CN111679735A - Excitation signal generation method, device, terminal and storage medium - Google Patents
Excitation signal generation method, device, terminal and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a method for generating an excitation signal, which comprises the following steps: acquiring an expected vibration waveform, and acquiring vibration parameters of the expected vibration waveform at each moment according to the expected vibration waveform; the motor testing method comprises the steps of testing a motor, and obtaining motor parameters and nonlinear parameters of the motor at each moment, wherein the motor parameters comprise the inductance value of the motor; and calculating to obtain an excitation signal at each moment according to the vibration parameter, the motor parameter and the nonlinear parameter, wherein the excitation signal is used for exciting the motor to vibrate, and the vibration effect matched with the expected vibration waveform is realized. In addition, the embodiment of the invention also discloses a device for generating the excitation signal, a terminal and a computer readable storage medium. By adopting the invention, the corresponding excitation signal can be designed according to the preset waveform to obtain the corresponding vibration effect, and the precision of the vibration effect design can be effectively improved.
Description
[ technical field ] A method for producing a semiconductor device
The present invention relates to the field of motors and signal processing technologies, and in particular, to a method and an apparatus for generating an excitation signal, a terminal, and a storage medium.
[ background of the invention ]
The haptic feedback technology can reproduce a tactile sensation for a user through a series of motions such as an acting force and vibration, and is widely applied to various electronic devices along with the development of the technology. Meanwhile, in order to improve the product experience and meet the requirements of the customer, the corresponding tactile feedback needs to be set based on the specific requirements of the customer.
The realization of the tactile feedback is generally realized through motor vibration, namely, the realization of the tactile vibration feeling is based on the actual vibration condition of the motor vibrator. Conventionally, the vibration of a motor is controlled by electric signal driving to obtain a corresponding vibration sense of touch, and if the vibration sense of touch needs to be changed, that is, the vibration intensity of the motor is changed, the size of the electric signal needs to be changed, for example, the size of a voltage signal needs to be changed; however, in the process of changing the voltage signal, the voltage signal matched with the preset magnitude of the haptic vibration can be obtained only by performing gradual adjustment through a limited number of experiments. Such implementations typically have a relatively large error from the actual required voltage signal magnitude.
[ summary of the invention ]
In view of this, the invention provides a method and an apparatus for generating an excitation signal, a terminal and a storage medium, which are used to solve the problem that in the prior art, a current matched with a preset touch vibration sense cannot be accurately acquired, so that the preset touch vibration sense can be acquired through an excitation motor.
The specific technical scheme of the embodiment of the invention is as follows:
in a first aspect, an embodiment of the present invention provides a method for generating an excitation signal, including:
acquiring an expected vibration waveform, and acquiring vibration parameters of the expected vibration waveform at each moment according to the expected vibration waveform;
testing the motor, and acquiring motor parameters and nonlinear parameters of the motor at each moment, wherein the motor parameters comprise the inductance value L of the motore；
And calculating to obtain an excitation signal at each moment according to the vibration parameter, the motor parameter and the nonlinear parameter, wherein the excitation signal is used for exciting the motor to vibrate, and the vibration effect matched with the expected vibration waveform is realized.
Optionally, the desired vibration waveform acquiring method includes: artificial design, high-precision actual measurement of the vibration state of the motor and computer simulation calculation.
Optionally, the vibration parameter comprises a displacement x of a vibrator of the motor;
the motor parameters comprise current i and resistance R of the motoreThe mass m of the oscillator;
the nonlinear parameters include an electromagnetic force coefficient b of the motor, a spring stiffness coefficient k of the motor, and a damping coefficient R of the motorm。
Optionally, the excitation signal comprises a voltage u input to the motor at each instant, according to the formula:
calculating to obtain a voltage value u required by the motor at each moment;
wherein v represents the velocity value of the vibrator at each moment, obtained by differentiating the displacement x with respect to time t, and the index having x represents the derivation of the nonlinear parameter with respect to x, specifically:
kx(x)＝k1+2k2x+3k3x2+…+nknxn-1
Rmx(x)＝R1+2R2x+3R3x2+…+nRnxn-1
bx(x)＝b1+2b2x+3b3x2+…+nbnxn-1
in the above formula, n is any positive integer, b1～bn、k1～kn、R1～RnAre nonlinear parameter coefficients.
