CN112433635A - Method and device for testing linear parameters of vehicle-mounted touch device - Google Patents
Method and device for testing linear parameters of vehicle-mounted touch device Download PDFInfo
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- CN112433635A CN112433635A CN202011328260.3A CN202011328260A CN112433635A CN 112433635 A CN112433635 A CN 112433635A CN 202011328260 A CN202011328260 A CN 202011328260A CN 112433635 A CN112433635 A CN 112433635A
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- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
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Abstract
The invention provides a method and a device for testing linear parameters of a vehicle-mounted touch device, wherein the vehicle-mounted touch device comprises a linear motor, and the method comprises the following steps: deducing to obtain a transfer function from voltage to current of the vehicle-mounted touch device according to a mechanical equation of the linear motor, an electrical equation of the linear motor and a mechanical equation of the vehicle-mounted touch device; acquiring an initial value of a linear parameter of the vehicle-mounted touch device; acquiring a voltage measurement value and a current measurement value of the linear motor in a vibration state; and calculating to obtain a target value of the linear parameter of the vehicle-mounted touch device according to the voltage measurement value, the current measurement value, the initial value of the linear parameter and the transfer function. The invention can provide a tactile feedback scheme with higher accuracy applied to automobiles.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of electromechanics, in particular to a method and a device for testing linear parameters of a vehicle-mounted touch device.
[ background of the invention ]
The touch feedback plays an important role in the interactive experience of electronic products, and can bring real experience of being personally on the scene to people. Especially, the linear motor is used as a representative and is more and more widely applied to middle and high-end mobile phones, and good user experience feedback is obtained.
Currently, haptic feedback is mainly applied to mobile phones and is rarely applied in the automotive industry. For example, in the prior art, interaction between a user and an automobile is generally realized through physical keys. With the full screen development of the automobile interactive system and the cancellation of the traditional physical keys, the tactile feedback is more and more important in interactive application.
Therefore, there is a need to provide a haptic feedback scheme for use in automobiles.
[ summary of the invention ]
The invention aims to provide a method and a device for testing linear parameters of a vehicle-mounted touch device, which are used for realizing touch feedback on an automobile.
The technical scheme of the invention is as follows:
in a first aspect, an embodiment of the present invention provides a method for testing a linear parameter of a vehicle-mounted touch device, where the vehicle-mounted touch device includes a linear motor, and the method includes:
deducing and obtaining a transfer function from the voltage to the current of the vehicle-mounted touch device according to a mechanical equation of the linear motor, an electrical equation of the linear motor and a mechanical equation of the vehicle-mounted touch device;
acquiring an initial value of a linear parameter of the vehicle-mounted touch device;
acquiring a voltage measurement value and a current measurement value of the linear motor in a vibration state;
and calculating to obtain a target value of the linear parameter of the vehicle-mounted touch device according to the voltage measurement value, the current measurement value, the initial value of the linear parameter and the transfer function.
In the method for testing the linear parameters of the vehicle-mounted touch device provided by the embodiment of the invention, the vehicle-mounted touch device further comprises a touch screen and a vehicle-mounted spring, and the linear parameters comprise the mass of a linear motor oscillator, the stiffness coefficient of the linear motor spring, the mechanical damping coefficient of the linear motor, the electromagnetic force coefficient of the linear motor, the voice coil inductance of the linear motor, the voice coil resistance of the linear motor, the mass of the vehicle-mounted touch device, the stiffness coefficient of the vehicle-mounted spring and the damping coefficient of the vehicle-mounted spring.
In the method for testing linear parameters of a vehicle-mounted touch device provided in the embodiment of the present invention, before deriving a transfer function from voltage to current of the vehicle-mounted touch device according to a mechanical equation of the linear motor, an electrical equation of the linear motor, and a mechanical equation of the vehicle-mounted touch device, the method further includes:
establishing a mechanical equation of the linear motor, wherein the mechanical equation of the linear motor comprises the linear motor vibrator mass, the linear motor mechanical damping coefficient, the linear motor spring stiffness coefficient and the linear motor electromagnetic force coefficient;
establishing an electrical equation of the linear motor, wherein the electrical equation of the linear motor comprises the voice coil resistance of the linear motor, the voice coil inductance of the linear motor and the electromagnetic force coefficient of the linear motor;
establishing a mechanical equation of the vehicle-mounted touch device, wherein the mechanical equation of the vehicle-mounted touch device comprises the mass of the vehicle-mounted touch device, the damping coefficient of the vehicle-mounted spring, the mechanical damping coefficient of the linear motor, the stiffness coefficient of the vehicle-mounted spring, the stiffness coefficient of the linear motor spring and the electromagnetic force coefficient of the linear motor.
In the method for testing linear parameters of a vehicle-mounted touch device provided in the embodiment of the present invention, the deriving a transfer function from voltage to current of the vehicle-mounted touch device according to a mechanical equation of a linear motor, an electrical equation of the linear motor, and a mechanical equation of the vehicle-mounted touch device includes:
respectively carrying out conversion processing on the mechanical equation of the linear motor, the electrical equation of the linear motor and the mechanical equation of the vehicle-mounted touch device to obtain the mechanical equation of the linear motor after conversion processing, the electrical equation of the linear motor after conversion processing and the mechanical equation of the vehicle-mounted touch device after conversion processing;
and deducing to obtain a voltage-to-current transfer function of the vehicle-mounted touch device according to the mechanical equation of the linear motor after conversion, the electrical equation of the linear motor after conversion and the mechanical equation of the vehicle-mounted touch device after conversion.
In the method for testing the linear parameters of the vehicle-mounted touch device provided by the embodiment of the invention, the transformation processing comprises laplace transformation processing.
In the method for testing a linear parameter of a vehicle-mounted touch device according to an embodiment of the present invention, the calculating a target value of the linear parameter of the vehicle-mounted touch device according to the voltage measurement value, the current measurement value, the initial value of the linear parameter, and the transfer function includes:
inputting the initial value of the linear parameter and the voltage measured value into the transfer function, and calculating to obtain a current calculated value;
and performing data fitting on the current calculation value and the current measurement value to obtain a target value of a linear parameter of the vehicle-mounted touch device.
