CN113030693A - 检测和管理放大器不稳定性的方法和系统 - Google Patents
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Abstract
一种系统可以包括用于接收驱动负载的驱动放大器的第一信号的第一输入、用于接收由放大器驱动的第二信号的第二输入以及用于基于对第一信号和第二信号的比较,检测用于控制的第一信号的反馈回路的不稳定性的不稳定性检测器。
Description
相关申请
本公开要求2019年12月6日提交的美国临时专利申请序列号62/944,426的优先权,该申请通过引用整体并入本文。
技术领域
本公开一般涉及检测放大器(诸如用于驱动触觉振动负载的放大器)中的不稳定性,以及对这种不稳定性的管理。
背景技术
振动触觉换能器,例如线性谐振致动器(LRA),被广泛地用于便携式设备(诸如移动电话)以产生振动反馈给用户。各种形式的振动触觉反馈会给用户的皮肤创建不同的触感,并且在现代设备的人机交互中可能会扮演越来越重要的角色。
LRA可以被建模为质量-弹簧机电振动系统。当使用适当设计或控制的驱动信号驱动时,LRA可以产生某些期望形式的振动。例如,用户手指上强烈而清晰的振动模式可以用来创建一种模仿机械按钮点击的感觉。然后,这种清晰的振动可以作为虚拟开关来代替机械按钮。
图1示出了设备100中的振动触觉系统的示例。设备100可以包括控制器101,其被配置为控制施加于放大器102的信号。放大器102然后可以基于该信号驱动触觉换能器103。控制器101可由触发器触发以输出到该信号。例如,触发器可以包括设备100的屏幕或虚拟按钮上的压力或力传感器。
在各种形式的振动触觉反馈中,持续的音调振动可以在通知设备的用户某些预定事件(诸如来电或短信、紧急警报、定时器警告等)方面起到重要作用。为了有效率地产生音调振动通知,可能期望在其谐振频率下操作触觉振动器。
触觉换能器的谐振频率f0可近似估计为:
其中,C为弹簧系统的顺应性(compliance),并且M为等效运动质量,其可基于触觉换能器中的实际运动部分和保持触觉换能器的便携式设备的质量来确定。
由于各个触觉换能器的样本间差异、移动设备装配差异、老化而引起的暂时性组件变化、自热而引起的组件变化以及使用条件(诸如用户握持设备的各种不同力度)的变化,触觉换能器的振动谐振可能不时变化。
图2A示出了线性谐振致动器(LRA)的示例,其被建模为包括质量-弹簧系统201的线性系统。LRA是非线性组件,其表现可能会因例如施加的电压水平、操作温度和操作频率而有所不同。然而,在某些条件下,这些组件可以被建模为线性组件。
图2B示出了建模为线性系统的LRA的示例,其包括LRA的质量-弹簧系统201的电等效模型。在该示例中,LRA被建模为具有电元件和机械元件的三阶系统。特别地,Re和Le分别为线圈-磁铁系统的直流电阻和线圈电感;并且Bl为线圈的磁力因数。该驱动放大器在输出阻抗为Ro的情况下输出电压波形V(t)。端电压VT(t)可以跨触觉换能器的端子感测。质量-弹簧系统201以速度u(t)运动。
诸如LRA的电磁负载的可以由其阻抗ZLRA表征,阻抗ZLRA可以看作是线圈阻抗Zcoil和机械阻抗Zmech的和:
ZLRA=Zcoil+Zmech (2)
线圈阻抗Zcoil进而可以包括与电感Le串联的直流(DC)电阻Re:
Zcoil=Re+s*Le (3)
机械阻抗Zmech可以由三个参数定义,包括表示代表触觉换能器的质量-弹簧系统的机械摩擦的电阻的谐振电阻RRES,表示代表触觉换能器的质量-弹簧系统的等效运动质量M的电容的电容CMES,以及表示触觉换能器的质量弹簧系统的顺应性C的电感LCES。总机械阻抗的电等效是并联连接的RRES,CMES,LCES。该并联连接的拉普拉斯变换描述为:
触觉换能器的谐振频率f0可以表示为:
LRA的品质因数Q可以表示为:
参考等式(6),该表达式涉及描述电阻Re和RRES的并联连接的子表达式(即),而在图2B中,这些电阻以串联连接示出,这可能显得并不直观。但是,在驱动电压Ve振荡,但然后突然关闭并且趋于零的情况下,可能就是这种情形。图2B所示的电压放大器可以被认为具有低源阻抗,理想情况下为零源阻抗。在这种条件下,当驱动电压Ve趋于零时,电压放大器有效率地从电路中消失。此时,图2B中电阻Re的最顶端与电阻RRES的最底部端一样接地,因此,电阻Re和RRES确实是如等式(6)所示的并联连接。
诸如LRA或微型扬声器的电磁换能器可能具有较慢的响应时间。图3是LRA的示例响应的示图,其描绘了到LRA的驱动信号、通过LRA的电流以及LRA的反电动势(反EMF),其中该反EMF可能与换能器的运动元件的速度(例如,线圈或磁铁)成比例。如图3所示,当能量传递到LRA时,反EMF的启动时间(attack time)可能会变慢,并且当LRA中储存的机械能放出时,在驱动信号结束之后,可能会出现反EMF的一些“振铃(ringing)”。在触觉LRA的情况下,这种行为特征可能导致“绵软(mushy)”的触觉点击或脉动(pulse),而不是“干脆”的触觉响应。因此,可能期望LRA替代地具有类似于图4所示的响应,其中在驱动信号结束后存在最小的振铃,并且可以在触觉情况下提供一个更“干脆”的触觉响应。因此,可能期望对驱动信号应用处理,使得当处理后的驱动信号施加于换能器时,换能器的速度或反EMF更接近图4的速度或反EMF。
发明内容
根据本公开的教导,可以减少或消除与检测和管理放大器中的不稳定性相关联的缺点和问题。
根据本公开的实施例,一种方法可以包括:接收用于驱动放大器的第一信号,该放大器驱动负载;接收由所述放大器驱动的第二信号;以及基于对所述第一信号和所述第二信号的比较,检测用于控制所述第一信号的反馈回路的不稳定性。
根据本公开的这些以及其他实施例,一个系统可以包括:用于接收用于驱动放大器的第一信号的第一输出,该放大器驱动负载;用于接收由所述放大器驱动的第二信号的第二输出;以及用于基于对所述第一信号和所述第二信号的比较,检测用于控制所述第一信号的反馈回路的不稳定性的不稳定性检测器。
根据本公开的这些以及其他实施例,一个主设备可以包括驱动负载的放大器和处理子系统,所述处理子系统包括:用于接收用于驱动放大器的第一信号的第一输出,该放大器驱动负载;用于接收由所述放大器驱动的第二信号的第二输出;以及用于基于对所述第一信号和所述第二信号的比较,检测用于控制所述第一信号的反馈回路的不稳定性的不稳定性检测器。
根据本文所包括的附图、说明书和权利要求中本公开的技术优势,对于具有本领域基本技能的人而言是显而易见的。实施例的目的和优点将至少通过权利要求中特别指出的元素、特征和组合来实现和达到。
应当理解,上述的一般描述和以下的详细描述均为示例性和实施例性的,对本公开所述权利要求不具有限制性。
附图说明
通过参照以下结合附图的描述,对于本实施例及其优点可进行更完整的了理解,其中相同的附图标标记指示相同的特征,并且其中:
图1示出了本领域已知的设备中的振动触觉系统的示例;
图2A和图2B分别示出了本领域已知的建模为线性系统的线性谐振致动器(LRA)的示例;
图3示出了本领域已知的电磁负载的示例波形的图;
图4示出了根据本公开实施例的电磁负载的期望示例波形的图;
图5示出了根据本公开实施例的示例移动设备的所选组件的框图;
图6示出了根据本公开实施例的示例集成触觉系统的所选组件的框图;
图7示出了根据本公开实施例的用于改进换能器动态特性(dynamic)的示例系统;
图8示出了根据本公开实施例的建模为线性系统并包括负电阻的线性谐振致动器(LRA)的示例;以及
图9示出了根据本公开实施例的示例不稳定性检测器的所选组件的框图。
具体实施方式
下面的描述根据本公开阐述了示例性实施例。进一步的示例性实施例和实现对于本领域普通技术人员是显而易见的。此外,本领域普通技术人员将认识到,可以使用各种等效技术来代替或结合下文所讨论的实施例,并且所有此类等效物应涵盖于本公开中。