Optionally, the method for generating the excitation signal further includes:
exciting the motor to vibrate by the excitation signal obtained by calculation, and acquiring an acceleration value in the vibration process of the motor;
calculating a real-time displacement value of a vibrator in the motor based on the acceleration value;
calculating a difference value between the real-time displacement value and the vibrator displacement corresponding to the expected vibration waveform, and judging whether a vibration effect matched with the expected vibration waveform is obtained or not according to the difference value;
and when the difference value is within the range of a preset threshold value, judging that the vibration effect matched with the expected vibration waveform is obtained under the excitation of the target excitation signal.
In a second aspect, an embodiment of the present invention provides an apparatus for generating an excitation signal, including:
the parameter acquisition module is used for exciting the motor to vibrate by using the sample excitation signal, acquiring nonlinear parameters corresponding to the motor in the vibration process and acquiring a preset expected vibration waveform;
and the calculation module is used for calculating a target excitation signal according to the expected vibration waveform and the nonlinear parameter.
In a third aspect, an embodiment of the present invention provides a terminal, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the excitation signal generation method according to any one of the above methods when executing the computer program.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, which includes computer instructions, when the computer instructions are executed on a computer, the computer executes the steps of the excitation signal generation method according to any one of the above.
The embodiment of the invention has the following beneficial effects:
after the method, the device, the terminal and the storage medium for generating the excitation signals are adopted, the nonlinear parameters corresponding to the motor vibration process are obtained in the process of exciting the motor by one or more sample excitation signals; determining a target excitation signal of the motor according to the nonlinear parameter and the expected vibration waveform; the motor can be excited by the target excitation signal, and the vibration effect matched with the waveform to be processed can be obtained. In the embodiment, the vibration waveform corresponding to the motor oscillator and acquired under the target excitation signal is compared with the expected vibration waveform, and the excitation signal of the motor is adjusted according to the difference between the vibration waveform and the expected vibration waveform, so that the excitation signal of the motor can be ensured to be matched with the vibration waveform to be processed, and the design precision of the touch vibration sense realized through the vibration of the motor is further improved.
[ description of the drawings ]
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a schematic flow chart of a method for generating an excitation signal according to an embodiment;
FIG. 2 is a schematic diagram illustrating a verification process of the target excitation signal according to one embodiment;
FIG. 3 is a schematic diagram of a structural device for verifying the target excitation signal according to an embodiment;
FIG. 4 is a schematic structural diagram of the excitation signal generating apparatus according to an embodiment;
fig. 5 is a schematic diagram of an internal configuration of a computer device that executes the excitation signal generation method according to an embodiment.
[ detailed description ] embodiments
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the conventional technology, a corresponding motor excitation current cannot be determined according to a preset tactile vibration sense, so that a vibration waveform corresponding to the tactile vibration sense is obtained by the excitation current in a process of exciting a motor, and the preset tactile vibration sense cannot be obtained in corresponding equipment provided with a tactile feedback technology.
In view of the problems in the conventional techniques described above, in the present embodiment, a method of generating an excitation signal is particularly proposed. The method may be implemented in dependence on a computer program which is executable on a computer system based on the von neumann architecture.
The method for generating the excitation signal of the embodiment is suitable for exciting the motor, and is particularly used for electronic equipment for realizing tactile feedback through the motor; the method comprises the steps of acquiring an excitation signal corresponding to a vibration waveform according to the vibration characteristic of a motor based on a preset vibration waveform, and exciting the motor by the excitation signal, so that the motor can be ensured to acquire a tactile vibration sense consistent with the vibration waveform in the vibration process.
The method for generating the excitation signal of the embodiment can optimize the excitation signal of the electronic device to obtain the touch vibration sense corresponding to the preset vibration waveform, that is, the design accuracy of the touch vibration sense can be improved.
As shown in fig. 1, the method for generating an excitation signal according to this embodiment includes steps S11-S13:
step S11: and acquiring an expected vibration waveform, and acquiring vibration parameters of the expected vibration waveform at each moment according to the expected vibration waveform.