In the method for testing linear parameters of a vehicle-mounted touch device provided in the embodiment of the present invention, the performing data fitting on the current calculated value and the current measured value to obtain a target value of the linear parameters of the vehicle-mounted touch device includes:
performing data fitting on the current calculated value and the current measured value to obtain a current fitting result;
if the current fitting result does not meet the preset condition, adjusting the initial value of the linear parameter;
taking the initial value of the adjusted linear parameter as the initial value of a new linear parameter, returning to execute the step of inputting the initial value of the linear parameter into the transfer function and calculating to obtain a current calculation value until the current fitting result meets a preset condition;
and if the current fitting result meets the preset condition, taking the initial value of the linear parameter corresponding to the current fitting result as the target value of the linear parameter of the vehicle-mounted touch device.
In a second aspect, an embodiment of the present invention provides a device for testing a linear parameter of a vehicle-mounted touch device, where the vehicle-mounted touch device includes a linear motor, and the device includes:
the derivation module is used for deriving and obtaining a transfer function from voltage to current of the vehicle-mounted touch device according to a mechanical equation of the linear motor, an electrical equation of the linear motor and a mechanical equation of the vehicle-mounted touch device;
the first acquisition module is used for acquiring an initial value of a linear parameter of the vehicle-mounted touch device;
the second acquisition module is used for acquiring a voltage measurement value and a current measurement value of the linear motor in a vibration state;
and the calculation module is used for calculating a target value of the linear parameter of the vehicle-mounted touch device according to the voltage measurement value, the current measurement value, the initial value of the linear parameter and the transfer function.
In a third aspect, an embodiment of the present invention provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method for testing the linearity parameter of the vehicle-mounted touch device when executing the computer program.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of the method for testing the linearity parameter of the vehicle-mounted touch device are implemented.
The invention has the beneficial effects that: the embodiment of the invention provides a method for testing linear parameters of a vehicle-mounted touch device, wherein the vehicle-mounted touch device comprises a linear motor, and the method comprises the following steps: deducing and obtaining a transfer function from the voltage to the current of the vehicle-mounted touch device according to a mechanical equation of the linear motor, an electrical equation of the linear motor and a mechanical equation of the vehicle-mounted touch device; acquiring an initial value of a linear parameter of the vehicle-mounted touch device; acquiring a voltage measurement value and a current measurement value of the linear motor in a vibration state; according to the voltage measurement value, the current measurement value, the initial value of the linear parameter and the transfer function, a target value of the linear parameter of the vehicle-mounted touch device is obtained through calculation, a group of accurate linear parameter values can be obtained for the linear model through testing the linear parameter of the linear model of the vehicle-mounted touch device, and therefore the linear model which accurately describes the vehicle-mounted touch device can be obtained, the vehicle-mounted touch device can be subjected to simulation modeling according to the linear model, and a haptic feedback scheme with high accuracy applied to an automobile can be further provided.
[ description of the drawings ]
Fig. 1 is a first flowchart illustrating a method for testing linear parameters of a vehicle-mounted touch device according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a vehicle-mounted touch device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an equivalent two-degree-of-freedom mass-spring system of the in-vehicle touch device shown in FIG. 2;
fig. 4 is a second flowchart illustrating a method for testing linear parameters of a vehicle-mounted touch device according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating comparison between a measured result and a fitting result provided in an embodiment of the present invention;
fig. 6 is a schematic diagram of a device for testing linear parameters of a vehicle-mounted touch device according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a terminal device according to an embodiment of the present invention.
[ detailed description ] embodiments
The invention is further described with reference to the following figures and embodiments.
Fig. 1 is a schematic flowchart of a method for testing linear parameters of a vehicle-mounted touch device according to an embodiment of the present invention. As shown in fig. 1, the method for testing the linear parameter of the vehicle-mounted touch device provided in this embodiment includes the following steps:
101. and deducing to obtain a transfer function from the voltage to the current of the vehicle-mounted touch device according to a mechanical equation of the linear motor, an electrical equation of the linear motor and a mechanical equation of the vehicle-mounted touch device.
The execution subject of the embodiment is a device for testing the linear parameters of the vehicle-mounted touch device, and the device for testing the linear parameters of the vehicle-mounted touch device can be embodied as a test terminal, such as a computer.
As shown in fig. 2, the vehicle-mounted touch device of the present embodiment includes: linear motor 21, touch screen 22, vehicle-mounted spring 23 and base 24.
The working principle of the vehicle-mounted touch device of the embodiment is as follows: under the driving action of the linear motor, the touch screen directly or indirectly connected with the linear motor realizes reciprocating motion under the action of the restoring force of the vehicle-mounted spring.
In this embodiment, the mechanical equation of the linear motor may include linear parameters of the vehicle-mounted touch device, and specifically includes: linear motor vibrator mass, linear motor mechanical damping coefficient, linear motor spring stiffness coefficient and linear motor electromagnetic force coefficient.
The electrical equation of the linear motor may include linear parameters of the vehicle-mounted touch device, and specifically may include: a linear motor voice coil resistance, a linear motor voice coil inductance, and a linear motor electromagnetic force coefficient.
The mechanical equation of the vehicle-mounted touch device may include linear parameters of the vehicle-mounted touch device, and specifically may include: the mass of the vehicle-mounted touch device (including the mass of the touch screen and the mass of the linear motor except the mass of the motor vibrator), the damping coefficient of a vehicle-mounted spring, the mechanical damping coefficient of the linear motor, the stiffness coefficient of the vehicle-mounted spring, the stiffness coefficient of the linear motor spring and the electromagnetic force coefficient of the linear motor.
The transfer function may include linear parameters of the in-vehicle touch device, and specifically may include: linear motor vibrator mass, linear motor spring stiffness coefficient, linear motor mechanical damping coefficient, linear motor electromagnetic force coefficient, linear motor voice coil inductance, linear motor voice coil resistance, vehicle mounted touch device mass, vehicle mounted spring stiffness coefficient, and vehicle mounted spring damping coefficient, and the like.
