrator along with the frequency under the maximum voltage, and the change rule ASL (f) of the displacement of the motor vibrator along with the frequency is generated n )。
Namely, the law of variation ASL (f n ) The formula of (2) is:
in the formula (6), the calculation formulas of a and b in the formula (1) are as follows:
first critical frequency f 1 And the second critical frequency has been calculated in step S10242, i.e.
Wherein R in the formulas (2), (3), (4), (5) and (6) e For the DC impedance of the motor, m is the mass of the motor, c t K is the stiffness coefficient of the motor and BL is the electromagnetic force coefficient of the motor, which is the total damping of the motor.
At the equilibrium voltage, the law ASL (f) of the displacement of the motor vibrator with the frequency n ) The curve of (2) is shown in figure 5.
At this step S10244, the displacement of the motor vibrator changes with the frequency by ASL (f n ) Has been calculated.
In the calculation, the change rule ASL (f) of the displacement of the motor vibrator along with the frequency is obtained n ) After that, step S1025 is performed, i.e. according to the displacement-frequency variation law ASL (f n ) Generating a law D (t) of the change of the displacement absolute intensity of the motor vibrator along with time according to the law H (t) of the change of the relative intensity along with time; namely, the calculation formula of the law D (t) of the change of the displacement absolute intensity of the motor vibrator along with time is as follows: d (t) =asl (f) n ) H (t) formula (7).
Step S101 and step S102 are mainly to calculate the law D (t) of the change of the displacement absolute intensity of the motor vibrator along with time according to vibration data of the motor vibrator input by a user in a self-defining mode, namely, the law of the change of the displacement relative intensity of the motor vibrator along with time is converted into the law of the change of the displacement absolute intensity along with time. Step S103 is then continuously executed, namely, a displacement change law X (t) of the motor vibrator along with time is generated according to the displacement absolute intensity change law D (t) of the motor vibrator along with time; in an embodiment of the present invention, as shown in fig. 6, step S103 specifically includes:
step S1031: acquiring a time-dependent change rule f (t) of a given frequency of a motor vibrator; and
step S1032: and generating a displacement time-varying rule X (t) of the motor vibrator according to the given frequency time-varying rule f (t) of the motor vibrator and the displacement absolute intensity time-varying rule D (t).
Specifically, the calculation formula of the displacement change law X (t) of the motor vibrator along with time is as follows: x (t) =d (t) ×g (t) formula (8), wherein the calculation formula of g (t) is:
Wherein,for the phase value of the motor vibrator over time, < >>The calculation formula of (2) is as follows:
wherein the given frequency change law F (T) of the motor vibrator with time is extracted from continuous signals in the frequency change law F (T) of the motor vibrator with time in the vibration duration T and forms discrete signals, and the sampling rate is F s The expression for the sampling time interval t is:
t＝0:1/f s :(T-1/f s ) Formula (11)
The phase expression of the discrete signal is:
wherein in the formula (8) and the formula (9), T is the vibration duration T in the vibration data input by the user,
f 1 f 2 Is calculated in step S10242, i.e
In this step S103, the time-dependent displacement law X (t) of the motor vibrator is obtained. Next, step S104 is performed: namely, displacement equalization calculation is performed on the displacement change law X (t) of the motor vibrator along with time, and a voltage change law V (t) along with time is generated.
In this step S104, a law of time variation of the displacement of the motor vibrator (i.e. a displacement waveform of the motor vibrator is defined) is generated according to the motor vibrator parameter input by the user, and a law of time variation V (t) of the voltage of the motor vibrator is generated according to the law of time variation of the displacement of the motor vibrator. That is, the acquisition of the driving voltage of the motor vibrator by defining the displacement waveform of the motor vibrator is completed. When the driving voltage of the motor vibrator is obtained, the driving voltage is input to the motor vibrator, so that the motor vibrator can be driven to vibrate, and a touch effect is generated.