各种电子设备或智能设备可以具有换能器、扬声器和声学输出换能器,例如用于将合适的电驱动信号变换为声学输出(诸如声压波或机械振动)的任何换能器。例如,多个电子设备可能包括一个或多个用于产生声音的扬声器或扩音器,例如,用于回放音频内容、语音通信和/或用于提供声音通知。
这种扬声器或扩音器可以包括电磁致动器,例如音圈电机,其与柔性膜片(例如传统扬声器纸盆)机械耦合,或者与设备表面(例如移动设备的玻璃屏幕)机械耦合。一些电子设备还可以包括能够产生超声波的声学输出换能器,例如用于近距离探测类型的应用和/或机器对机器通信。
多个电子设备可以另外地或替代地包括更专业的声学输出换能器(例如,触觉换能器),其定制用于为用户产生针对触觉控制反馈或通知的振动。另外地或替代地,电子设备可以具有连接器(例如,插座),用于与配件装置的对应连接器形成可拆卸配合连接,并且可以被布置为将驱动信号提供给连接器,以便在连接时驱动配件装置的上面提到的一种或多种类型的换能器。因此,该电子设备将包括驱动电路,其用于以合适的驱动信号驱动主设备或连接的配件的换能器。对于声学或触觉换能器,驱动信号通常是模拟时变电压信号,例如时变波形。
图5示出了根据本公开的实施例的示例主设备502的所选组件的框图。如图5所示,主设备502可以包括外壳501、控制器503、存储器504、力传感器505、麦克风506、线性谐振致动器507、无线电发射机/接收机508、扬声器510和集成触觉系统512。
外壳501可以包括任何合适的壳体、机箱或其他外壳,用于容纳主设备502的各种组件。外壳501可以由塑料、金属和/或任何其他合适的材料构成。此外,外壳501可以被适配(例如定尺寸和定形状)为使得该主设备502可以容易地携带在主设备502的用户的身上。因此,主设备502可以包括但不限于智能电话、平板电脑设备、手持计算设备、个人数字助理、笔记本电脑、视频游戏控制器或可以容易地携带在主设备502的用户的身上的其他设备。
控制器503可以被容纳在外壳501内,并且可以包括任何系统、设备或装置,其被配置为解释和/或执行程序指令和/或过程数据,并且可以包括但不限于微处理器、微控制器、数字信号处理器(DSP)、特定应用集成电路(ASIC)或被配置为解释和/或执行程序指令和/或过程数据的任何其他数字或模拟电路。在一些实施例中,控制器503解释和/或执行存储在存储器504和/或可被控制器503访问的其他计算机可读介质中的程序指令和/或过程数据。
存储器504可以被容纳在外壳501内,可以与控制器503通信地耦合,并且可以包括被配置为保存程序指令和/或数据一段时间的任何系统、设备或装置(例如,计算机可读介质)。存储器504可以包括随机存取存储器(RAM)、电可擦可编程只读存储器(EEPROM)、个人电脑存储卡国际协会(PCMCIA)卡、闪存、磁存储器、光磁存储器,或者易失性存储器或在主设备502电源关闭后保留数据的非易失性存储器的任何合适的选择和/或阵列。
麦克风506可以至少部分地被容纳在外壳501内,其可以与控制器503通信地耦合,并可以包括被配置为将在麦克风506入射的声音变换成可以由控制器503处理的电信号的任何系统、设备或装置,其中使用膜片或薄膜将这种声音变换成电信号,该膜片或薄膜具有基于在膜片或薄膜处接收到的声振动而变化的电容。麦克风506可以包括静电麦克风、电容式麦克风、驻极体麦克风、微机电系统(MEMS)麦克风或任何其他合适的电容麦克风。
无线电发射机/接收机508可以被容纳在外壳501内,其可以与控制器503通信地耦合,并可以包括被配置为在天线的帮助下生成和传输射频信号以及接收射频信号并且将接收到的信号承载的信息变换成控制器503可用的形式的任何系统、设备或装置。无线电发射器/接收器508可配置为发射和/或接收各种类型的射频信号,包括但不限于蜂窝通信(例如2G、3G、4G、LTE等)、短程无线通信(例如蓝牙)、商业无线电信号、电视信号、卫星无线电信号(例如GPS)、无线保真等。
