CN113300664A

CN113300664A - Method, device and medium for determining motor driving signal

Info

Publication number: CN113300664A
Application number: CN202010107797.0A
Authority: CN
Inventors: 王起; 陈建立
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2020-02-21
Filing date: 2020-02-21
Publication date: 2021-08-24
Anticipated expiration: 2040-02-21
Also published as: CN113300664B

Abstract

The present disclosure relates to a method, apparatus, and medium for determining a motor driving signal, the method including: determining a corresponding relation between the temperature of a motor in the mobile terminal and the resonant frequency; the motor temperature and the resonant frequency in the corresponding relation are in negative correlation; acquiring the current temperature of the motor, and determining the current resonant frequency corresponding to the motor according to the current temperature and the corresponding relation; and determining a motor driving signal corresponding to the current resonant frequency based on a preset mapping relation between the reference driving signal and the reference resonant frequency. In this disclosure, when the motor needs to be driven to vibrate for a short time, according to the current temperature of the motor and the determined corresponding relation between the temperature of the motor and the resonant frequency, a resonant frequency which is relatively close to the current actual resonant frequency of the motor is determined, so that under the condition that the resonant frequency of the motor cannot be calibrated, the vibration sense difference of different motors caused by temperature change is reduced, the short vibration consistency of the motor is kept at a higher level, and better use experience is provided for a user.

Description

Method, device and medium for determining motor driving signal

Technical Field

The present disclosure relates to the field of mobile terminal data processing technologies, and in particular, to a method, an apparatus, and a medium for determining a motor driving signal.

Background

Mobile terminals increasingly use linear motors to improve the vibration effect. The motor may provide a vibration effect of the short vibration (typically 10 to 20 milliseconds) type, and may also provide a vibration effect of the long vibration (typically greater than 20 milliseconds) type.

However, the actual performance of the motors varies from one lot to another, and there are also individual performance differences between motors of the same lot. In general, the short vibration drive waveform of the motor is adjusted according to the resonance frequency (F0) of the motor itself.

However, in practical applications, the calibration of the resonant frequency cannot be achieved when the motor generates a short vibration. This is because the calibration of the resonant frequency usually requires sending a calibration driving signal to the motor, driving the motor and detecting the back emf to calculate the current resonant frequency. However, the short vibration mode itself has a motor driving signal for short vibration, which makes it difficult to distinguish the motor driving signal for short vibration from the calibration driving signal, and the motor driving signal for short vibration also includes a braking waveform, and the presence of the braking waveform affects the detection of the back electromotive force.

In addition, since the resonance frequency is degraded by environmental information such as temperature, the change in resonance frequency causes the short vibration uniformity to be deteriorated when the motor temperature is changed.

Disclosure of Invention

To overcome the problems in the related art, the present disclosure provides a method, apparatus, and medium for determining a motor driving signal.

According to a first aspect of the embodiments of the present disclosure, there is provided a method for determining a motor driving signal, applied to a mobile terminal, including:

determining a corresponding relation between the temperature of a motor in the mobile terminal and the resonant frequency; the motor temperature and the resonant frequency in the corresponding relation are in negative correlation;

acquiring the current temperature of the motor, and determining the current resonant frequency corresponding to the motor according to the current temperature and the corresponding relation;

and determining a motor driving signal corresponding to the current resonant frequency based on a preset mapping relation between the reference driving signal and the reference resonant frequency.

In another embodiment, the obtaining the current temperature of the motor and determining the current resonant frequency corresponding to the motor according to the current temperature and the corresponding relationship includes:

detecting a current temperature of the motor in response to the vibration event trigger signal;

and determining the resonant frequency corresponding to the current temperature based on the corresponding relation, and taking the determined resonant frequency as the current resonant frequency.

before receiving the vibration event trigger signal, circularly executing the following contents: detecting the current temperature of a motor, updating the value of the reference temperature to be the value of the current temperature when first difference information between the current temperature and the reference temperature is larger than or equal to a first threshold value, determining the resonant frequency corresponding to the reference temperature based on the corresponding relation, and taking the determined resonant frequency as the reference frequency;

after receiving a vibration event trigger signal, responding to the vibration event trigger signal, detecting the current temperature of a motor, judging whether second difference information between the current temperature and the reference temperature is smaller than or equal to a second threshold value, and taking the reference frequency as the current resonant frequency when the second difference information between the current temperature and the reference temperature is smaller than or equal to the second threshold value.