In one embodiment, the desired vibration waveform refers to a vibration waveform of the transducer designed according to the required tactile vibration; if the design needs to be based on the actual haptic experience of the user, the design can be manually designed by the designer based on the haptic feedback effect; if the touch vibration sense with higher requirement on accuracy needs to be set for the machine equipment, the design can be carried out by acquiring high-accuracy measured data; and if the technology of determining the tactile vibration sense is required to be used under the condition of a specific temperature, setting the vibration waveform corresponding to the motor under the specific temperature to realize the effect corresponding to the specific temperature.
Specifically, the design of the expected vibration waveform may be manually designed, i.e., artificially designed, by a tactile feedback effect designer, or may be designed by acquiring high-precision measured data of the motor in a vibration state, or may be acquired by simulating a vibration waveform under a specific condition.
After the desired vibration waveform for the motor is determined, a power model corresponding to the motor vibration process may then be constructed based on the desired vibration waveform. Due to the nonlinear characteristic of the motor in the vibration process, the power model can be expressed by the following nonlinear differential equation system:
namely, the nonlinear differential equation is used as a power model corresponding to the vibration of the motor; wherein u represents the voltage magnitude in the vibration process of the motor, namely the magnitude of the excitation signal; i represents the current magnitude during the vibration of the motor; x represents a vibrator displacement; reRepresents the resistance of the motor; l iseRepresenting the size of the internal inductance of the motor; m represents the mass of the vibrator; b represents the electromagnetic force coefficient of the motor; k represents a spring stiffness coefficient of the vibrator; rmRepresenting the damping coefficient of the motor internal damper.
From the motor power model constructed above, the vibration parameters of the motor at various times under the expected vibration waveform can be obtained, including: displacement x of the vibrator of the motor; the motor parameters include motor current i, resistance ReThe mass m of the oscillator; the non-linear parameters include an electromagnetic force coefficient b of the motor, a spring stiffness coefficient k of the motor, and a damping coefficient R of the motorm。
Step S12: testing the motor, and acquiring motor parameters and nonlinear parameters of the motor at each moment, wherein the motor parameters comprise the inductance value L of the motore。
In one embodiment, the test motor is operated by providing a voltage or current through the power supply device and using the voltage or current as the one or more excitation signals. And further acquiring motor parameters and nonlinear parameters of the motor at each moment.
Wherein, in one embodiment, the excitation signal comprises a voltage u input to the motor at each time instant, according to the formula:
calculating to obtain a voltage value u required by the motor at each moment; wherein v represents the velocity value of the vibrator at each moment, and is obtained by differentiating the displacement x with the time t, and the expression nonlinear parameter with x is used for differentiating x.
Specifically, since the power model of the motor is constructed differently when the inductance is considered and when the inductance is not considered, based on which the inductance value L of the motor is seteThe motor parameters are used for constructing an accurate motor power model under the condition that the motor parameters are considered and the motor parameters are not considered, so that the test operation of the motor through different excitation signals is realized.
Wherein, because the motor is a system with nonlinearity, in general, the nonlinearity parameter includes b representing the electromagnetic force coefficient of the motor; k represents a spring stiffness coefficient of the vibrator; rmThe damping coefficient of the internal damper of the motor is expressed as follows:
in the above formula, n is any positive integer, b0～bn、k0～kn、R0～RnRespectively the electromagnetic force coefficient b, the spring stiffness coefficient k and the damper damping coefficient RmThe coefficient of (a).
In one embodiment, the damping coefficient R of the damper is determined by the electromagnetic force coefficient b of the motor, the spring stiffness coefficient k of the vibrator of the motor, and the damping coefficient R of the damper of the motormThe obtaining of the nonlinear parameter of the motor is related to the displacement x of the vibrator, and the obtaining of the nonlinear parameter of the motor comprises the following steps:
firstly, exciting the motor to vibrate by the sample excitation signals with different sizes, and acquiring corresponding oscillator displacement of the oscillator under the sample excitation signals with different sizes. Then, the electromagnetic force coefficient b of the motor, the spring stiffness coefficient k of the vibrator of the motor and the resistance of the damper of the motor can be determined according to the displacement of all corresponding vibrators under sample excitation signals with different sizesCoefficient of damping RmThree non-linearity parameters.