扬声器510可以至少部分地容纳在外壳501内或外部,其可以与控制器503通信地耦合,并可以包括被配置为响应于电音频信号输入产生声音的任何系统、设备或装置。在一些实施例中,扬声器可包括动态扬声器,其采用通过柔性悬架机械耦合到刚性框架上的轻型膜片,该柔性悬架约束音圈轴向地运动通过圆柱形磁隙。当电信号被施加到音圈时,通过音圈内的电流产生磁场,使其成为可变电磁铁。线圈和驱动器的磁性系统相互作用,产生机械力,使线圈(以及所附的纸盆)前后运动,从而在来自放大器的施加的电信号的控制下重现声音。
力传感器505可以被容纳在501外壳内,并且可以包括用于感测力、压力或触摸(例如,与人的手指的交互)并且响应于这样的力、压力或触摸而产生电信号或电子信号的任何合适的系统、装置或设备。在一些实施例中,该电信号或电子信号可以是施加于力传感器的力、压力或触摸的量值的函数。在这些实施例和其他实施例中,这样的电子信号或电信号可以包括与触觉反馈给出的输入信号相关联的通用输入/输出信号(GPIO)。力传感器505可包括但不限于电容式位移换能器、电感式力传感器(例如电阻-电感-电容式传感器)、应变计、压电式力传感器、力感测电阻器、压电式力传感器、薄膜力传感器或基于量子隧穿复合材料的力传感器。为了在本公开中明确说明,本文使用的术语“力”不仅指力,而且指的是指示力或与类似力的物理量,诸如,但不限于,压力和触觉。
线性谐振致动器507可以容纳于外壳501内,并可以包括用于产生跨单轴的振荡机械力的任何合适的系统、设备或装置。例如,在一些实施例中,线性谐振致动器507可以依靠交流电压驱动压在连接于弹簧的运动质量上的音圈。当音圈以弹簧的谐振频率驱动时,线性谐振致动器507可以以可察觉的力振动。因此,线性谐振致动器507可能在特定的频率范围内的触觉应用中有用。虽然为了清晰和阐述的目的,本公开关于使用线性谐振致动器507进行描述,但是可以理解的是,任何其他类型的振动致动器(例如,偏心旋转质量致动器)可用于代替或补充线性谐振致动器507。此外,可以理解的是,被布置为跨多个轴产生振荡机械力的致动器可以被用来代替或补充线性谐振致动器507。如本公开其他地方所述,线性谐振致动器507可以基于从集成触觉系统512接收到的信号向主设备502的用户提供触觉反馈,其用于机械按钮的替换和电容式换能器反馈中的至少一个。
集成触觉系统512容纳于501内,其可以与力传感器505和线性谐振致动器507通信地耦合,并可以包括任何下述系统、设备或装置,所述系统、设备或装置被配置为从指示施加于主设备502的力(例如,由人的手指施加在主设备502的虚拟按钮上的力)的力传感器505中接收信号,并响应于施加在主设备502上的力产生用于驱动线性谐振致动器507的电子信号。图6描绘了根据本公开实施例的集成触觉系统的示例的细节。
虽然特定的示例组件(例如,控制器503、存储器504、力传感器506、麦克风506、无线电发射机/接收机508、扬声器510)在上面的图5中被描绘为集成在主设备502上,但根据本公开主设备502可以包括一个或多个上面没有特别的列举的组件。例如,尽管图5描绘了某些用户接口组件,但是主设备502可以包括除了图5中描绘的用户接口组件之外的一个或多个其他用户接口组件(包括但不限于键盘、触摸屏和显示器),从而允许用户与主设备502进行交互和/或以其他方式操纵主设备502及其相关组件。
图6示出了根据本公开实施例的集成触觉系统512A所选组件的框图。在一些实施例中,集成触觉系统512A可用于实现图5的集成触觉系统512。如图6所示,集成触觉系统512A可以包括数字信号处理器(DSP)602、存储器604和放大器606。