In another embodiment, the method further comprises:

and when the second difference information between the current temperature and the reference temperature is larger than a second threshold value, determining the resonant frequency corresponding to the current temperature based on the corresponding relation, and taking the determined resonant frequency as the current resonant frequency.

In another embodiment, the method further comprises:

determining the first threshold, the determining the first threshold comprising: determining a set temperature interval to which the current temperature belongs, and determining a first threshold corresponding to the set temperature interval; each set temperature interval corresponds to a first threshold, and the first thresholds corresponding to different set temperature intervals are different; setting the representative temperature of the temperature interval to be in positive correlation with the corresponding first threshold value;

determining the second threshold, the determining the second threshold comprising: determining a set temperature interval to which the current temperature belongs, and determining a second threshold corresponding to the set temperature interval; each set temperature interval corresponds to a second threshold, and the second thresholds corresponding to different set temperature intervals are different; setting the representative temperature of the temperature interval to be in positive correlation with the corresponding second threshold value;

the representative temperature is the highest temperature, the lowest temperature or the average temperature of the temperature interval.

In another embodiment, the first gap information is an absolute value of a difference between the current temperature and the reference temperature, or a ratio of the absolute value of the difference between the current temperature and the reference temperature and the absolute value of the reference temperature;

the second difference information is an absolute value of a difference between the current temperature and the reference temperature, or a ratio of the absolute value of the difference between the current temperature and the reference temperature to the absolute value of the reference temperature.

In another embodiment, the determining the correspondence between the temperature of the motor and the resonant frequency in the mobile terminal includes one of:

testing a plurality of motors to obtain a data pair set under the same testing temperature set, wherein the data pair set comprises data pairs of motor testing temperature and resonant frequency; calculating the average value of the resonance frequency corresponding to the test temperature of each motor in the test temperature set according to the data pair set, and determining the corresponding relation according to the average value of the resonance frequency corresponding to the test temperature of each motor in the test temperature set;

testing a plurality of motors to obtain a data pair set under the same testing temperature set, wherein the data pair set comprises data pairs of motor testing temperature and resonant frequency; updating the set of data pairs; the updating the set of data pairs comprises: removing a resonant frequency with the maximum variance from a set consisting of a plurality of resonant frequencies corresponding to each motor test temperature; fitting the corresponding relation to the set according to the updated data;

testing the motors, and acquiring a data pair set of the motors, wherein the data pair set comprises data pairs of motor testing temperature and resonant frequency; and fitting the corresponding relation to a set according to the data.

According to a second aspect of the embodiments of the present disclosure, there is provided a device for determining a motor driving signal, applied to a mobile terminal, including:

the first determining module is used for determining the corresponding relation between the temperature of a motor in the mobile terminal and the resonant frequency; the motor temperature and the resonant frequency in the corresponding relation are in negative correlation;

the second determining module is used for acquiring the current temperature of the motor and determining the current resonant frequency corresponding to the motor according to the current temperature and the corresponding relation;

and the third determining module is used for determining the motor driving signal corresponding to the current resonant frequency based on the mapping relation between the preset reference driving signal and the reference resonant frequency.

In another embodiment, the second determining module includes:

the first receiving module is used for receiving a vibration event trigger signal;

the first detection module is used for responding to the vibration event trigger signal and detecting the current temperature of the motor;

and the first processing module is used for determining the resonant frequency corresponding to the current temperature based on the corresponding relation and taking the determined resonant frequency as the current resonant frequency.