Specifically, the motor is excited by the power supply device with voltages or currents of different magnitudes, that is, excitation signals of different magnitudes, so as to obtain corresponding oscillator displacements of the motor oscillator under the sample excitation signals of different magnitudes.
In the process of calculating the displacement of the vibrator, based on a physical law, a corresponding dynamic model is constructed by the interdependence relation between all parts in the motor in the vibration process, and corresponding nonlinear parameters can be obtained under the condition of known displacement of the vibrator.
Based on the above, the nonlinear parameters of the motor during vibration include the electromagnetic force coefficient b, the spring stiffness coefficient k and the damper damping coefficient RmWhen the vibrator displacement x is known, the electromagnetic force coefficient b, the spring stiffness coefficient k and the damper damping coefficient R corresponding to the vibrator displacement x can be determinedm. It is to be noted how to obtain the electromagnetic force coefficient b, the spring stiffness coefficient k and the damper damping coefficient RmThese three parameters are prior art, and the calculation thereof is realized based on the voltage u and the current i during the vibration of the motor, as calculated by an LMS (Least Mean Square) algorithm.
The method has the advantages that the corresponding nonlinear differential equation is constructed for the motor, namely, the power model of the motor is constructed, the nonlinear parameter of the motor is obtained based on the power model, the vibration of the motor can be accurately controlled, the control precision of the motor is improved, the more accurate target excitation signal can be obtained when the target excitation signal corresponding to the expected vibration waveform is obtained subsequently, and the haptic vibration sense which is more matched with the preset vibration waveform is realized through the motor.
Step S13: and calculating to obtain an excitation signal at each moment according to the vibration parameter, the motor parameter and the nonlinear parameter, wherein the excitation signal is used for exciting the motor to vibrate, and the vibration effect matched with the expected vibration waveform is realized.
When the influence of inductance on the construction of the power model is considered, the nonlinear differential equation in the steps is constructed as the power model, namely:
specifically, the calculation of the target excitation signal based on the dynamic model includes the steps of:
firstly, target linear parameters and real-time working parameters in the vibration process of the motor are determined based on the power model, the target linear parameters comprise inductance, resistance and vibrator quality, and the real-time working parameters comprise vibrator displacement, current and vibration speed.
Specifically, target linear parameters and real-time working parameters are obtained based on the power model, wherein the target linear parameters refer to the resistance R in the vibration process of the motoreInductor LeAnd the mass m of the vibrator; since the motor is excited to vibrate by using sample excitation signals with different sizes, the voltage u can be determined because the excitation signals are the driving voltage of the motor; determining resistance R during motor vibrationeBased on ohm's law voltage u and resistance ReThe current i can be calculated; the vibrator displacement x can be specifically obtained by calculating the corresponding vibration waveform to be optimized.
And then, determining the target excitation signal according to the target linear parameter, the real-time working parameter and the nonlinear parameter.
And finally, calculating the target excitation signal through a dynamic model according to the acquired target linear parameter, real-time working parameter and nonlinear parameter.
The specific calculation process is as follows:
obtaining a corresponding state space equation based on the dynamic model:
wherein,
x1representing the displacement of the vibrator, x2Representing the vibration velocity, x3Represents the current i;
h(x)＝x1；
through the above space state equation, the expression between the vibration waveform to be optimized and the target excitation signal is obtained as follows:
wherein y represents the oscillator displacement, and y is x1，y(v)V-order derivative calculation is carried out on the displacement y of the oscillator, LfAnd LgIs a lie derivative operator symbol; and defining the lie derivative along the f (x) direction as:
wherein f (x) is ═ f1,f2,...,fn]T，x＝[x1,x2,...,xn]TAnd n represents the number of states.
