CN111722721A - Method and equipment for generating voltage driving signal and storage medium - Google Patents
Method and equipment for generating voltage driving signal and storage medium Download PDFInfo
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- CN111722721A CN111722721A CN202010585367.XA CN202010585367A CN111722721A CN 111722721 A CN111722721 A CN 111722721A CN 202010585367 A CN202010585367 A CN 202010585367A CN 111722721 A CN111722721 A CN 111722721A
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- Control Of Linear Motors (AREA)
- Apparatuses For Generation Of Mechanical Vibrations (AREA)
Abstract
The invention provides a method, equipment and a storage medium for generating a voltage driving signal, wherein the voltage driving signal is used for driving a motor, and the method comprises the following steps: providing a desired vibration acceleration signal; determining a timestamp with zero acceleration according to the acceleration signal; performing secondary integration on the acceleration signal to obtain a displacement signal; acquiring all displacement numerical values corresponding to the time stamps on the displacement signals according to the time stamps to form a first numerical sequence; performing interpolation processing on the first sequence to generate a bias curve containing all displacement values; subtracting the displacement signal from the offset curve to obtain an offset-free displacement signal; the offset displacement signal is converted to a voltage drive signal for driving the motor using a motor electromechanical coupling equation. By the method, the bias generated by the quadratic integration in the voltage driving signal can be effectively removed.
Description
Technical Field
The present invention relates to the field of haptic effect technologies, and in particular, to a method and an apparatus for generating a voltage driving signal, and a storage medium.
Background
In a vibration system, acceleration, velocity, and displacement are common physical quantities that characterize the state of a vibrator. In practice, however, acceleration is the most common physical quantity, since it is convenient to measure it, and an acceleration sensor with sufficient accuracy is sufficient. Although displacement is the most direct state representation of the oscillator state, speed and acceleration only need displacement to respectively require one-time guidance and two-time guidance, but measurement of displacement requires harsh measurement conditions, so that displacement signals cannot be directly measured in engineering production pursuing low cost. Acceleration signals are therefore often used to characterize the desired vibration effect.
How to combine acceleration signals to facilitate measurement and displacement signal characterization in designing motor drive signals corresponding to an ideal vibration effect? The object selection displacement signal may be analyzed by acquiring an object selection acceleration signal. However, when the acceleration is subjected to quadratic integration, a certain offset is introduced, and if the offset is not removed, the displacement signal obtained by quadratic integration will have a "floating" state (becoming larger and larger), which is not suitable for practical application scenarios. Therefore, how to design an accurate motor driving signal by using the acceleration signal is a very important problem in engineering application.
Disclosure of Invention
The invention mainly provides a method and equipment for generating a voltage driving signal and a storage medium, which can solve the problem that in the prior art, bias is introduced when acceleration is subjected to quadratic integration.
In order to solve the technical problems, the invention adopts a technical scheme that: there is provided a method of generating a voltage drive signal for driving a motor, the method comprising: providing a desired vibration acceleration signal; determining a timestamp with zero acceleration according to the acceleration signal; performing secondary integration on the acceleration signal to obtain a displacement signal; acquiring all displacement values corresponding to the time stamp on the displacement signal according to the time stamp to form a first sequence; performing interpolation processing on the first sequence to generate a bias curve containing all the displacement values; subtracting the displacement signal from the bias curve to obtain a non-bias displacement signal; converting the offset displacement signal to a voltage drive signal for driving the motor using a motor electromechanical coupling equation.
Wherein interpolating the first sequence to generate a bias curve including all of the displacement values comprises: inserting consecutive monotonic values between adjacent time stamps such that the first sequence expands into the bias curve.
Wherein the length of the bias curve is the same as the length of the displacement signal.
Wherein the method further comprises: the voltage drive signal outputs the voltage drive signal to the motor to cause the device to play a haptic effect based on the voltage drive signal.
Wherein, the calculation formula of the voltage driving signal is as follows:
wherein m represents a mass of a mover of the motor, c represents a mechanical damping of the motor, and k represents a spring coefficient of the motor; BL denotes the electromechanical coupling coefficient, ReRepresenting the coil resistance, L, of the machineeTo represent the coil inductance of the motor, i is the current, u is the voltage, x is the displacement,
in order to be the speed of the vehicle,
is the acceleration; wherein the acceleration
Speed provided by said acceleration signal
Is obtained by performing an integration on the acceleration signal, and the displacement x is provided by the unbiased displacement signal.
Wherein the interpolation processing of the first sequence comprises one of linear interpolation, polynomial interpolation and spline interpolation.