In another embodiment, the second determining module includes:

the cycle execution module is used for executing the following contents in a cycle before receiving the vibration event trigger signal: detecting the current temperature of a motor, updating the value of the reference temperature to be the value of the current temperature when first difference information between the current temperature and the reference temperature is larger than or equal to a first threshold value, determining the resonant frequency corresponding to the reference temperature based on the corresponding relation, and taking the determined resonant frequency as the reference frequency;

the second receiving module is used for receiving a vibration event trigger signal;

the second detection module is used for responding to the vibration event trigger signal and detecting the current temperature of the motor;

the judging module is used for judging whether second difference information between the current temperature and the reference temperature is smaller than or equal to a second threshold value or not;

and the second processing module is used for taking the reference frequency as the current resonant frequency when the second difference information between the current temperature and the reference temperature is less than or equal to a second threshold value.

In another embodiment, the second determining module further includes:

and the third processing module is used for determining the resonant frequency corresponding to the current temperature based on the corresponding relation when the second difference information between the current temperature and the reference temperature is greater than a second threshold value, and taking the determined resonant frequency as the current resonant frequency.

In another embodiment, the apparatus further comprises:

a first threshold determination module to determine the first threshold, the determining the first threshold comprising: determining a set temperature interval to which the current temperature belongs, and determining a first threshold corresponding to the set temperature interval; each set temperature interval corresponds to a first threshold, and the first thresholds corresponding to different set temperature intervals are different; setting the representative temperature of the temperature interval to be in positive correlation with the corresponding first threshold value;

a second threshold determination module to determine the second threshold, the determining the second threshold comprising: determining a set temperature interval to which the current temperature belongs, and determining a second threshold corresponding to the set temperature interval; each set temperature interval corresponds to a second threshold, and the second thresholds corresponding to different set temperature intervals are different; setting the representative temperature of the temperature interval to be in positive correlation with the corresponding second threshold value;

In another embodiment, the first determining module is configured to determine the correspondence between the temperature of the motor and the resonant frequency in the mobile terminal by using one of the following:

According to a third aspect of the embodiments of the present disclosure, there is provided a motor drive signal determination apparatus including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

According to a fourth aspect of embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium having instructions therein, which when executed by a processor of a mobile terminal, enable the mobile terminal to perform a method of determining a motor driving signal, the method including:

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: utilize the resonant frequency of motor can be according to the characteristic that temperature variation changes, the corresponding relation of motor temperature and resonant frequency is found in advance, when need drive motor carry out short vibration, according to motor current temperature and corresponding relation confirm with the current actual resonant frequency of motor comparatively close resonant frequency, thereby under the resonant frequency's of unable calibration motor circumstances, reduce the vibration sense difference of the different motors that temperature variation brought, make the short consistency that shakes of motor keep the higher level, provide better use experience for the user. The embodiment can effectively solve the problem of poor short vibration consistency caused by temperature change in the prior art.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a flow chart illustrating a method of determining a motor drive signal according to an exemplary embodiment;

FIG. 2 is a plan view illustrating relationship curve information corresponding to the set of data pairs shown in Table 1, according to an exemplary embodiment;

FIG. 3 is a graph illustrating a fitted motor temperature and resonant frequency corresponding to the set of data pairs shown in Table 1, according to an exemplary embodiment;

FIG. 4 is a flowchart illustrating step S12 of FIG. 1, according to an exemplary embodiment;

FIG. 5 is a block diagram illustrating a motor drive signal determination apparatus in accordance with an exemplary embodiment;

FIG. 6 is a block diagram illustrating a motor drive signal determination apparatus in accordance with an exemplary embodiment;

FIG. 7 is a block diagram illustrating a motor drive signal determination apparatus in accordance with an exemplary embodiment;

FIG. 8 is a block diagram illustrating a motor drive signal determination apparatus in accordance with an exemplary embodiment;

fig. 9 is a block diagram illustrating a motor driving signal determining apparatus according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.

The temperature of the motor changes, the resonant frequency of the motor correspondingly changes, and when the same motor uses the same motor driving signal for short vibration, the vibration effect generated by the change of the resonant frequency is different. Therefore, the driving signal needs to be adjusted in real time for the change of the motor resonant frequency caused by the temperature change, so that the motor keeps the short vibration consistency in the temperature change process.