Exemplary apparatus
In another aspect, fig. 7 is a schematic structural diagram of an apparatus for presenting a haptic effect based on displacement of a motor vibrator according to an embodiment of the present invention, as shown in fig. 7, the apparatus for presenting a haptic effect based on displacement of a motor vibrator includes: a vibration parameter acquisition unit 1 for acquiring a vibration parameter of a motor vibrator; the data processing unit 2 is used for performing data processing on the vibration parameters and generating a change rule D (t) of the absolute intensity of displacement of the motor vibrator along with time; a calculating unit 3, configured to generate a time-dependent displacement law X (t) of the motor vibrator according to the time-dependent displacement absolute intensity law D (t); performing displacement balance calculation on the displacement change law X (t) along with time to generate a voltage change law V (t) along with time; and a driving unit 4 for driving the motor vibrator to vibrate according to a time-dependent voltage change rule V (t).
According to the device for presenting the haptic effect based on the displacement of the motor vibrator, provided by the embodiment of the invention, a user can input the vibration duration T, the vibration frequencies F1 and F2 and the absolute values A1 and A2 of the vibration intensity according to own preference, and the relative intensity of the vibration displacement of the motor vibrator is converted into the absolute intensity of the vibration displacement of the motor vibrator to generate the time-dependent change rule of the displacement of the motor vibrator (namely, the displacement waveform of the motor vibrator), namely, the user can define the vibration parameters of the motor vibrator, so that the self-defined displacement waveform of the motor vibrator is achieved, and then the time-dependent change rule of the displacement is subjected to displacement equalization to obtain the driving voltage, so that the haptic effect is realized.
In an embodiment of the present invention, as shown in fig. 8, the data processing unit 2 further includes: the data analysis module 21 is configured to analyze the vibration parameter and generate a vibration duration T, a first vibration frequency F1, a second vibration frequency F2, a first relative intensity value A1, and a second relative intensity value A2 of the motor vibrator; a frequency-time-variation generating module 22, configured to generate a frequency-time variation law F (T) of the motor vibrator according to the first vibration frequency F1 and the second vibration frequency F2 within the vibration duration T; a relative intensity time-varying generation module 23, configured to generate a relative intensity time-varying rule H (t) of the motor vibrator in the vibration duration according to the first relative intensity value A1 and the second relative intensity value A2; a displacement-frequency-variation generating module 24 for generating a displacement-frequency-variation law ASL (f n ) The method comprises the steps of carrying out a first treatment on the surface of the And a displacement absolute intensity time-varying module 25 for determining a displacement time-varying law ASL (f) n ) And generating motor vibrator according to the change rule H (t) of relative intensity with timeThe law D (t) of the change of the absolute intensity of the displacement with time.
Wherein, the specific generation process of the frequency change law F (t) of the motor vibrator along with time, the generation process of the relative strength change law H (t) of the motor vibrator along with time, the displacement of the motor vibrator along with the frequency change law ASL (F) n ) The generation process of the displacement absolute intensity and the generation process of the law D (t) of the displacement absolute intensity changing along with time are as described above, and are not described in detail herein.
In an embodiment of the present application, as shown in fig. 9, the computing unit 3 further includes: a given frequency generation module 31, configured to generate a time-dependent frequency change rule f (t) of the motor vibrator; and a calculation module 32, configured to generate a time-dependent displacement law X (t) of the motor vibrator according to the time-dependent frequency law f (t) and the time-dependent displacement absolute intensity law D (t).
The specific generation process of the displacement change law X (t) along with time is as described above, and will not be described herein.
Exemplary electronic device
As a third aspect of the present application, an embodiment of the present application also provides an electronic device including one or more processors and a memory.
The processor may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device to perform the desired functions.
The memory may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that can be executed by a processor to implement the methods of presenting haptic effects based on displacement of a motor vibrator and/or other desired functions of the various embodiments of the present application described above. Various contents such as an input signal, a signal component, a noise component, and the like may also be stored in the computer-readable storage medium.