It should be noted that the above is only an example of the linear parameters included in the mechanical equation of the linear motor, the electrical equation of the linear motor, the mechanical equation of the vehicle-mounted touch device and the transfer function, and is not intended to limit the present invention. That is, the linear parameters included in the mechanical equation of the linear motor, the electrical equation of the linear motor, and the mechanical equation of the vehicle-mounted touch device may be set by a tester according to an actual situation, and the linear parameters included in the transfer function may be determined according to the linear parameters included in the mechanical equation of the linear motor, the electrical equation of the linear motor, and the mechanical equation of the vehicle-mounted touch device, which is not specifically limited herein, but is based on an actual requirement.
102. And acquiring an initial value of a linear parameter of the vehicle-mounted touch device.
In this embodiment, which parameters the linear parameters of the vehicle-mounted touch device are specific to, and the number of the linear parameters of the vehicle-mounted touch device may be determined by a tester according to an actual situation. The initial value of the linear parameter of the vehicle-mounted touch device may also be set according to the actual situation, and is not limited specifically here.
For example, the initial values of the linear parameters of the in-vehicle touch device may be empirical values, simulated values, and design reference values.
103. Voltage and current measurements of the linear motor in a vibratory state are obtained.
For example, the linear motor may be driven to vibrate, and the voltage measurement value and the current measurement value may be acquired by a signal acquisition device connected to a test device of the vehicle-mounted touch device.
104. And calculating to obtain a target value of the linear parameter of the vehicle-mounted touch device according to the voltage measurement value, the current measurement value, the initial value of the linear parameter and the transfer function.
For example, after obtaining the voltage measurement value, the current measurement value, the initial value of the linear parameter, and the transfer function, the device for testing the linear parameter of the vehicle-mounted touch device may calculate the target value of the linear parameter of the vehicle-mounted touch device according to the voltage measurement value, the current measurement value, the initial value of the linear parameter, and the transfer function.
The embodiment provides a method for testing linear parameters of a vehicle-mounted touch device, wherein the vehicle-mounted touch device comprises a linear motor, and the method comprises the following steps: deducing to obtain a transfer function from voltage to current of the vehicle-mounted touch device according to a mechanical equation of the linear motor, an electrical equation of the linear motor and a mechanical equation of the vehicle-mounted touch device; acquiring an initial value of a linear parameter of the vehicle-mounted touch device; acquiring a voltage measurement value and a current measurement value of the linear motor in a vibration state; according to the voltage measurement value, the current measurement value, the initial value of the linear parameter and the transfer function, the target value of the linear parameter of the vehicle-mounted touch device is obtained through calculation, a group of accurate linear parameter values can be obtained for the linear model through testing the linear parameter of the linear model of the vehicle-mounted touch device, and therefore the linear model which accurately describes the vehicle-mounted touch device can be obtained, the vehicle-mounted touch device can be subjected to simulation modeling according to the linear model, and a haptic feedback scheme with high accuracy applied to an automobile can be further provided.
In some embodiments, the linear parameters of the in-vehicle touch device may include: the mass of the linear motor oscillator, the stiffness coefficient of the linear motor spring, the mechanical damping coefficient of the linear motor, the electromagnetic force coefficient of the linear motor, the voice coil inductance of the linear motor, the voice coil resistance of the linear motor, the mass of the vehicle-mounted touch device, the stiffness coefficient of the vehicle-mounted spring and the damping coefficient of the vehicle-mounted spring.
In other embodiments, before step 101, it may include:
establishing a mechanical equation of the linear motor, wherein the mechanical equation of the linear motor comprises linear motor vibrator mass, linear motor mechanical damping coefficient, linear motor spring stiffness coefficient and linear motor electromagnetic force coefficient;
establishing an electrical equation of the linear motor, wherein the electrical equation of the linear motor comprises a voice coil resistor of the linear motor, voice coil inductance of the linear motor and an electromagnetic force coefficient of the linear motor;
and establishing a mechanical equation of the vehicle-mounted touch device, wherein the mechanical equation of the vehicle-mounted touch device comprises the mass of the vehicle-mounted touch device, the damping coefficient of a vehicle-mounted spring, the mechanical damping coefficient of a linear motor, the stiffness coefficient of the vehicle-mounted spring, the stiffness coefficient of the linear motor spring and the electromagnetic force coefficient of the linear motor.
For example, the in-vehicle touch device may be equivalent to a two-degree-of-freedom mass-spring system as shown in fig. 3. The device for testing the linear parameters of the vehicle-mounted touch device can establish an electromechanical coupling differential equation of the vehicle-mounted touch device according to the characteristics of the two-degree-of-freedom mass spring system shown in fig. 3, and specifically comprises a mechanical equation of a linear motor, an electrical equation of the linear motor and a mechanical equation of the vehicle-mounted touch device.
Wherein, the expression of the mechanical equation of the linear motor is:
the electrical equation for a linear motor is expressed as:
the expression of the mechanical equation of the vehicle-mounted touch device is as follows:
wherein m is2For linear motor vibrator masses, k2Is the spring stiffness coefficient of the linear motor, c2Is the mechanical damping coefficient of the linear motor, Bl is the electromagnetic coefficient of the linear motor, L is the voice coil inductance of the linear motor, ReIs the voice coil resistance of the linear motor, m1For the vehicle touch device quality (including touch screen quality and linear motor quality except linear motor vibrator quality), k1Is the stiffness coefficient of the vehicle-mounted spring, c1Is the damping coefficient, x, of the vehicle-mounted spring1For touch screen displacement, x2The displacement of the vibrator of the linear motor, t is the vibration time of the linear motor, u is the voltage at two ends of the linear motor, and i is the current of the linear motor.