DSP 602可以包括被配置为解释和/或执行程序指令和/或过程数据的任何系统、设备或装置。在一些实施例中,DSP 602可以解释和/或执行存储在存储器604和/或DSP 602可访问的其他计算机可读介质中的程序指令和/或过程数据。
存储器604可以与DSP 602通信地耦合,并且可以包括被配置为保存程序指令和/或数据一段时间的任何系统、设备或装置(例如,计算机可读介质)。存储器604可以包括随机存取存储器(RAM)、电可擦可编程只读存储器(EEPROM)、个人电脑存储卡国际协会(PCMCIA)卡、闪存、磁存储器、光磁存储器,或者易失性存储器或在主设备502电源关闭后保留数据的非易失性存储器的任何合适的选择和/或阵列。
放大器606可以与DSP 602电耦合,并且可以包括被配置为增加输入信号VIN(例如,时变电压或电流)的功率以产生输出信号VOUT的任何合适的电子系统、设备或装置。例如,放大器606可以使用电源(没有明确示出)的电力来增加信号的幅度。放大器606可以包括任何合适的放大器类别,包括但不限于D类放大器。
在操作中,存储器604可以存储一个或多个触觉回放波形。在一些实施例中,一个或多个触觉回放波形中的每一个都可以将触觉响应a(t)定义为线性谐振致动器(例如,线性谐振致动器507)根据时间的期望加速度。DSP 602可以配置为接收指示施加于力传感器505的力的力信号VSENSE。DSP 602可以响应于接收到指示感测力的力信号VSENSE或者独立于这种接收,从存储器604中检索触觉回放波形,并处理这种触觉回放波形以确定经处理的触觉回放信号VIN。在放大器606是D类放大器的实施例中,经处理的触觉回放信号VIN可以包括脉宽调制信号。DSP 602可以响应于接收到指示感测力的力信号VSENSE,致使经处理的触觉回放信号VIN输出到放大器606,并且放大器606可以将经处理的触觉回放信号VIN放大,以产生用于驱动线性谐振致动器507的触觉输出信号VOUT。
在一些实施例中,集成触觉系统512A可形成在单个集成电路上,从而实现相比于现有的触觉反馈控制方法更低的延迟。通过将集成触觉系统512A作为单个单片集成电路的一部分,可以减少或消除集成触觉系统512A的各种接口和系统组件之间的延迟。
图3所示的问题可能是由于具有较高品质因数q的线性谐振致动器507在线性谐振致动器507的谐振频率f0处具有阻抗尖峰造成的。
图7示出了根据本公开的实施例的用于改进电磁负载701的动态特性的示例系统700。在一些实施例中,系统700可以集成到包含系统700和电磁负载701的主设备(例如,主设备502)。
在操作中,主设备的系统700的脉冲发生器722可以生成原始换能器驱动信号x′(t)(在一些实施例中,其可以是诸如触觉波形信号或音频信号的波形信号)。在一些实施例中,可以基于由脉冲发生器722接收到的期望回放波形产生原始换能器驱动信号x′(t)。
原始换能器驱动信号x′(t)可以被负阻抗滤波器726接收,如下文更详细描述的那样,负阻抗滤波器726可以被施加到原始换能器驱动信号x′(t)以减少电磁负载701的有效的品质因数q,其可以进而减少启动时间,并且使在原始换能器驱动信号已经结束后出现的振铃最小化,因此生成到负阻抗滤波器726的输出的换能器驱动信号x(t)。
换能器驱动信号x(t)可以进而由放大器706放大,以产生用于驱动电磁负载701的驱动信号V(t)。响应于驱动信号V(t),电磁负载701的感测端电压VT(t)可以由第一模数转换器(ADC)703转换为数字表示。同样地,感测电流I(t)可以由第二ADC 704转换为数字表示。电流I(t)可以跨具有电阻Rs的分流电阻器702感测,该电阻器被耦合到电磁负载701的端子。端电压VT(t)可由端电压感测块707(例如伏特表)感测。