Exemplary computer program product and computer readable storage Medium
In addition to the methods and apparatus described above, embodiments of the application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps of a method of presenting haptic effects based on displacement of a motor vibrator according to the embodiments of the application illustrated in fig. 1 to 3 and 6 described in the "exemplary methods" section of this specification.
The computer program product may write program code for performing operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium, having stored thereon computer program instructions, which when executed by a processor, cause the processor to perform the steps in the power parameter adjustment method or the training method of the reinforcement learning model according to the various embodiments of the present application described in the above "exemplary method" section of the present specification.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not intended to be limiting, and these advantages, benefits, effects, etc. are not to be considered as essential to the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not necessarily limited to practice with the above described specific details.
The block diagrams of the devices, apparatuses, devices, systems referred to in the present application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner.
It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.
Claims (12)
1. A method of presenting haptic effects based on displacement of a motor vibrator, comprising:
obtaining vibration parameters of the motor vibrator;
carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute intensity of displacement of the motor vibrator along with time;
generating a displacement time-varying rule X (t) of the motor vibrator according to the displacement absolute intensity time-varying rule D (t);
performing displacement balance calculation on the displacement change law X (t) along with time to generate a voltage change law V (t) along with time; and
driving the motor vibrator to vibrate according to the time variation rule V (t) of the voltage;
the data processing is performed on the vibration parameters, and a change rule D (t) of the absolute intensity of the displacement of the motor vibrator along with time is generated, and the method further comprises the following steps:
analyzing the vibration parameters to obtain the vibration duration T, the first vibration frequency F1, the second vibration frequency F2, the first relative intensity value A1 and the second relative intensity value A2 of the motor vibrator;
Generating a frequency change law F (T) of the motor vibrator along with time according to the first vibration frequency F1 and the second vibration frequency F2 within the vibration duration T;
generating a law H (t) of the change of the relative intensity of the motor vibrator with time in the vibration duration according to the first relative intensity value A1 and the second relative intensity value A2;
generating a law ASL (f) of displacement of the motor vibrator along with the frequency change in a range of frequency change along with time n ) The method comprises the steps of carrying out a first treatment on the surface of the And
according to the law of the displacement along with the change of frequencyASL(f n ) And generating a displacement absolute intensity time-varying law D (t) of the motor vibrator according to the relative intensity time-varying law H (t).
2. A method of presenting a haptic effect as recited in claim 1 wherein during said vibration period, the frequency of said motor vibrator varies in a sinusoidal cycle over time.
3. A method of presenting a haptic effect as recited in claim 1 wherein said generating is performed in a range of frequency variation over time, a displacement of said motor vibrator being regularly ASL (f n ) Further comprises:
generating a frequency variation law V (f) of the voltage required by the motor vibrator and a maximum voltage V required by the motor vibrator on the premise that the motor vibrator exerts maximum capability in a preset voltage range within a range of the frequency variation along with time max Maximum displacement X that the motor vibrator can reach max ；
According to the rule V (f) of the voltage required by the motor vibrator along with the frequency, the maximum voltage V max Said maximum displacement X max Calculating a first critical frequency f of the motor vibrator 1 And a second critical frequency f 2 ；
Generating a change law X (f) of displacement of the motor vibrator with frequency under the maximum voltage in a range that the frequency changes with time;
according to the change rule V (f) of the voltage required by the motor vibrator along with the frequency, carrying out voltage equalization calculation on the change rule X (f) of the displacement of the motor vibrator along with the frequency under the maximum voltage to generate the change rule ASL (f) of the displacement of the motor vibrator along with the frequency n )。
4. A method of presenting a haptic effect according to claim 3, characterized in that the voltage required by the motor vibrator varies with frequency according to a law V (f), the maximum voltage V max Said maximum displacement X max Calculating a first critical frequency f of the motor vibrator 1 And a second critical frequency f 2 Comprising:
the first critical frequency f 1 Is equal to:
the second critical frequency f 2 Is equal to:
wherein, in the formula (2),
wherein in the formula (1), the formula (2) and the formula (3), V max For the maximum voltage X max For the maximum displacement, R e For the DC impedance of the motor, m is the mass of the motor, c d C is the mechanical damping coefficient of the motor t K is the stiffness coefficient of the motor and BL is the electromagnetic force coefficient of the motor, which is the total damping of the motor.