In some embodiments, step 101 may comprise:
respectively carrying out conversion processing on a mechanical equation of the linear motor, an electrical equation of the linear motor and a mechanical equation of the vehicle-mounted touch device to obtain a mechanical equation of the linear motor after conversion processing, an electrical equation of the linear motor after conversion processing and a mechanical equation of the vehicle-mounted touch device after conversion processing;
and deducing to obtain a voltage-to-current transfer function of the vehicle-mounted touch device according to the mechanical equation of the linear motor after conversion, the electrical equation of the linear motor after conversion and the mechanical equation of the vehicle-mounted touch device after conversion.
For example, the mechanical equation of the linear motor, the electrical equation of the linear motor, and the mechanical equation of the vehicle-mounted touch device may be equations (1) to (3), and the mechanical equation (1) of the linear motor, the electrical equation (2) of the linear motor, and the mechanical equation (3) of the vehicle-mounted touch device are used for modeling the vehicle-mounted touch device in a time domain, and when analyzing, the time domain needs to be transformed to a frequency domain. The time domain to the frequency domain may be implemented by transform processing such as laplace transform and fourier transform.
In this embodiment, laplace transform processing may be selected from the time domain to the frequency domain. The formulas (1) to (3) are subjected to laplace transform processing, and transformed formulas (4) to (6) are obtained.
-(c2s+k2)X1(s)+(m2s2+c2s+k2)X2(s)＝BlI(s)(4)
(Re+sL)I(s)+Bls(X2-X1)＝U(s)(5)
[m1s2+(c1+c2)s+(k1+k2)]X1(s)-(c2s+k2)X2(s)＝-BlI(s)(6)
Where s is the frequency.
It is understood that expressions (4) to (6) are respectively an expression of a mechanical equation of the linear motor after the conversion processing, an expression of an electrical equation of the linear motor after the conversion processing, and an expression of a mechanical equation of the vehicle-mounted touch device after the conversion processing.
Subsequently, a voltage-to-current transfer function h(s) of the vehicle-mounted touch device can be derived according to the mechanical equation of the linear motor, the electrical equation of the linear motor and the mechanical equation of the vehicle-mounted touch device after the conversion processing.
The expression h(s) of the voltage-to-current transfer function of the vehicle-mounted touch device is as follows:
wherein, T1＝m1s2+(c1+c2)s+(k1+k2)
T2＝m2s2+c2s+k2
P＝c2s+k2
In other embodiments, step 104 may include:
inputting the initial value and the voltage measured value of the linear parameter into a transfer function, and calculating to obtain a current calculated value;
and performing data fitting on the current calculated value and the current measured value to obtain a target value of a linear parameter of the vehicle-mounted touch device.
It is understood that although the initial value of the linear parameter may be an empirical value, a simulated value, etc., the difference between the current calculation value and the current measurement value calculated by inputting the initial value of the linear parameter and the voltage measurement value into the transfer function may be relatively large, and if the initial value of the linear parameter is directly used as the target value of the linear parameter of the in-vehicle touch device, the accuracy of the touch feedback may be affected. For the reasons described above, a data fit may be made to the current calculation values and the current measurement values to reduce the difference between the current calculation values and the current measurement values. When the difference between the current calculation value and the current measurement value is small, an initial value of the linear parameter that makes the difference between the current calculation value and the current measurement value small may be used as a target value of the linear parameter of the in-vehicle touch device.
In some embodiments, the step of performing data fitting on the current calculated value and the current measured value to obtain the target value of the linear parameter of the vehicle-mounted touch device may include:
performing data fitting on the current calculated value and the current measured value to obtain a current fitting result;
if the current fitting result does not meet the preset condition, adjusting the initial value of the linear parameter;
taking the initial value of the adjusted linear parameter as the initial value of a new linear parameter, returning to execute the step of inputting the initial value of the linear parameter and the voltage measurement value into a transfer function, and calculating to obtain a current calculation value until the current fitting result meets the preset condition;
and if the current fitting result meets the preset condition, taking the initial value of the linear parameter corresponding to the current fitting result as the target value of the linear parameter of the vehicle-mounted touch device.
First, the initial value of the linear parameter and the voltage measurement value may be input to the above equation (7), and the current calculation value may be calculated.
And secondly, performing data fitting on the current calculated value and the current measured value by adopting a least square method to obtain a fitting result.
The least square method is also called a least square method, and is a mathematical optimization technology, and an optimal test result of test parameters of the vehicle-mounted touch device is found through the sum of squares of minimized errors. Unknown data can be easily obtained by the least square method, and the sum of squares of errors between these obtained data and actual data is minimized. The least square method is directly used by the existing algorithm, and is not described in detail in this embodiment.
Of course, other methods may also be used to perform data fitting, for example, a method of approximating discrete data by an analytical expression, and the like.
Specifically, the preset condition may be a first preset threshold, the current fitting result may be a difference between the current calculated value and the current measured value, and if the difference between the current calculated value and the current measured value is greater than the first preset threshold, it may be determined that the current fitting result does not satisfy the preset condition, and the initial value of the linear parameter may be adjusted. And taking the initial value of the adjusted linear parameter as the initial value of a new linear parameter, returning to the step of inputting the initial value of the linear parameter into a transfer function, calculating to obtain a current calculated value, and performing data fitting by taking the current calculated value obtained by calculation as a current calculated value and a current measured value until the difference value between the current calculated value and the current measured value is not greater than a first preset threshold value, namely, until the current fitting result meets a preset condition. If the difference between the current calculated value and the current measured value is not greater than the first preset threshold, it can be determined that the current fitting result satisfies the preset condition, and the initial value of the linear parameter corresponding to the current fitting result can be used as the target value of the linear parameter of the vehicle-mounted touch device.
Specifically, how to adjust the initial value of the linear parameter may be determined according to an actual situation, as long as the adjusted initial value of the linear parameter can reduce the difference between the current calculation value and the current measurement value.