In order to solve the technical problem, the invention adopts another technical scheme that: there is provided an apparatus for generating a bias for a voltage drive signal, the apparatus comprising a processor and a memory, the memory storing computer instructions, the processor being coupled to the memory, the processor executing the computer instructions when in operation to implement the method of generating as described above.
In order to solve the technical problem, the invention adopts another technical scheme that: there is provided a computer readable storage medium having stored thereon a computer program for execution by a processor to implement the generation method as described above.
The invention has the beneficial effects that: the invention provides a method, equipment and storage medium for generating a voltage driving signal, which are different from the situation of the prior art, and the method comprises the steps of identifying and recording a time stamp of a zero moment of an expected vibration acceleration signal number, performing secondary integration on an original acceleration signal to obtain a displacement signal, reading a numerical value of the displacement signal at the position of the recorded time stamp to obtain a first number sequence, performing interpolation processing on the first number sequence, and performing interpolation to expand the first number sequence into a bias curve with the length equal to that of the displacement signal, and finally subtracting the bias curve from the displacement signal to obtain the displacement signal without bias, so that the bias generated by the secondary integration in an alternating current signal can be effectively removed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a flow chart illustrating a method for generating a voltage driving signal according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an embodiment of an original AC signal of the present invention;
FIG. 3 is a schematic diagram of an embodiment of a raw integrated signal according to the present invention;
FIG. 4 is a schematic diagram of a first embodiment of the present invention;
FIG. 5 is a schematic diagram of an embodiment of an unbiased integrated signal of the present invention;
FIG. 6 is a schematic block diagram of an embodiment of a generating device of the present invention that provides a voltage drive signal;
FIG. 7 is a schematic block diagram of an embodiment of a computer-readable storage medium provided by the present invention.
Detailed Description
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.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a method for generating a voltage driving signal according to the present invention, and the method provided by the present invention as shown in fig. 1 includes the following steps:
and S100, providing a desired vibration acceleration signal.
With further reference to fig. 2, fig. 2 is a schematic diagram of an embodiment of an original ac signal according to the present invention. Alternatively, the original ac signal a0 in the embodiment of the present invention is an integrated signal, for example, in an application where an acceleration signal is integrated and converted into a displacement signal, the original ac signal a0 is a desired vibration acceleration signal.
And S200, determining the time stamp with zero acceleration according to the acceleration signal.
Further, a time stamp T0 of when the acceleration is zero is determined from the acceleration signal and recorded. All time stamps T0 of times when the acceleration is zero are taken as the series L0, i.e. the series L0 characterizes the instant of each zero crossing of the original alternating signal a0 (acceleration signal).
And S300, carrying out secondary integration on the acceleration signal to obtain a displacement signal.
With further reference to fig. 3, fig. 3 is a schematic diagram of an embodiment of the raw integrated signal according to the present invention. It is understood that the original ac signal a0 is an acceleration signal, and thus the acceleration signal can be twice integrated to obtain an original integrated signal, where the original integrated signal D0 is a displacement signal.
In the present invention, step S200 and step S300 may be performed simultaneously, and are not limited specifically here.
S400, acquiring all displacement values corresponding to the time stamps on the displacement signals according to the time stamps to form a first sequence.
With further reference to fig. 4, fig. 4 is a schematic diagram of a first exemplary embodiment of the present invention. Specifically, all displacement values on the original integrated signal D0 (displacement signal) corresponding to the time stamps are selected, thereby forming a first sequence DL as shown in fig. 4.
And S500, performing interpolation processing on the first sequence to generate a bias curve containing all displacement values.
Specifically, the first sequence DL is extended to the offset curve Rc by performing interpolation processing on the first sequence DL, that is, inserting continuous monotone values into the middle of signals having a time L0 and a value DL. Wherein the length of the offset curve Rc is equal to the length of the displacement signal 0. It can be understood that the interpolation mode in the embodiment of the present invention may be one of linear interpolation, polynomial interpolation, and spline interpolation, and is selected according to an actual application scenario, which is not specifically limited herein.
And S600, subtracting the displacement signal from the offset curve to obtain an offset-free displacement signal.
Referring to fig. 5, fig. 5 is a schematic diagram of an embodiment of an unbiased integrated signal according to the present invention, and the original integrated signal D0 (displacement signal) is subtracted from the above-mentioned offset curve Rc to obtain an unbiased integrated signal D1 shown in fig. 5, i.e. an unbiased displacement signal.
In the above embodiment, a timestamp at a time when an expected vibration acceleration signal is zero is identified and recorded, a displacement signal is obtained after a secondary integration is performed on an original acceleration signal, a value of the displacement signal at the position where the timestamp is recorded is read to obtain a first number sequence, the first number sequence is subjected to interpolation processing and is subjected to interpolation, so that the first number sequence is expanded into a bias curve having a length equal to that of the displacement signal, and finally, the bias curve is subtracted from the displacement signal to obtain a displacement signal without bias, so that bias generated by the secondary integration in the alternating current signal can be effectively removed.