5. The method according to claim 4, wherein the voltage equalization calculation is performed on the frequency-dependent displacement law X (f) of the motor vibrator at the maximum voltage according to the frequency-dependent voltage law V (f) required by the motor vibrator, and the frequency-dependent displacement law ASL (f) n ) Comprising:
law of displacement of motor vibrator with frequency ASL (f) n ) The calculation formula of (2) is as follows:
wherein, in the formula (4),
wherein in the formula (5) and the formula (6), R e For the DC impedance of the motor, m is the mass of the motor, c t K is the stiffness coefficient of the motor and BL is the electromagnetic force coefficient of the motor, which is the total damping of the motor.
6. A method of presenting a haptic effect as recited in claim 1 wherein, in accordance with a law of variation of said displacement with frequency ASL (f n ) And the relative intensity time-varying law H (t) generates a displacement absolute intensity time-varying law D (t) of the motor vibrator, further comprising:
The calculation formula of the displacement absolute intensity change law D (t) of the motor vibrator along with time is as follows:
D(t)＝ASL(f n ) H (t) formula (7).
7. The method of presenting haptic effects according to claim 1, wherein generating the displacement law X (t) of the motor vibrator over time according to the displacement absolute intensity law D (t) over time further comprises:
generating a time-dependent frequency change law f (t) of the motor vibrator; and
and generating a displacement time-varying rule X (t) of the motor vibrator according to the given frequency time-varying rule f (t) of the motor vibrator and the displacement absolute intensity time-varying rule D (t).
8. The method of presenting a haptic effect according to claim 7, wherein generating a displacement law X (t) of the motor vibrator over time from a given frequency law f (t) of change over time of the motor vibrator and the displacement absolute intensity law D (t) of change over time, further comprises:
the calculation formula of the displacement change law X (t) of the motor vibrator along with time is as follows:
x (t) =d (t) ×g (t) formula (8);
wherein, in the formula (8),
wherein,for the time-varying phase value of the motor vibrator, and (2) >The calculation formula of (2) is as follows:
9. an apparatus for presenting haptic effects based on displacement of a motor vibrator, comprising:
a vibration parameter generation unit configured to generate a vibration parameter of the motor vibrator;
the data processing unit is used for carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute intensity of displacement of the motor vibrator along with time;
the calculating unit is used for generating a displacement change rule X (t) of the motor vibrator along with time according to the displacement absolute intensity change rule D (t) along with time; performing displacement balance calculation on the displacement change law X (t) along with time to generate a voltage change law V (t); and
the driving unit is used for driving the motor vibrator to vibrate according to the time variation rule V (t) of the voltage;
the data processing unit further includes:
the data analysis module is used for analyzing the vibration parameters and generating a vibration duration T, a first vibration frequency F1, a second vibration frequency F2, a first relative intensity value A1 and a second relative intensity value A2 of the motor vibrator;
the frequency change generation module is used for generating a frequency change rule F (T) of the motor vibrator along with time according to the first vibration frequency F1 and the second vibration frequency F2 in the vibration duration T;
The relative strength change generation module is used for generating a relative strength change rule H (t) of the motor vibrator in the vibration duration according to the first relative strength value A1 and the second relative strength value A2;
a displacement-dependent frequency generation module for generating a displacement-dependent frequency variation law ASL (f n ) The method comprises the steps of carrying out a first treatment on the surface of the And
a module for changing the absolute intensity of displacement with time, which is used for changing the law ASL (f) with frequency according to the displacement n ) And generating a displacement absolute intensity time-varying law D (t) of the motor vibrator according to the relative intensity time-varying law H (t).