如图7所示,系统700可以包括阻抗估计器710。阻抗估计器710可以包括任何合适的下述系统、设备或装置,所述系统、设备或装置被配置为基于电磁负载701的感测端电压VT(t)、感测电流I(t)和/或任何其他测量参数,估计电磁负载701的电阻抗和/或机械阻抗的一个或多个分量,以及生成用于控制负阻抗滤波器726的响应的一个或多个控制信号(例如,负阻抗Re_neg)。用于估计电磁负载701的电阻抗和/或机械阻抗的一个或多个分量并产生负阻抗值Re_neg的方法示例,被描述在以下文件中(但不限于此):2020年3月12日提交的题为“Methods and Systems for Improving Transducer Dynamics”的美国专利申请序列号16/816,790;2020年3月12日提交的题为“Methods and Systems for EstimatingTransducer Parameters”的美国专利申请序列号16/816,833;2020年4月7日提交的题为“Thermal Model of Transducer for Thermal Protection and ResistanceEstimation”的美国专利申请序列号16/842,482;以及2019年3月29日提交的题为“DriverCircuitry”的美国专利申请序列号16/369,556,所有这些内容通过引用整体并入本文。
如上面提到的和下面更详细描述的,系统700可以实现负阻抗滤波器726,以施加到原始换能器驱动信号,其可以减小换能器的有效品质因数q,其可以进而减少启动时间并且使在原始换能器驱动信号已经结束后出现的振铃最小化。换能器的品质因数q可表示为:
在等式(7)中,随着直流电阻Re的增大,分子项RRES*Re比分母项RRES+Re增加得更快。因此,品质因数q一般随着直流电阻Re的增加而增加。因此,系统700可以最小化品质因数q的方法之一是有效地减少直流电阻Re。在一些实施例,系统700可以理想地将有效直流电阻Re减小至电磁负载701中出现临界阻尼的点。
暂时转向图8,根据本公开实施例,图8示出了被建模为线性系统的触觉换能器701的示例,所述线性系统包括电组件802和机械组件804的电模型,并且包括与触觉换能器701串联插入的具有负阻抗Re_neg的负阻电阻器806。负阻抗Re的加入可以降低品质因数q,这是因为它有效地从直流电阻Re减去,从而降低了整体直流电阻抗。
实际上,负电阻器是不存在的。相反地,负阻抗滤波器726可以包含被配置为表现基本类似于图8所示电路的数字滤波器,包括与触觉换能器701的数学模型串联的负阻抗Re_neg的数学模型。在操作中,负阻抗滤波器726实际上可以计算电压Vm,如图8所示,其将存在于负阻抗Re_neg和直流电阻Re的接合(junction)处(如果实际上可以布置与触觉换能器电阻701串联的具有负阻抗Re_neg的物理电阻器)。然后可以使用计算出的电压Vm来驱动触觉换能器701。
在本质上,系统700实现了用于电磁负载701的无传感器速度控制反馈回路。反馈回路可以使用电磁负载701参数的动态估计,并产生反馈(例如,负阻抗Re_neg和负阻抗滤波器726的响应)来抵消电磁负载701的大部分电阻抗和机械阻抗。电磁负载701的电阻抗和机械阻抗可能会响应于施加于其上的刺激(例如,驱动信号V(t)的幅度和频率)、环境温度条件和/或其他因素而发生改变。
为了使反馈回路执行的阻抗抵消是有效的,电磁负载701的大部分阻抗应该被抵消(例如,从电磁负载701的阻抗95%到接近100%)。然而,当反馈环几乎抵消了电磁负载701的所有阻抗时,可能导致反馈回路不稳定,例如,如果要抵消的阻抗被估计错误的话。
因此,回到图7,为了平衡减小品质因数q的有效性与反馈回路不稳定性的防止,系统700可以包括不稳定性检测器712以检测不稳定性,当检测到不稳定时,为了防止不稳定,(至少暂时)减少抵消的电磁负载701的阻抗的量。
在图7中描绘的反馈回路中,不稳定性可以定义为,到电磁负载701的输出(其可以由感测端电压VT(t)指示)与原始换能器驱动信号x′(t)不相关的情况。因此,不稳定性检测器712可以将感测端电压VT(t)和原始换能器驱动信号x′(t)接收为为输入,但在一些实施例中,不稳定性检测器712可以监视感测电流I(t)以补充或代替感测端电压VT(t)。