Referring to fig. 4, fig. 4 is a second flowchart illustrating a method for testing linear parameters of a vehicle-mounted touch device according to an embodiment of the present invention. Wherein, on-vehicle touch device includes: linear motor, touch-control screen, on-vehicle spring and base, the linear parameter of on-vehicle touch-control device can include: the mass of the linear motor oscillator, the stiffness coefficient of the linear motor spring, the mechanical damping coefficient of the linear motor, the electromagnetic force coefficient of the linear motor, the voice coil inductance of the linear motor, the voice coil resistance of the linear motor, the mass of the vehicle-mounted touch device, the stiffness coefficient of the vehicle-mounted spring and the damping coefficient of the vehicle-mounted spring. The method for testing the linear parameters of the vehicle-mounted touch device provided by the embodiment comprises the following steps:
401. and establishing a mechanical equation of the linear motor, wherein the mechanical equation of the linear motor comprises the mass of the vibrator of the linear motor, the mechanical damping coefficient of the linear motor, the spring stiffness coefficient of the linear motor and the electromagnetic force coefficient of the linear motor.
For example, the mechanical equation for a linear motor is expressed as:
wherein m is2For linear motor vibrator masses, k2Is the spring stiffness coefficient of the linear motor, c2Is the mechanical damping coefficient, x, of the linear motor1For touch screen displacement, x2For linear motor vibrator displacement, Bl is the linear motor electromagnetic force coefficient, and i is the linear motor current.
402. And establishing an electrical equation of the linear motor, wherein the electrical equation of the linear motor comprises the voice coil resistance of the linear motor, the voice coil inductance of the linear motor and the electromagnetic force coefficient of the linear motor.
For example, the electrical equation for a linear motor is expressed as:
wherein R iseIs the resistance of the voice coil of the linear motor, i is the current of the linear motor, L is the inductance of the voice coil of the linear motor, t is the vibration time of the linear motor, Bl is the electromagnetic force coefficient of the linear motor, x1For touch screen displacement, x2Is the linear motor vibrator displacement, u is the voltage across the linear motor.
403. And establishing a mechanical equation of the vehicle-mounted touch device, wherein the mechanical equation of the vehicle-mounted touch device comprises the mass of the vehicle-mounted touch device, the damping coefficient of a vehicle-mounted spring, the mechanical damping coefficient of a linear motor, the stiffness coefficient of the vehicle-mounted spring, the stiffness coefficient of the linear motor spring and the electromagnetic force coefficient of the linear motor.
For example, the mechanical equation of the vehicle-mounted touch device has the expression:
wherein m is1For the vehicle touch device mass (including touch screen mass and linear motor mass other than linear motor vibrator mass), x1For touch screen displacement, x2Is the displacement of the vibrator of the linear motor, c1Is the damping coefficient of the spring on board, c2Is the mechanical damping coefficient, k, of the linear motor1Stiffness coefficient of vehicle mounted spring, k2The linear motor spring stiffness coefficient, Bl the linear motor electromagnetic force coefficient, and i the linear motor current.
404. And respectively carrying out Laplace transform processing on the mechanical equation of the linear motor, the electrical equation of the linear motor and the mechanical equation of the vehicle-mounted touch device to obtain the mechanical equation of the linear motor after transform processing, the electrical equation of the linear motor after transform processing and the mechanical equation of the vehicle-mounted touch device after transform processing.
For example, laplace transform processing may be performed on the above equations (1) to (3) to obtain an expression (4) of a mechanical equation of the linear motor after the transform processing, an expression (5) of an electrical equation of the linear motor after the transform processing, and an expression (6) of the vehicle-mounted touch device after the transform processing.
-(c2s+k2)X1(s)+(m2s2+c2s+k2)X2(s)＝BlI(s)(4)
(Re+sL)I(s)+Bls(X2-X1)＝U(s)(5)
[m1s2+(c1+c2)s+(k1+k2)]X1(s)-(c2s+k2)X2(s)＝-BlI(s)(6)
Where s is the frequency.
405. And deducing to obtain a voltage-to-current transfer function of the vehicle-mounted touch device according to the mechanical equation of the linear motor after conversion, the electrical equation of the linear motor after conversion and the mechanical equation of the vehicle-mounted touch device after conversion.
For example, the expression (7) of the voltage-to-current transfer function h(s) of the vehicle-mounted touch device can be derived according to the above expressions (4) to (6).
Wherein, T1＝m1s2+(c1+c2)s+(k1+k2)
T2＝m2s2+c2s+k2
P＝c2s+k2
406. Voltage and current measurements of the linear motor in a vibratory state are obtained.
For example, the linear parameter testing device of the vehicle-mounted touch device may generate the excitation signal according to the testing requirement. For example, the excitation signal may use a non-linear test signal with a peak voltage smaller than a preset value, so that the linear parameter can be accurately tested while the linear motor is prevented from being damaged by the test signal with a large amplitude.
In order to accurately model, the linear motors at various displacement positions are excited, and the generated excitation signals are filtered to obtain excitation signals with a certain bandwidth, so that the linear motors are excited by the excitation signals. For example, the generated excitation signal is a white noise signal with a full bandwidth, and a band-pass filter is used to filter the white noise signal to obtain an excitation signal with a certain bandwidth.
And sending the filtered excitation signal to a signal acquisition device connected with the linear motor, performing digital-to-analog conversion on the excitation signal through the signal acquisition device, converting the excitation signal into an analog signal, amplifying the analog signal through a power amplifier, and transmitting the analog signal to the linear motor to drive the linear motor to vibrate.
The linear parameter testing device of the vehicle-mounted touch device collects the voltage and the current of the linear motor through the signal collecting device.
Since the current in the series circuit is equal and equal to the loop current everywhere, in order to obtain the current of the linear motor in the vibration state, in this embodiment, a high-precision resistor is additionally arranged between the power amplifier and the linear motor, and the obtained current of the high-precision resistor is the current of the linear motor. The current obtaining mode can directly obtain the current of the high-precision resistor, and can also obtain the voltage at two ends of the high-precision resistor and the resistance of the high-precision resistor to indirectly calculate the current.