10. The apparatus for presenting a haptic effect of claim 9, wherein the computing unit further comprises:
a given frequency generation module, configured to generate a time-dependent frequency change rule f (t) of the motor vibrator; and
the calculation module is used for generating a displacement time-varying rule X (t) of the motor vibrator according to the given frequency time-varying rule f (t) of the motor vibrator and the displacement absolute intensity time-varying rule D (t).
11. A computer readable storage medium storing a computer program for performing the steps of:
Obtaining vibration parameters of a motor vibrator;
carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute intensity of displacement of the motor vibrator along with time;
generating a displacement time-varying rule X (t) of the motor vibrator according to the displacement absolute intensity time-varying rule D (t);
performing displacement balance calculation on the displacement change law X (t) along with time to generate a voltage change law V (t) along with time; and
driving the motor vibrator to vibrate according to the time variation rule V (t) of the voltage;
the data processing is performed on the vibration parameters, and a change rule D (t) of the absolute intensity of the displacement of the motor vibrator along with time is generated, and the method further comprises the following steps:
analyzing the vibration parameters to obtain the vibration duration T, the first vibration frequency F1, the second vibration frequency F2, the first relative intensity value A1 and the second relative intensity value A2 of the motor vibrator;
generating a frequency change law F (T) of the motor vibrator along with time according to the first vibration frequency F1 and the second vibration frequency F2 within the vibration duration T;
generating a law H (t) of the change of the relative intensity of the motor vibrator with time in the vibration duration according to the first relative intensity value A1 and the second relative intensity value A2;
Generating a law ASL (f) of displacement of the motor vibrator along with the frequency change in a range of frequency change along with time n ) The method comprises the steps of carrying out a first treatment on the surface of the And
according to the law ASL (f) of the displacement along with the frequency n ) And generating a displacement absolute intensity time-varying law D (t) of the motor vibrator according to the relative intensity time-varying law H (t).
12. An electronic device, the electronic device comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to perform the steps of:
obtaining vibration parameters of a motor vibrator;
carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute intensity of displacement of the motor vibrator along with time;
generating a displacement time-varying rule X (t) of the motor vibrator according to the displacement absolute intensity time-varying rule D (t);
performing displacement balance calculation on the displacement change law X (t) along with time to generate a voltage change law V (t) along with time; and
driving the motor vibrator to vibrate according to the time variation rule V (t) of the voltage;
the data processing is performed on the vibration parameters, and a change rule D (t) of the absolute intensity of the displacement of the motor vibrator along with time is generated, and the method further comprises the following steps:
Analyzing the vibration parameters to obtain the vibration duration T, the first vibration frequency F1, the second vibration frequency F2, the first relative intensity value A1 and the second relative intensity value A2 of the motor vibrator;
generating a frequency change law F (T) of the motor vibrator along with time according to the first vibration frequency F1 and the second vibration frequency F2 within the vibration duration T;
generating a law H (t) of the change of the relative intensity of the motor vibrator with time in the vibration duration according to the first relative intensity value A1 and the second relative intensity value A2;
generating a law ASL (f) of displacement of the motor vibrator along with the frequency change in a range of frequency change along with time n ) The method comprises the steps of carrying out a first treatment on the surface of the And
according to the law ASL (f) of the displacement along with the frequency n ) And generating a displacement absolute intensity time-varying law D (t) of the motor vibrator according to the relative intensity time-varying law H (t).
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| 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 |
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| CN106301137A (en) * | 2016-08-31 | 2017-01-04 | 歌尔股份有限公司 | Actively control the method for linear motor vibrations, device, system and electronic equipment |
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| CN110162171A (en) * | 2019-04-18 | 2019-08-23 | 瑞声科技(新加坡)有限公司 | A kind of motor drive signal setting method, electronic equipment and storage medium |
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