The embodiment of the disclosure provides a method for determining a motor driving signal, which is applied to a mobile terminal. Referring to fig. 1, fig. 1 is a flowchart illustrating a method of determining a motor driving signal according to an exemplary embodiment. As shown in fig. 1, the method includes:

step S11, determining the corresponding relation between the temperature of the motor in the mobile terminal and the resonant frequency; the motor temperature and the resonant frequency in the corresponding relation are in negative correlation.

And step S12, acquiring the current temperature of the motor, and determining the current resonant frequency corresponding to the motor according to the current temperature and the corresponding relation.

Step S13, determining a motor driving signal corresponding to the current resonant frequency based on a mapping relationship between a preset reference driving signal and a reference resonant frequency.

The temperature of the motor in the embodiment of the present disclosure is actually the temperature of the motor body, and when the temperature of the motor is detected, the temperature of the motor is calculated by setting a temperature measuring resistor near the motor and according to the value measured by the temperature measuring resistor, or by testing the value of a resistor set inside the motor.

In this embodiment, the resonant frequency of the motor is changed according to the temperature change, the corresponding relationship between the temperature of the motor and the resonant frequency is pre-established, when the motor needs to be driven to perform short vibration, a resonant frequency which is closer to the current actual resonant frequency of the motor is determined according to the current temperature of the motor and the corresponding relationship, so that the vibration sense difference of different motors caused by the temperature change is reduced under the condition that the resonant frequency of the motor cannot be calibrated, the short vibration consistency of the motor is kept at a higher level, and better use experience is provided for a user. The embodiment can effectively solve the problem of poor short vibration consistency caused by temperature change in the prior art.

The embodiment of the disclosure also provides a method for determining the motor driving signal. In this method, the corresponding relationship between the motor temperature and the resonant frequency is determined in step S11 shown in fig. 1, and includes one of the following:

the method comprises the steps that in the first mode, a plurality of motors are tested, and a data pair set under the same testing temperature set is obtained, wherein the data pair set comprises data pairs of motor testing temperature and resonant frequency; and calculating the average value of the resonance frequency corresponding to the test temperature of each motor in the test temperature set according to the data pair set, and determining the corresponding relation according to the average value of the resonance frequency corresponding to each temperature in the test temperature set.

Examples are as follows:

the 5 motors were tested and a set of data pairs was obtained at the same set of test temperatures, as shown in table 1.

TABLE 1

According to the data pair set, the average value of the resonance frequency corresponding to each temperature in the test temperature set is calculated, as shown in table 2.

TABLE 2

And determining the corresponding relation according to the average value of the resonance frequency corresponding to each temperature in the test temperature set. The method specifically comprises the following steps: and connecting adjacent points under the temperature frequency coordinate to form a curve, and taking the curve as the corresponding relation.

In the second mode, a plurality of motors are tested, and a data pair set under the same test temperature set is obtained, wherein the data pair set comprises data pairs of motor test temperature and resonant frequency; updating the set of data pairs; the updating the set of data pairs comprises: removing a resonant frequency with the maximum variance from a set consisting of a plurality of resonant frequencies corresponding to each test temperature; and fitting the corresponding relation to the set according to the updated data.

Taking the data pair set shown in table 1 as an example, data obtained by removing the resonance frequency having the largest variance from the set of the resonance frequencies corresponding to each test temperature is shown in table 3.

TABLE 3

In table 3, invalid data is represented at the value indicated by X, and this invalid data is not used for fitting.

In the second mode, for a set formed by a plurality of resonant frequencies corresponding to each test temperature, after a resonant frequency with the largest variance is removed, the function of data denoising is performed, and individual data with a large difference with the average value are removed, so that the obtained data can better represent the universality rule between the motor temperature and the resonant frequency.

Testing the plurality of motors to obtain a data pair set of the plurality of motors, wherein the data pair set comprises data pairs of motor temperature and resonant frequency; and fitting the corresponding relation to a set according to the data.

Examples are as follows:

the plurality of motors were tested and the data pairs for the plurality of motors were collected as shown in table 1.