图9示出了根据本公开实施例的示例不稳定性检测器712所选组件的框图。如图9所示,不稳定性检测器712可以接收感测端电压VT(t)和原始换能器驱动信号x′(t),以及应用希尔伯特变换902(或任何具有类似功能的其他合适的变换)来生成分析信号,其具有感测端电压VT(t)和原始换能器驱动信号x′(t)的实分量和虚分量两者。共轭乘法器904可以共轭这些实分量和虚分量以获得表示感测端电压VT(t)和原始换能器驱动信号x′(t)之间的相角差的相位角。共轭乘法器904输出的信号由高通滤波器906滤波并去除直流分量,从而保留相位角其表示感测端电压VT(t)和原始换能器驱动信号x′(t)之间的相位差。绝对值块908可以接收相位角和输出相位角量值比较器910可以将相位角大小与阈值进行比较。基于由比较器910执行的比较,多路复用器912可以选择增益GAIN(例如,将由图7的增益元件714施加于负阻抗Re_neg)。例如,当相位角量值低于阈值时,多路复用器912可以选择较高的增益HI,但是当相位角量值高于阈值时,多路复用器912可以选择较低的增益LO。
虽然上述设想通过控制施加于负阻抗Re_neg的增益来实现对不稳定性的控制,但在一些实施例中,不稳定性检测器712可以控制其他参数以保持反馈回路的稳定性。例如,在一些实施例中,补充或代替控制施加于负阻抗Re_neg的增益之外,不稳定性检测器712还可以控制负阻抗滤波器726的响应、放大器706的运行参数和/或系统700的任何其他参数。
虽然上述讨论应用于线性电磁负载,但可以理解,与所公开的系统和方法相似或相同的系统和方法可以应用于其他线性或非线性系统。
此外,虽然上述考虑使用负阻滤波器来实现LRA的模型,但在一些实施例中,可以使用与LRA的数学等效物来替代模型。
在本文使用的,当两个或两个以上的元件被称为彼此“耦合”,该术语表示这两个或两个以上的元件处于电子连通或机械连通,无论是间接连接还是直接连接、具有还是不具有中间元件。
本公开包含了对此处示例性实施例的所有改变、替换、变体、变更和修改,即在具有该领域普通技能的人员将理解的所有改变、替换、变体、变更和修改。同样地,在适合的情况下,所附权利要求包含了对此处示例性实施例的所有改变、替换、变体、变更和修改,即是具有该领域普通技能的人员所能理解的。此外,参考所附权利要求的设备或系统或设备或系统的组件被“适应为”、“布置成”、“能够”、“配置成”、“可启用的”、“可操作的”或“有效地”执行特定的包含设备、系统或组件的函数,无论特定功能是否被激活,打开,或者解锁,只要设备、系统或组件被如此“适应为”、“布置成”、“能够”、“配置成”、“可启用的”、“可操作的”或“有效地”。因此,可以在不背离本公开范围的情况下,对本文所述的系统、设备和方法进行修改、添加或省略。例如,系统和设备的组件可以被集成或分离。此外,本文公开的系统和设备的操作可以由更多、更少或其他组件执行,所述方法可以包括更多、更少或其他步骤。此外,步骤可以按照任何合适的顺序执行。正如在本文所使用的,“每一个”指集合的每个成员或集合子集的每个成员。
尽管示例性实施例在图中说明并在下面描述,但是本公开的原则可以使用任意数量的技术来实现,无论当前是否已知。本公开不应限于附图和以上描述的示例性方式和技术。
除特别注明外,否则图中所绘物品不一定按比例绘制。
本文所述的所有示例和条件语言旨在帮助读者理解本公开的内容和本领域的发明者贡献的概念,以促进本领域,并被解释为不限于这些具体引用的示例和条件。尽管本公开的实施例已被详细描述,但应当理解,在不背离本公开的精神和范围的情况下,可以在本公开的实施例中进行各种变更、替换和变更。
尽管上述列举了具体的优点,但各种实施例可以包括一些、没有或所有的所列举的优点。此外,在审阅上述数字和说明之后,其他技术优势对该领域的普通技能者而言变得显而易见。