In a particular embodiment, based on the expression:
a target excitation signal corresponding to the expected vibration waveform can be calculated; that is, the left side of the expression is a display expression of the displacement y of the motor oscillator, specifically, y is x1Indicating the oscillator displacement; the right side is a display expression of the motor excitation voltage u, so that under the condition that the expected vibration waveform is known, the corresponding vibrator displacement y in the vibration process of the motor can be calculated and obtained, and then the vibrator displacement y is calculated and obtained according to the expressionThe excitation voltage u, i.e. the corresponding target excitation signal u, is obtained as:
where u denotes the target excitation signal, LgAnd LfWhich represents the operation of the lie-derivative,
indicating that a lie derivative operation of order v-1 is performed; y represents the oscillator displacement, yvThe expression is that the v-order reciprocal is obtained for y, and h represents the vibrator displacement.
In yet another embodiment, when the influence of the inductance on the vibration process of the motor is not considered, the method comprises the following steps:
firstly, based on a dynamic model, obtaining a vibration quantity and a state quantity in the vibration process of the motor, wherein the state quantity comprises the vibrator displacement and the vibration speed.
The state quantity comprises the displacement of the vibrator of the motor at each preset moment and the speed of the vibrator of the motor at each preset moment.
Then, a target excitation signal is determined based on the vibration quantity, the state quantity, and the non-linearity parameter.
Specifically, the target excitation signal can be calculated according to a space state equation of the motor, and the calculation process is as follows:
acquiring a space state equation of the motor based on a power equation:
wherein,
u＝u(t)，
through the above space state equation, it can be obtained:
wherein,
second derivation is performed on y (t),
and LgLfh (x) denotes the lie derivative operation on h (x).
If the preset vibration waveform is A (t), let
Further, a conversion formula from the vibration quantity of the preset vibration waveform (desired acceleration waveform) to the excitation voltage can be derived:
wherein u (t) represents a target excitation signal, ReRepresenting the DC impedance, x, of the motor1(t) represents the displacement of the vibrator of the motor at time t, x2(t) the vibrator of the motor at tSpeed of revolution, Bl represents the electromagnetic force coefficient of the motor, k represents the spring stiffness coefficient of the vibrator of the motor, RmThe damping coefficient of a damper of the motor is shown, m is the vibrator mass of the motor, and A (t) is the vibration amount of the motor at time t.
In particular, the motor is a system having nonlinearity in which the electromagnetic force coefficient Bl (i.e., the electromagnetic force coefficient b) of the motor, the spring stiffness coefficient k of the vibrator of the motor, and the damping coefficient R of the damper of the motormThe displacement of the motor oscillator may be regarded as a function, and refer to the related content of step S11 above.
In one embodiment, on the basis of determining a power model of the motor, the power model is controlled and converted, so that the relation between vibrator displacement and an excitation signal of the motor in the vibration process of the motor is obtained; and then based on the expected vibration waveform, acquiring the corresponding vibrator displacement, namely acquiring a target excitation signal corresponding to the expected vibration waveform, thereby being beneficial to improving the design progress of the preset motor vibration waveform.
Specifically, in order to ensure that the vibration waveform corresponding to the vibration of the calculated target excitation signal is consistent with the expected vibration waveform or the vibration effect of the motor is matched with the expected vibration waveform in the process of exciting the motor to vibrate, the target excitation signal is specially verified.
In one embodiment, as shown in FIG. 2, the verification process includes the steps of:
step S21: exciting the motor to vibrate by the excitation signal obtained by calculation, and acquiring an acceleration value in the vibration process of the motor; and step S22: calculating a real-time displacement value of a vibrator in the motor based on the acceleration value; and step S23: calculating a difference value between the real-time displacement value and the vibrator displacement corresponding to the expected vibration waveform, and judging whether a vibration effect matched with the expected vibration waveform is obtained or not according to the difference value; and step S24: and when the difference value is within the range of a preset threshold value, judging that the vibration effect matched with the expected vibration waveform is obtained under the excitation of the target excitation signal.
Specifically, the verification process is performed by the apparatus shown in fig. 3. Firstly, obtaining corresponding non-linear parameters based on a vibration model of a motor, which may refer to the contents in the related embodiments, and will not be described herein again; inputting the obtained target excitation signal to a control end, wherein the control end is realized by an upper computer, such as a PC end; then, acquiring an analog electric signal corresponding to the target excitation signal through a data acquisition unit, and performing corresponding processing on the analog electric signal, such as power amplification processing and the like; and finally exciting the motor to vibrate through the amplified analog electric signal.