Corresponding relationship curve information is constructed according to the data pair set of each motor, and a plan view of the relationship curve information which is shown in fig. 2 and corresponds to the data pair set shown in table 1 is obtained. The abscissa in this plan is temperature in degrees celsius; the ordinate is the resonance frequency in hertz. The curves of 5 different grey values in fig. 2 correspond to 5 different motors.

Fitting a corresponding relation according to the information of the plurality of relation curves, for example: fitting by using a polynomial of degree 2 results in a fitting curve for representing the corresponding relationship shown in fig. 3. Wherein, the two dotted lines are respectively 2 polynomial fitting curves, and the solid line is the final fitting curve. In addition to a polynomial fit of degree 2, a more polynomial fit may be used, such as a polynomial fit of degree 3.

In another embodiment, different sets of test temperatures are used when testing different motors. The test mode using the same set of test temperatures for different motors is superior to the test mode using different sets of test temperatures for different motors.

In this embodiment, a plurality of motors are tested, and the corresponding relationship between the motor temperature and the resonant frequency is determined by using the test data, and the motor temperature and the resonant frequency of the corresponding relationship are in negative correlation, so that a general variation trend can be embodied.

The embodiment of the disclosure also provides a method for determining the motor driving signal. In this method, determining the current resonance frequency according to the current temperature of the motor and the correspondence in step S12 shown in fig. 1 includes: responding to the vibration event trigger signal, detecting the current temperature of the motor, determining the resonant frequency corresponding to the current temperature based on the corresponding relation, and taking the determined resonant frequency as the current resonant frequency. In the embodiment of the present disclosure, a vibration event triggered by the motor in the short vibration mode is referred to as a short vibration event, and the short vibration event is taken as an exemplary description of the vibration event in the following.

For example, the following steps are carried out:

after testing the different motors, the correspondence shown in fig. 3 is obtained. After an outdoor user carries the terminal and starts up, after receiving a short message, the terminal triggers a short vibration event, detects that the current temperature of the motor is 0 ℃, determines that the current resonance frequency corresponding to the current temperature of the motor is 175 Hz according to the corresponding relation shown in FIG. 3, determines a motor driving signal for short vibration by using the 175 Hz, and drives the motor to perform short vibration by using the motor driving signal. After a user carries the terminal indoors, the terminal triggers a short vibration event after receiving a short message, detects that the current temperature of the motor is 25 ℃, determines that the current resonance frequency corresponding to the current temperature of the motor is 172 Hz according to the corresponding relation shown in FIG. 3, determines a motor driving signal for short vibration by using the 172 Hz, and drives the motor to perform short vibration by using the motor driving signal.

In this embodiment, after receiving the short vibration event trigger signal each time, before performing short vibration driving, the current temperature of the motor is detected, and the resonant frequency corresponding to the current temperature of the motor determined according to the correspondence is used as the current resonant frequency; therefore, the influence of temperature on the resonant frequency of the motor can be overcome, and before short vibration driving is carried out each time, a frequency which is closer to the actual resonant frequency of the motor at the current temperature is used as the current resonant frequency. When the temperature of the motor in the terminal is different by using the method of the embodiment, the short vibration driving can be performed by using a resonant frequency which is relatively close to the actual resonant frequency, so that the change of the vibration effect caused by the change of the resonant frequency of the motor, which is introduced by the change of the temperature of the motor, is overcome, and the short vibration consistency of the same terminal in the same scene is maintained.

The embodiment of the disclosure also provides a method for determining the motor driving signal. FIG. 4 is a flowchart illustrating step S12 of FIG. 1, according to an exemplary embodiment; in this method, acquiring the current temperature of the motor in step S12 shown in fig. 1, and determining the current resonant frequency corresponding to the motor according to the current temperature and the correspondence relationship includes:

in step S41, before receiving the vibration event trigger signal, the following is executed in a loop: detecting the current temperature of the motor, updating the value of the reference temperature to be the value of the current temperature when first difference information between the current temperature and the reference temperature is larger than or equal to a first threshold value, determining the resonant frequency corresponding to the reference temperature based on the corresponding relation, and taking the determined resonant frequency as the reference frequency.