In this embodiment, the current is obtained by indirectly calculating the current, specifically: the voltage at two ends of the high-precision resistor is acquired through the signal acquisition device, the resistance value of the high-precision resistor is known (for example, the high-precision resistor with the resistance value of 1 omega (ohm) is adopted), and the current is obtained through calculation of the voltage and the resistor.
When the voltage at the two ends of the high-precision resistor is acquired through the signal acquisition device, the current of the linear motor is synchronously acquired. After the signal acquisition device obtains the voltage and the current of the linear motor, analog-to-digital conversion is carried out on the voltage and the current so as to obtain a voltage measurement value and a current measurement value.
In this embodiment, when the voltage measurement value and the current measurement value of the linear motor are obtained, specific models of the adopted devices such as the power amplifier, the signal amplifier, and the linear motor are not specifically limited.
407. And acquiring an initial value of a linear parameter of the vehicle-mounted touch device.
The linear parameters of the vehicle-mounted touch device comprise: mass m of vehicle-mounted touch device1Mass m of vibrator of linear motor2Stiffness coefficient k of vehicle-mounted spring1Coefficient of spring stiffness k for linear motor2Damping coefficient of vehicle-mounted spring c1Mechanical damping coefficient c of linear motor2Electromagnetic force coefficient of linear motor Bl, voice coil resistance of linear motor ReAnd a linear motor voice coil inductance L.
In this embodiment, an initial estimated value of the linear parameter of the vehicle-mounted touch device may be defined as an initial value of the linear parameter of the vehicle-mounted touch device. The estimated value is typically an empirical value, a simulated value, a design reference value, or the like.
408. And inputting the initial value of the linear parameter and the voltage measured value into a transfer function, and calculating to obtain a current calculated value.
409. And performing data fitting on the current calculated value and the current measured value to obtain a current fitting result.
410. And if the current fitting result does not meet the preset condition, adjusting the initial value of the linear parameter.
411. And taking the initial value of the adjusted linear parameter as the initial value of the new linear parameter, and returning to execute the step 408 until the current fitting result meets the preset condition.
412. And if the current fitting result meets the preset condition, taking the initial value of the linear parameter corresponding to the current fitting result as the target value of the linear parameter of the vehicle-mounted touch device.
For example, steps 408 to 412 may be:
first, the initial value of the linear parameter and the voltage measurement value may be input to the above equation (7), and the current calculation value may be calculated.
And secondly, performing data fitting on the current calculated value and the current measured value by adopting a least square method to obtain a fitting result.
The least square method is also called a least square method, and is a mathematical optimization technology, and an optimal test result of test parameters of the vehicle-mounted touch device is found through the sum of squares of minimized errors. Unknown data can be easily obtained by the least square method, and the sum of squares of errors between these obtained data and actual data is minimized. The least square method is directly used by the existing algorithm, and is not described in detail in this embodiment.
Of course, other methods may also be used to perform data fitting, for example, a method of approximating discrete data by an analytical expression, and the like.
Specifically, the preset condition may be a first preset threshold, the current fitting result may be a difference between the current calculated value and the current measured value, and if the difference between the current calculated value and the current measured value is greater than the first preset threshold, it may be determined that the current fitting result does not satisfy the preset condition, and the initial value of the linear parameter may be adjusted. And taking the initial value of the adjusted linear parameter as the initial value of a new linear parameter, returning to the step of inputting the initial value of the linear parameter into a transfer function, calculating to obtain a current calculated value, and performing data fitting by taking the current calculated value obtained by calculation as a current calculated value and a current measured value until the difference value between the current calculated value and the current measured value is not greater than a first preset threshold value, namely, until the current fitting result meets a preset condition. If the difference between the current calculated value and the current measured value is not greater than the first preset threshold, it can be determined that the current fitting result satisfies the preset condition, and the initial value of the linear parameter corresponding to the current fitting result can be used as the target value of the linear parameter of the vehicle-mounted touch device.
Specifically, how to adjust the initial value of the linear parameter may be determined according to an actual situation, as long as the adjusted initial value of the linear parameter can reduce the difference between the current calculation value and the current measurement value.
It is understood that, after obtaining the target value of the linear parameter of the in-vehicle touch device, the target value of the linear parameter may be substituted into equations (1) to (3), and equations (1) to (3) after substituting the target value of the linear parameter may be obtained. The equations (1) to (3) after the target value of the linear parameter is substituted may be used as target electromechanical coupling differential equations of the in-vehicle touch device.
After the target electromechanical coupling differential equation is obtained, the following experiment can be performed:
and driving the linear motor to vibrate, acquiring the displacement of a vibrator of the linear motor, the displacement of the touch screen and voltage values at two ends of the linear motor, substituting the displacement into a target electromechanical coupling differential equation, and calculating a current calculation value as a fitting result. Subsequently, an actual current value of the linear motor may be acquired as the measured result, and a deviation between the fitting result and the measured result is compared. By performing the above process for multiple times, a plurality of actual measurement results and a plurality of fitting results, and a deviation between each actual measurement result and its corresponding fitting result can be obtained.
For example, the result of a certain experiment is shown in fig. 5, in which the abscissa indicates the number of samples, the ordinate indicates the current value, and the white portion of the intermediate region between the measured data and the fitting data indicates the deviation. As can be seen from fig. 5, the deviation between the actual measurement result and the fitting result is very small, which can indicate that the method for testing the linear parameter of the vehicle-mounted touch device provided in this embodiment has an obvious effect and accuracy in measuring the linear parameter of the vehicle-mounted touch device.
It should be noted that the method for testing the linear parameters of the vehicle-mounted touch device is also suitable for mounting a plurality of linear motors on the touch screen, and only the mechanical equation of the linear motors, the electrical equation of the linear motors and the mechanical equation of the vehicle-mounted touch device need to be modified.
For example, if n (n ≧ 1) linear motors are installed, the mechanical equation for the linear motor can be expressed as:
the electrical equation for a linear motor is expressed as:
the expression of the mechanical equation of the vehicle-mounted touch device is as follows:
similarly, laplace transform is performed on equations (8) to (10), and a voltage-to-current transfer function h(s) of the in-vehicle touch device is derived.