In the process of verifying the excitation of the motor by the device shown in fig. 3, the motor has an acceleration due to the driving action of the analog electric signal on the motor, and the acceleration value is matched with the displacement of the vibrator, so that the real-time displacement value of the corresponding vibrator in the vibration process of the motor can be calculated by acquiring the acceleration value; the method for calculating the real-time displacement value of the vibrator through the acceleration value is realized by adopting the prior art.
When the real-time displacement value corresponding to the target excitation signal is obtained, in order to ensure the accuracy of the designed vibration waveform, the real-time displacement value is compared with the vibrator displacement corresponding to the expected vibration waveform, namely, the difference value between the real-time displacement value and the vibrator displacement is obtained, and the difference value is compared with a preset threshold value, so that whether the preset touch vibration sense can be achieved through the target excitation signal is determined.
Actually, the influence of some unavoidable factors on the calculation to obtain the target excitation signal is obtained, for example, because the target excitation signal is substantially a voltage signal or a current signal, during the process of transmitting the target excitation signal to the motor through the wire, the resistance carried by the wire itself will weaken the target excitation signal to some extent, so that the voltage signal or the current signal actually used for exciting the motor will be slightly smaller; based on this, as long as the difference value between the real-time displacement value and the oscillator displacement corresponding to the expected vibration waveform is ensured to be within the preset threshold, it can be shown that the target excitation signal can realize the vibration effect matched with the vibration waveform to be optimized in the vibration process of the motor.
For example, when the difference between the real-time displacement value and the vibration waveform to be optimized is within 1% to 3%, it can be said that the vibration effects of the two are consistent or matched.
Based on the same inventive concept, an embodiment of the present invention provides an excitation signal generating apparatus 100, as shown in fig. 4, including: the parameter acquiring module 101 is configured to excite the motor to vibrate by using the sample excitation signal, acquire a nonlinear parameter corresponding to the motor in a vibration process, and acquire a preset expected vibration waveform; and the calculating module 102 is used for calculating the target excitation signal according to the expected vibration waveform and the nonlinear parameter.
Specifically, the excitation signal generation apparatus 100 of the present embodiment obtains the sample excitation signal and the expected vibration waveform through the parameter obtaining module 101, that is, the sample excitation signal is used to realize the excitation operation of the motor, and the calculation module 102 may obtain the nonlinear parameter through the vibration model, and determine the target excitation signal based on the nonlinear parameter and the expected vibration waveform.
It should be noted that, the implementation of the excitation signal generating apparatus in this embodiment is consistent with the implementation idea of the excitation signal generating method, and the implementation principle is not described herein again, and specific reference may be made to the corresponding content in the method.
After the method, the device, the terminal and the storage medium for generating the excitation signals are adopted, the nonlinear parameters corresponding to the motor vibration process are obtained in the process of exciting the motor by one or more sample excitation signals; determining a target excitation signal of the motor according to the nonlinear parameter and the expected vibration waveform; the motor can be excited by the target excitation signal, and the vibration effect matched with the waveform to be processed can be obtained. In the embodiment, the vibration waveform corresponding to the motor oscillator and acquired under the target excitation signal is compared with the expected vibration waveform, and the excitation signal of the motor is adjusted according to the difference between the vibration waveform and the expected vibration waveform, so that the excitation signal of the motor can be ensured to be matched with the vibration waveform to be processed, and the design precision of the touch vibration sense realized through the vibration of the motor is further improved.
FIG. 5 is a diagram illustrating an internal structure of a computer device in one embodiment. The computer device may specifically be a server or a terminal. As shown in fig. 5, the computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program which, when executed by the processor, causes the processor to implement the method of generating the stimulus signal. The internal memory may also have stored therein a computer program that, when executed by the processor, causes the processor to perform the method of generating an excitation signal. Those skilled in the art will appreciate that the configuration shown in fig. 5 is a block diagram of only a portion of the configuration associated with the present application and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or less components than those shown in fig. 5, or may combine certain components, or have a different arrangement of components.