In step S42, after receiving the vibration event trigger signal, the current temperature of the motor is detected in response to the vibration event trigger signal.

Step S43, determining whether the second difference information between the current temperature and the reference temperature is less than or equal to a second threshold.

And step S44, when the second difference information between the current temperature and the reference temperature is less than or equal to a second threshold, taking the reference frequency as the current resonance frequency.

And step S45, when the second difference information between the current temperature and the reference temperature is greater than a second threshold, determining the resonant frequency corresponding to the current temperature based on the corresponding relationship, and taking the determined resonant frequency as the current resonant frequency.

In step S41, the motor temperature at the time of terminal power-on is used as the initial reference temperature. The vibration event in step S42 is a short vibration event. The first gap information is an absolute value of a difference between the current temperature and the reference temperature, or a ratio of the absolute value of the difference between the current temperature and the reference temperature to the absolute value of the reference temperature. The second difference information is an absolute value of a difference between the current temperature and the reference temperature, or a ratio of the absolute value of the difference between the current temperature and the reference temperature to the absolute value of the reference temperature.

For example, the following steps are carried out:

the first threshold value is set to 5. When the terminal is started, the temperature of the motor is measured to be 0 ℃, and the 0 ℃ is set as a reference temperature. And determining that the resonance frequency corresponding to the reference temperature is 175 Hz based on the corresponding relation, and setting the reference frequency to be 175 Hz.

The process shown in step S41 is performed every 4 minutes.

For example: in the first execution process, the current temperature of the motor is detected to be 2 ℃, the absolute value of the difference between the current temperature and the reference temperature is 2 and is smaller than a first threshold value, the reference temperature is kept to be 0 ℃, and the reference frequency is kept to be 175 Hz.

In the second execution process, the current temperature of the motor is detected to be 10 degrees centigrade, the absolute value of the difference between the current temperature and the reference temperature is 10 degrees centigrade and is larger than the first threshold, the value of the updated reference temperature is 10 degrees centigrade, the resonance frequency corresponding to the reference temperature is determined to be 173 hertz based on the corresponding relation, and the value of the updated reference frequency is 173 hertz.

In the third execution process, the current temperature of the motor is detected to be 25 ℃, the absolute value of the difference between the current temperature and the reference temperature is 10 and is larger than the first threshold, the value of the updated reference temperature is 25 ℃, the resonance frequency corresponding to the reference temperature is determined to be 172 Hz based on the corresponding relation, and the value of the updated reference frequency is 172 Hz.

Because the temperature of the motor and the resonant frequency in the corresponding relation are in negative correlation, and the negative correlation coefficients in different temperature intervals are different. In another embodiment, different set temperature sections are divided according to the correspondence relationship between the motor temperature and the resonance frequency, and the different set temperature sections correspond to different first threshold values and different second threshold values.

The method also comprises the following steps:

determining the second threshold, the determining the second threshold comprising: determining a set temperature interval to which the current temperature belongs, and determining a second threshold corresponding to the set temperature interval; each set temperature interval corresponds to a second threshold, and the second thresholds corresponding to different set temperature intervals are different; the representative temperature of the set temperature interval is positively correlated with the corresponding second threshold.

The representative temperature is the highest temperature, the lowest temperature or the average temperature of the temperature interval. Through the arrangement, when the temperature of the motor is in different intervals, more accurate current resonant frequency can be obtained on the basis of reducing the calculated amount according to the characteristic that the resonant frequency changes in the intervals.

For example, the following steps are carried out:

the correspondence of motor temperature to resonant frequency is shown in fig. 3. According to the rule of the corresponding relation, the temperature is divided into two temperature intervals. The first temperature range is-10 to 10 degrees celsius. The second temperature interval is 10 to 45 degrees celsius. In the first temperature interval, the change speed of the resonant frequency relative to the temperature is high, the first threshold corresponding to the first temperature interval is set to be 4 degrees, in the second temperature interval, the change speed of the resonant frequency relative to the temperature is low, and the second threshold corresponding to the second temperature interval is set to be 5 degrees.