The expression h(s) of the voltage-to-current transfer function of the vehicle-mounted touch device is as follows:
wherein m is2For linear motor vibrator masses, k2Is the spring stiffness coefficient of the linear motor, c2 is the mechanical damping coefficient of the linear motor, Bl is the electromagnetic coefficient of the linear motor, L is the voice coil inductance of the linear motor, R is the mechanical damping coefficient of the linear motoreIs the voice coil resistance of the linear motor, m1For on-vehicle touch device quality, k1Is the stiffness coefficient of the vehicle-mounted spring, c1Is the damping coefficient, x, of the vehicle-mounted spring1For touch screen displacement, x2The displacement of the vibrator of the linear motor, t is the vibration time of the linear motor, u is the voltage at two ends of the linear motor, i is the current of the linear motor, and s is the frequency.
T1＝m1s2+(c1+nc2)s+(k1+nk2)
T2＝m2s2+c2s+k2
P＝c2s+k2
The embodiment provides a method for testing linear parameters of a vehicle-mounted touch device, wherein the vehicle-mounted touch device comprises a linear motor, and the method comprises the following steps: deducing to obtain a transfer function from voltage to current of the vehicle-mounted touch device according to a mechanical equation of the linear motor, an electrical equation of the linear motor and a mechanical equation of the vehicle-mounted touch device; acquiring an initial value of a linear parameter of the vehicle-mounted touch device; acquiring a voltage measurement value and a current measurement value of the linear motor in a vibration state; according to the voltage measurement value, the current measurement value, the initial value of the linear parameter and the transfer function, the target value of the linear parameter of the vehicle-mounted touch device is obtained through calculation, a group of accurate linear parameter values can be obtained for the linear model through testing the linear parameter of the linear model of the vehicle-mounted touch device, and therefore the linear model which accurately describes the vehicle-mounted touch device can be obtained, the vehicle-mounted touch device can be subjected to simulation modeling according to the linear model, and a haptic feedback scheme with high accuracy applied to an automobile can be further provided.
And the vibration characteristic of the vehicle-mounted touch device can be analyzed based on the linear model, and a related algorithm can be developed to control the linear motor to move in the later period, so that vibration sensations with different frequencies and intensities are provided for the vehicle-mounted touch device.
Fig. 6 is a schematic diagram of a device for testing linear parameters of a vehicle-mounted touch device according to an embodiment of the present invention. The vehicle-mounted touch device comprises a linear motor, a touch screen, a vehicle-mounted spring and the like. As shown in fig. 6, the device for testing the linearity parameter of the vehicle-mounted touch device provided in this embodiment includes:
the derivation module 61 is configured to derive a transfer function from voltage to current of the vehicle-mounted touch device according to a mechanical equation of the linear motor, an electrical equation of the linear motor, and a mechanical equation of the vehicle-mounted touch device;
the first obtaining module 62 is configured to obtain an initial value of a linear parameter of the vehicle-mounted touch device;
a second obtaining module 63, configured to obtain a voltage measurement value and a current measurement value of the linear motor in a vibration state;
and the calculation module 64 is configured to calculate a target value of the linear parameter of the vehicle-mounted touch device according to the voltage measurement value, the current measurement value, the initial value of the linear parameter, and the transfer function.
The device for testing linear parameters of a vehicle-mounted touch device provided in this embodiment is used to implement the method for testing linear parameters of a vehicle-mounted touch device described in the above embodiments, where the functions of each module may refer to corresponding descriptions in the method embodiments, and the implementation principle and technical effect thereof are similar, and are not described here again.
Fig. 7 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 7, the terminal device 7 of the present embodiment includes: a processor 70, a memory 71 and a computer program 72 stored in said memory 71 and executable on said processor 70, such as a test program for linear parameters of a vehicle mounted touch device. When the processor 70 executes the computer program 72, the steps in the above-mentioned embodiments of the method for testing the linearity parameters of each vehicle-mounted touch device, such as the steps 101 to 104 shown in fig. 1, are implemented. Alternatively, the processor 70, when executing the computer program 72, implements the functions of the modules in the above-described device embodiments, such as the functions of the modules 61 to 64 shown in fig. 6.
Illustratively, the computer program 72 may be partitioned into one or more modules/units that are stored in the memory 71 and executed by the processor 70 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 72 in the terminal device 7. For example, the computer program 72 may be divided into a derivation module, a first acquisition module, a second acquisition module, and a calculation module (unit module in the virtual device), and each module has the following specific functions:
the derivation module is used for deriving and obtaining a transfer function from voltage to current of the vehicle-mounted touch device according to a mechanical equation of the linear motor, an electrical equation of the linear motor and a mechanical equation of the vehicle-mounted touch device;
the first acquisition module is used for acquiring an initial value of a linear parameter of the vehicle-mounted touch device;
the second acquisition module is used for acquiring a voltage measurement value and a current measurement value of the linear motor in a vibration state;
and the calculation module is used for calculating the target value of the linear parameter of the vehicle-mounted touch device according to the voltage measurement value, the current measurement value, the initial value of the linear parameter and the transfer function.
The terminal device 7 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device 7 may include, but is not limited to, a processor 70, a memory 71. It will be appreciated by those skilled in the art that fig. 7 is merely an example of a terminal device 7 and does not constitute a limitation of the terminal device 7 and may include more or less components than those shown, or combine certain components, or different components, e.g. the terminal device 7 may also include input output devices, network access devices, buses, etc.