In addition, the method for generating a voltage driving signal further includes:
and S700, converting the bias displacement signal into a voltage driving signal for driving the motor by using a motor electromechanical coupling equation.
Specifically, a voltage drive signal is generated from the unbiased displacement signal. Specifically, the unbiased integrated signal D1 (displacement signal) is substituted into an electromechanical coupling equation to calculate the voltage driving signal, where the electromechanical coupling equation is:
wherein m represents the mass of the mover of the motor, c represents the mechanical damping of the motor, and k represents the spring coefficient of the motor; BL denotes the electromechanical coupling coefficient, ReRepresenting the coil resistance, L, of the motoreTo represent the coil inductance of the motor, i is the current, u is the voltage, x is the displacement,
in order to be the speed of the vehicle,
is the acceleration; wherein the acceleration
Provided by an acceleration signal, velocity
Obtained by integrating the acceleration signal once, the displacement x being provided by the unbiased displacement signal. Alternatively, in the embodiment of the present invention, when the displacement signal x is known to be D1, the voltage driving signal u is known to be V1 by substituting the displacement signal D1 into the motor coupling equation.
Further, the voltage driving signal V1 is output to the motor to cause the apparatus to perform haptic effect playback based on the voltage driving signal V1.
In this embodiment, the device may be any device having communication and storage functions, for example: the system comprises intelligent equipment with a network function, such as a tablet Computer, a mobile phone, an electronic reader, a remote controller, a Personal Computer (PC), a notebook Computer, vehicle-mounted equipment, a network television, wearable equipment and the like.
In the above embodiment, the time stamp of the expected vibration acceleration signal at the zero time is identified and recorded, the displacement signal is obtained after the primary acceleration signal is subjected to secondary integration, the numerical value of the displacement signal at the recorded time stamp is read to obtain the first number sequence, the first number sequence is subjected to interpolation processing and subjected to interpolation, so that the first number sequence is expanded into the offset curve with the length equal to that of the displacement signal, and finally the offset curve is subtracted from the displacement signal to obtain the displacement signal without offset, so that the offset generated by the secondary integration in the alternating current signal can be effectively removed.
Referring to fig. 6, fig. 6 is a schematic block diagram of an embodiment of the voltage driving signal generating apparatus provided in the present invention, the apparatus in this embodiment includes a processor 310 and a memory 320, the processor 310 is coupled to the memory 320, the memory 320 stores computer instructions, and the processor 310 executes the computer instructions to implement the voltage driving signal generating method in any of the above embodiments when operating.
The processor 310 may also be referred to as a Central Processing Unit (CPU). The processor 310 may be an integrated circuit chip having signal processing capabilities. The processor 310 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor, but is not limited thereto.
Referring to fig. 7, fig. 7 is a schematic block diagram of an embodiment of a computer-readable storage medium provided by the present invention, in which a computer program 410 is stored, and the computer program 410 can be executed by a processor to implement the method for generating a voltage driving signal in any of the above embodiments.
Alternatively, the readable storage medium may be various media that can store program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or may be a terminal device such as a computer, a server, a mobile phone, or a tablet.
Different from the prior art, embodiments of the present invention provide a method and an apparatus for generating a voltage driving signal, and a storage medium, where a timestamp of an expected vibration acceleration signal at a zero time is identified and recorded, a displacement signal is obtained after performing a second integration on an original acceleration signal, a value of the displacement signal at the recorded timestamp is read to obtain a first number sequence, the first number sequence is subjected to interpolation processing and interpolation, so that the first number sequence is expanded into a bias curve having a length equal to that of the displacement signal, and finally the bias curve is subtracted from the displacement signal to obtain a displacement signal without bias, so that a bias generated by the second integration in an ac signal can be effectively removed.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A method of generating a voltage drive signal for driving a motor, the method comprising:
providing a desired vibration acceleration signal;
determining a timestamp with zero acceleration according to the acceleration signal;
performing secondary integration on the acceleration signal to obtain a displacement signal;
acquiring all displacement values corresponding to the time stamp on the displacement signal according to the time stamp to form a first sequence;
performing interpolation processing on the first sequence to generate a bias curve containing all the displacement values;
subtracting the displacement signal from the bias curve to obtain a non-bias displacement signal;
converting the offset displacement signal to a voltage drive signal for driving the motor using a motor electromechanical coupling equation.
2. The method of claim 1, wherein interpolating the first sequence of numbers to generate a bias curve containing all of the displacement values comprises:
inserting consecutive monotonic values between adjacent time stamps such that the first sequence expands into the bias curve.