In this embodiment, the motor reference temperature and the motor reference frequency are updated in real time along with the change of the motor temperature, so that the difference between the motor reference temperature and the real-time motor temperature is small, and the difference between the motor reference frequency and the real-time motor resonant frequency is small. After receiving the short vibration event trigger signal each time, when the difference between the current temperature of the motor and the reference temperature of the motor is small, the reference frequency of the motor can be directly used as the current resonance frequency, so that the effect of short vibration consistency can be ensured while the data processing amount is reduced; when the difference between the current temperature of the motor and the reference temperature of the motor is large, the resonant frequency corresponding to the current temperature of the motor needs to be determined again according to the corresponding relation, and the short vibration consistency effect is improved by increasing the calculation cost of data processing amount.

In the method, in the mapping relationship between the reference driving signal and the reference resonant frequency in fig. 1, each reference driving signal corresponds to a reference resonant frequency. Typically, the resonant frequency of the motor is distributed in the range of 165 to 185 hertz. For example: set up 5 benchmark resonant frequency, do respectively: 165 Hz, 170 Hz, 175 Hz, 180 Hz and 185 Hz. The motor drive signals for short oscillations include a start drive signal (typically a sine wave signal) and a brake drive signal (typically a cosine wave signal). The larger the reference resonant frequency is, the larger the period of the start drive signal in the corresponding reference drive signal is, and the smaller the period of the brake drive signal is. In step S13, determining the motor driving signal corresponding to the current resonant frequency based on a preset mapping relationship between the reference driving signal and the reference resonant frequency includes: determining a first incidence relation between the period of the starting driving signal and the reference resonant frequency and a second incidence relation between the period of the braking driving signal and the reference resonant frequency according to the reference driving signal, determining the starting driving signal of the motor driving signal according to the first incidence relation, and determining the braking driving signal of the motor driving signal according to the second incidence relation. The mapping relation between the reference driving signal and the reference resonant frequency is preset after training in advance, and each reference driving signal corresponds to the corresponding reference resonant frequency.

The embodiment of the disclosure also provides a device for determining the motor driving signal, which is applied to a mobile terminal. FIG. 5 is a block diagram illustrating a motor drive signal determination apparatus in accordance with an exemplary embodiment; as shown in fig. 5, the apparatus includes:

a first determining module 501, configured to determine a corresponding relationship between a temperature of a motor in the mobile terminal and a resonant frequency; the motor temperature and the resonant frequency in the corresponding relation are in negative correlation;

a second determining module 502, configured to obtain a current temperature of the motor, and determine a current resonant frequency corresponding to the motor according to the current temperature and the corresponding relationship;

a third determining module 503, configured to determine, based on a mapping relationship between a preset reference driving signal and a reference resonant frequency, a motor driving signal corresponding to the current resonant frequency.

The embodiment of the disclosure also provides a device for determining the motor driving signal. FIG. 6 is a block diagram illustrating a motor drive signal determination apparatus in accordance with an exemplary embodiment; as shown in fig. 6, the second determining module 502 shown in fig. 5 includes:

a first receiving module 601, configured to receive a vibration event trigger signal;

a first detection module 602, configured to detect a current temperature of a motor in response to the vibration event trigger signal;

the first processing module 603 is configured to determine a resonant frequency corresponding to the current temperature based on the correspondence, and use the determined resonant frequency as the current resonant frequency.

The embodiment of the disclosure also provides a device for determining the motor driving signal. FIG. 7 is a block diagram illustrating a motor drive signal determination apparatus in accordance with an exemplary embodiment; as shown in fig. 7, the second determining module 502 shown in fig. 5 includes:

a loop executing module 701, configured to, before receiving the vibration event trigger signal, execute the following in a loop: detecting the current temperature of the motor, updating the value of the reference temperature to be the value of the current temperature when first difference information between the current temperature and the reference temperature is larger than or equal to a first threshold value, determining the resonant frequency corresponding to the reference temperature based on the corresponding relation, and taking the determined resonant frequency as the reference frequency.