The Processor 70 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 71 may be an internal storage unit of the terminal device 7, such as a hard disk or a memory of the terminal device 7. The memory 71 may also be an external storage device of the terminal device 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital Card (SD), a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 7. Further, the memory 71 may also include both an internal storage unit of the terminal device 7 and an external storage device. The memory 71 is used for storing said computer programs and other programs and data required by said terminal device 7. The memory 71 may also be used to temporarily store data that has been output or is to be output.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is merely used as an example, and in practical applications, the foregoing function distribution may be performed by different functional units and modules as needed, that is, the internal structure of the terminal device is divided into different functional units or modules to perform all or part of the above-described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for testing linear parameters of a vehicle-mounted touch device, wherein the vehicle-mounted touch device comprises a linear motor, and the method comprises the following steps:
deducing and obtaining a transfer function from the voltage to the current of the vehicle-mounted touch device according to a mechanical equation of the linear motor, an electrical equation of the linear motor and a mechanical equation of the vehicle-mounted touch device;
acquiring an initial value of a linear parameter of the vehicle-mounted touch device;
acquiring a voltage measurement value and a current measurement value of the linear motor in a vibration state;
and calculating to obtain a target value of the linear parameter of the vehicle-mounted touch device according to the voltage measurement value, the current measurement value, the initial value of the linear parameter and the transfer function.
2. The method for testing the linearity parameters of the vehicle-mounted touch device according to claim 1, wherein the vehicle-mounted touch device further comprises a touch screen and a vehicle-mounted spring, and the linearity parameters comprise a linear motor vibrator mass, a linear motor spring stiffness coefficient, a linear motor mechanical damping coefficient, a linear motor electromagnetic force coefficient, a linear motor voice coil inductance, a linear motor voice coil resistance, a vehicle-mounted touch device mass, a vehicle-mounted spring stiffness coefficient and a vehicle-mounted spring damping coefficient.
3. The method for testing the linear parameters of the vehicle-mounted touch device according to claim 2, wherein before deriving the voltage-to-current transfer function of the vehicle-mounted touch device according to the mechanical equation of the linear motor, the electrical equation of the linear motor and the mechanical equation of the vehicle-mounted touch device, the method further comprises:
establishing a mechanical equation of the linear motor, wherein the mechanical equation of the linear motor comprises the linear motor vibrator mass, the linear motor mechanical damping coefficient, the linear motor spring stiffness coefficient and the linear motor electromagnetic force coefficient;
establishing an electrical equation of the linear motor, wherein the electrical equation of the linear motor comprises the voice coil resistance of the linear motor, the voice coil inductance of the linear motor and the electromagnetic force coefficient of the linear motor;
establishing a mechanical equation of the vehicle-mounted touch device, wherein the mechanical equation of the vehicle-mounted touch device comprises the mass of the vehicle-mounted touch device, the damping coefficient of the vehicle-mounted spring, the mechanical damping coefficient of the linear motor, the stiffness coefficient of the vehicle-mounted spring, the stiffness coefficient of the linear motor spring and the electromagnetic force coefficient of the linear motor.
4. The method for testing the linear parameters of the vehicle-mounted touch device according to claim 1, wherein the deriving the voltage-to-current transfer function of the vehicle-mounted touch device according to the mechanical equation of the linear motor, the electrical equation of the linear motor and the mechanical equation of the vehicle-mounted touch device comprises:
respectively carrying out conversion processing on the mechanical equation of the linear motor, the electrical equation of the linear motor and the mechanical equation of the vehicle-mounted touch device to obtain the mechanical equation of the linear motor after conversion processing, the electrical equation of the linear motor after conversion processing and the mechanical equation of the vehicle-mounted touch device after conversion processing;
and deducing to obtain a voltage-to-current transfer function of the vehicle-mounted touch device according to the mechanical equation of the linear motor after conversion, the electrical equation of the linear motor after conversion and the mechanical equation of the vehicle-mounted touch device after conversion.
5. The method for testing the linear parameters of the vehicle-mounted touch device according to claim 4, wherein the transformation process comprises a Laplace transformation process.
6. The method for testing the linear parameter of the vehicle-mounted touch device according to claim 1, wherein the step of calculating the target value of the linear parameter of the vehicle-mounted touch device according to the voltage measurement value, the current measurement value, the initial value of the linear parameter and the transfer function comprises:
inputting the initial value of the linear parameter and the voltage measured value into the transfer function, and calculating to obtain a current calculated value;
and performing data fitting on the current calculation value and the current measurement value to obtain a target value of a linear parameter of the vehicle-mounted touch device.
7. The method for testing the linear parameters of the vehicle-mounted touch device according to claim 6, wherein the step of performing data fitting on the current calculated value and the current measured value to obtain the target value of the linear parameters of the vehicle-mounted touch device comprises:
performing data fitting on the current calculated value and the current measured value to obtain a current fitting result;
if the current fitting result does not meet the preset condition, adjusting the initial value of the linear parameter;
taking the initial value of the adjusted linear parameter as the initial value of a new linear parameter, returning to execute the step of inputting the initial value of the linear parameter into the transfer function and calculating to obtain a current calculation value until the current fitting result meets a preset condition;
and if the current fitting result meets the preset condition, taking the initial value of the linear parameter corresponding to the current fitting result as the target value of the linear parameter of the vehicle-mounted touch device.
8. A device for testing linear parameters of a vehicle-mounted touch device, wherein the vehicle-mounted touch device comprises a linear motor, and the device comprises:
the derivation module is used for deriving and obtaining a transfer function from voltage to current of the vehicle-mounted touch device according to a mechanical equation of the linear motor, an electrical equation of the linear motor and a mechanical equation of the vehicle-mounted touch device;
the first acquisition module is used for acquiring an initial value of a linear parameter of the vehicle-mounted touch device;
the second acquisition module is used for acquiring a voltage measurement value and a current measurement value of the linear motor in a vibration state;
and the calculation module is used for calculating a target value of the linear parameter of the vehicle-mounted touch device according to the voltage measurement value, the current measurement value, the initial value of the linear parameter and the transfer function.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method for testing the linearity parameters of the vehicle-mounted touch device according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the method for testing the linearity parameter of the in-vehicle touch device according to any one of claims 1 to 7.
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| CN111931335A (en) * | 2020-06-28 | 2020-11-13 | 瑞声科技(新加坡)有限公司 | Suspension system equivalent parameter correction method and system, medium and electronic equipment |
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