为了帮助专利局和关于本申请所发布的任何专利的读者解读所附权利要求,申请人希望注意,他们并不欲使任何所附权利要求或权利要求要素援引35U.S.C.§112(f),除非在特定权利要求中明确使用“用于……的手段”或“用于……的步骤”的词语。
Claims (21)
1.一种方法,包括:
接收用于驱动放大器的第一信号,所述放大器驱动负载;
接收由所述放大器驱动的第二信号;以及
基于对所述第一信号和所述第二信号的比较,检测用于控制所述第一信号的反馈回路的不稳定性。
2.根据权利要求1所述的方法,其中,所述负载是触觉换能器。
3.根据权利要求1所述的方法,其中,对所述第一信号与所述第二信号的比较包括比较所述第一信号与所述第二信号的相应相位角之间的相位差。
4.根据权利要求3所述的方法,还包括:
执行将所述第一信号变换为实分量和虚分量的第一变换;以及
执行将所述第二信号变换为实分量和虚分量的第二变换。
5.根据权利要求4所述的方法,其中,所述第一变换和所述第二变换中的每一个都包括希尔伯特变换。
6.根据权利要求4所述的方法,还包括对所述第一信号和所述第二信号的相应实分量和虚分量执行共轭相乘以产生相位差。
7.根据权利要求1所述的方法,还包括响应于确定所述反馈回路的不稳定性而修改所述第一信号。
8.根据权利要求1所述的方法,还包括响应于确定所述反馈回路的不稳定性而修改所述反馈回路的增益。
9.根据权利要求1所述的方法,其中,所述反馈回路的组件模拟虚拟负阻抗,其虚拟地施加到所述负载的至少部分偏移的阻抗,并且所述方法还包括响应于确定所述反馈回路的不稳定性而修改所述虚拟负阻抗。
10.根据权利要求1所述的方法,其中,所述负载包括电磁负载。
11.一种系统,包括:
第一输出,其用于接收用于驱动放大器的第一信号,所述放大器驱动负载;
第二输出,其用于接收由所述放大器驱动的第二信号;以及
不稳定性检测器,其用于基于对所述第一信号和所述第二信号的比较,检测用于控制所述第一信号的反馈回路的不稳定性。
12.根据权利要求11所述的系统,其中,所述负载为触觉换能器。
13.根据权利要求11所述的系统,其中,对所述第一信号与所述第二信号的比较包括比较所述第一信号与所述第二信号的相应相位角之间的相位差。
14.根据权利要求13所述的系统,其中,所述不稳定性检测器还被配置为:
执行将所述第一信号变换为实分量和虚分量的第一变换;以及
执行将所述第二信号变换为实分量和虚分量的第二变换。
15.根据权利要求14所述的系统,其中,所述第一变换和所述第二变换中的每一个都包括希尔伯特变换。
16.根据权利要求14所述的系统,其中,所述不稳定性检测器还被配置为对所述第一信号和所述第二信号的相应实分量和虚分量执行共轭相乘以产生相位差。
17.根据权利要求11所述的系统,其中,所述不稳定性检测器还被配置为响应于确定所述反馈回路的不稳定性而引起对所述第一信号的修改。
18.根据权利要求11所述的系统,其中,所述不稳定性检测器还被配置为响应于确定所述反馈回路的不稳定性而引起对所述反馈回路的增益的修改。
19.根据权利要求11所述的系统,其中,所述反馈回路的组件模拟虚拟负阻抗,其虚拟地施加到所述负载的至少部分偏移的阻抗,并且所述方法还包括响应于确定所述反馈回路的不稳定性而修改所述虚拟负阻抗。
20.根据权利要求11所述的系统,其中,所述负载包括电磁负载。
21.一种主设备,包括:
放大器,其驱动负载;以及
处理子系统,其包括:
第一输出,其用于接收用于驱动放大器的第一信号,所述放大器驱动负载;
第二输出,其用于接收由所述放大器驱动的第二信号;以及
不稳定性检测器,其用于基于对所述第一信号和所述第二信号的比较,检测用于控制所述第一信号的反馈回路的不稳定性。
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