3. The generation method according to claim 2, characterized in that the length of the bias curve and the length of the displacement signal are the same.
4. The method of generating as claimed in claim 1, the method further comprising:
outputting the voltage drive signal to the motor to cause a device to play a haptic effect based on the voltage drive signal.
5. The generation method according to claim 4, wherein the voltage drive signal is calculated by the formula:
wherein m represents a mass of a mover of the motor, c represents a mechanical damping of the motor, and k represents a spring coefficient of the motor; BL denotes the electromechanical coupling coefficient, ReRepresenting the coil resistance, L, of the machineeTo represent the coil inductance of the motor, i is the current, u is the voltage, x is the displacement,
in order to be the speed of the vehicle,
is the acceleration; wherein the acceleration
Speed provided by said acceleration signal
Is obtained by performing an integration on the acceleration signal, and the displacement x is provided by the unbiased displacement signal.
6. The generation method according to claim 1, wherein the interpolation processing on the first sequence includes one of linear interpolation, polynomial interpolation, and spline interpolation.
7. A device for generating a voltage drive signal, comprising a processor and a memory, the memory storing computer instructions, the processor being coupled to the memory and the processor being operable to execute the computer instructions to carry out the generation method according to any one of claims 1 to 6.
8. A computer-readable storage medium, on which a computer program is stored, the computer program being executable by a processor to implement the generation method according to any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010585367.XA CN111722721B (en) | 2020-06-24 | 2020-06-24 | Method and equipment for generating voltage driving signal and storage medium |
| PCT/CN2020/104643 WO2021258483A1 (en) | 2020-06-24 | 2020-07-24 | Method and device for generating voltage driving signal, and storage medium |
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| CN202010585367.XA CN111722721B (en) | 2020-06-24 | 2020-06-24 | Method and equipment for generating voltage driving signal and storage medium |
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| CN111722721B CN111722721B (en) | 2023-03-28 |
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| CN101827661A (en) * | 2007-09-17 | 2010-09-08 | 索尼爱立信移动通讯有限公司 | Mobile device comprising a vibrator and an accelerometer to control the performance of said vibrator |
| CN105630021A (en) * | 2015-12-31 | 2016-06-01 | 歌尔声学股份有限公司 | Touch sense vibration control system and method of intelligent terminal |
| CN107883996A (en) * | 2017-11-06 | 2018-04-06 | 南京国电环保科技有限公司 | A kind of data acquisition and signal processing method and data acquisition unit |
| CN107960146A (en) * | 2015-08-06 | 2018-04-24 | 株式会社山田制作所 | Motor control assembly |
| CN110502111A (en) * | 2019-08-09 | 2019-11-26 | 瑞声科技(新加坡)有限公司 | Motor signal compensation method, electronic equipment and storage medium |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205581671U (en) * | 2015-12-31 | 2016-09-14 | 歌尔股份有限公司 | Intelligent terminal's sense of touch vibration control system |
| US20200150767A1 (en) * | 2018-11-09 | 2020-05-14 | Immersion Corporation | Devices and methods for controlling a haptic actuator |
| CN111294014B (en) * | 2018-12-10 | 2023-10-27 | 广州汽车集团股份有限公司 | Signal integration deviation removing method and system and electronic equipment thereof |
| CN111211726B (en) * | 2020-01-16 | 2020-11-10 | 司宏伟 | System for generating motor drive signals |
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2020
- 2020-06-24 CN CN202010585367.XA patent/CN111722721B/en active Active
- 2020-07-24 WO PCT/CN2020/104643 patent/WO2021258483A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101827661A (en) * | 2007-09-17 | 2010-09-08 | 索尼爱立信移动通讯有限公司 | Mobile device comprising a vibrator and an accelerometer to control the performance of said vibrator |
| CN107960146A (en) * | 2015-08-06 | 2018-04-24 | 株式会社山田制作所 | Motor control assembly |
| US20180182212A1 (en) * | 2015-12-13 | 2018-06-28 | Goertek Inc. | Tactile vibration control system and method for smart terminal |
| CN105630021A (en) * | 2015-12-31 | 2016-06-01 | 歌尔声学股份有限公司 | Touch sense vibration control system and method of intelligent terminal |
| CN107883996A (en) * | 2017-11-06 | 2018-04-06 | 南京国电环保科技有限公司 | A kind of data acquisition and signal processing method and data acquisition unit |
| CN110502111A (en) * | 2019-08-09 | 2019-11-26 | 瑞声科技(新加坡)有限公司 | Motor signal compensation method, electronic equipment and storage medium |
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| CN111722721B (en) | 2023-03-28 |
| WO2021258483A1 (en) | 2021-12-30 |
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