In one embodiment, the method for generating the excitation signal provided by the present application may be implemented in the form of a computer program, which is executable on a computer device as shown in fig. 5. The memory of the computer device may store therein the individual program modules constituting the means for generating the excitation signal. Such as the calculation module 102, etc.
In one embodiment, a computer device is proposed, comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of: acquiring an expected vibration waveform, and acquiring vibration parameters of the expected vibration waveform at each moment according to the expected vibration waveform; testing the motor, and acquiring motor parameters and nonlinear parameters of the motor at each moment, wherein the motor parameters comprise the inductance value L of the motore(ii) a And calculating to obtain an excitation signal at each moment according to the vibration parameter, the motor parameter and the nonlinear parameter, wherein the excitation signal is used for exciting the motor to vibrate, and the vibration effect matched with the expected vibration waveform is realized.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (8)
1. A method of generating an excitation signal, comprising:
acquiring an expected vibration waveform, and acquiring vibration parameters of the expected vibration waveform at each moment according to the expected vibration waveform;
testing the motor, and acquiring motor parameters and nonlinear parameters of the motor at each moment, wherein the motor parameters comprise the inductance value L of the motore；
And calculating to obtain an excitation signal at each moment according to the vibration parameter, the motor parameter and the nonlinear parameter, wherein the excitation signal is used for exciting the motor to vibrate, and the vibration effect matched with the expected vibration waveform is realized.
2. The excitation signal generation method according to claim 1, wherein the desired vibration waveform acquisition method includes: artificial design, high-precision actual measurement of the vibration state of the motor and computer simulation calculation.
3. The method of generating an excitation signal according to claim 1, wherein the vibration parameter includes a displacement x of a vibrator of a motor;
the motor parameters comprise current i and resistance R of the motoreThe mass m of the oscillator;
the nonlinear parameters include an electromagnetic force coefficient b of the motor, a spring stiffness coefficient k of the motor, and a damping coefficient R of the motorm。
4. A method of generating an excitation signal according to claim 3, wherein the excitation signal comprises a voltage u input to the motor at each time instant according to the formula:
calculating to obtain a voltage value u required by the motor at each moment;
wherein v represents the velocity value of the vibrator at each moment, obtained by differentiating the displacement x with respect to time t, and the index having x represents the derivation of the nonlinear parameter with respect to x, specifically:
in the above formula, n is any positive integer, b1～bn、k1～kn、R1～RnAre nonlinear parameter coefficients.
5. The method of generating an excitation signal according to claim 1, further comprising:
exciting the motor to vibrate by the excitation signal obtained by calculation, and acquiring an acceleration value in the vibration process of the motor;
calculating a real-time displacement value of a vibrator in the motor based on the acceleration value;
calculating a difference value between the real-time displacement value and the vibrator displacement corresponding to the expected vibration waveform, and judging whether a vibration effect matched with the expected vibration waveform is obtained or not according to the difference value;
and when the difference value is within the range of a preset threshold value, judging that the vibration effect matched with the expected vibration waveform is obtained under the excitation of the target excitation signal.
6. An apparatus for generating an excitation signal, comprising:
the parameter acquisition module is used for exciting the motor to vibrate by using the sample excitation signal, acquiring nonlinear parameters corresponding to the motor in the vibration process and acquiring a preset expected vibration waveform;
and the calculation module is used for calculating a target excitation signal according to the expected vibration waveform and the nonlinear parameter.
7. A terminal comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method of generating an excitation signal according to any one of claims 1 to 5 when executing the computer program.
8. A computer-readable storage medium comprising computer instructions which, when run on a computer, cause the computer to perform the steps of the method of generating an excitation signal according to any one of claims 1 to 5.
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| CN202010429837.3A CN111679735A (en) | 2020-05-20 | 2020-05-20 | Excitation signal generation method, device, terminal and storage medium |
| PCT/CN2020/093051 WO2021232472A1 (en) | 2020-05-20 | 2020-05-28 | Excitation signal generation method and apparatus, terminal, and storage medium |
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