A second receiving module 702, configured to receive a vibration event trigger signal;

a second detection module 703 for detecting the current temperature of the motor in response to the vibration event trigger signal;

a determining module 704, configured to determine whether second difference information between the current temperature and the reference temperature is smaller than or equal to a second threshold;

a second processing module 705, configured to use the reference frequency as a current resonant frequency when second difference information between the current temperature and the reference temperature is smaller than or equal to a second threshold.

In another embodiment, as shown in fig. 8, the second determining module 502 further includes: a third processing module 801, configured to determine, when second difference information between the current temperature and the reference temperature is greater than a second threshold, a resonant frequency corresponding to the current temperature based on the correspondence, and use the determined resonant frequency as the current resonant frequency.

Wherein the apparatus further comprises:

The first difference information is the absolute value of the difference between the current temperature and the reference temperature, or the ratio of the absolute value of the difference between the current temperature and the reference temperature to the absolute value of the reference temperature;

the second difference information is an absolute value of a difference between the current temperature and the reference temperature, or a ratio of the absolute value of the difference between the current temperature and the reference temperature to the absolute value of the reference temperature. The embodiment of the disclosure also provides a device for determining the motor driving signal. In this apparatus, fig. 5 shows a first determining module 501 for determining a correspondence relationship between a motor temperature and a resonant frequency in the mobile terminal using one of:

The embodiment of the disclosure also provides a device for determining the motor driving signal. The device comprises:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

Fig. 9 is a block diagram illustrating a determination apparatus 900 for a motor drive signal according to an exemplary embodiment. For example, the apparatus 900 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.

Referring to fig. 9, apparatus 900 may include one or more of the following components: a processing component 902, a memory 904, a power component 906, a multimedia component 908, an audio component 910, an input/output (I/O) interface 912, a sensor component 914, and a communication component 916.

The processing component 902 generally controls overall operation of the device 900, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. Processing component 902 may include one or more processors 920 to execute instructions to perform all or a portion of the steps of the methods described above. Further, processing component 902 can include one or more modules that facilitate interaction between processing component 902 and other components. For example, the processing component 902 can include a multimedia module to facilitate interaction between the multimedia component 908 and the processing component 902.

The memory 904 is configured to store various types of data to support operation at the device 900. Examples of such data include instructions for any application or method operating on device 900, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 904 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

Power component 906 provides power to the various components of device 900. The power components 906 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the device 900.

The multimedia component 908 comprises a screen providing an output interface between the device 900 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 908 includes a front facing camera and/or a rear facing camera. The front-facing camera and/or the rear-facing camera may receive external multimedia data when the device 900 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 910 is configured to output and/or input audio signals. For example, audio component 910 includes a Microphone (MIC) configured to receive external audio signals when apparatus 900 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 904 or transmitted via the communication component 916. In some embodiments, audio component 910 also includes a speaker for outputting audio signals.

I/O interface 912 provides an interface between processing component 902 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor component 914 includes one or more sensors for providing status assessment of various aspects of the apparatus 900. For example, the sensor assembly 914 may detect an open/closed state of the device 900, the relative positioning of the components, such as a display and keypad of the apparatus 900, the sensor assembly 914 may also detect a change in the position of the apparatus 900 or a component of the apparatus 900, the presence or absence of user contact with the apparatus 900, orientation or acceleration/deceleration of the apparatus 900, and a change in the temperature of the apparatus 900. The sensor assembly 914 may include a proximity sensor configured to detect the presence of a nearby object in the absence of any physical contact. The sensor assembly 914 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 914 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 916 is configured to facilitate communications between the apparatus 900 and other devices in a wired or wireless manner. The apparatus 900 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 916 receives a broadcast signal or broadcast associated information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 916 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the apparatus 900 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer readable storage medium comprising instructions, such as the memory 904 comprising instructions, executable by the processor 920 of the apparatus 900 to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims

1. A method for determining a motor driving signal is applied to a mobile terminal, and is characterized by comprising the following steps:

2. The method of claim 1,

the obtaining the current temperature of the motor and determining the current resonant frequency corresponding to the motor according to the current temperature and the corresponding relationship includes:

3. The method of claim 1,

4. The method of claim 3,

the method further comprises the following steps:

5. The method of claim 4,

the method further comprises the following steps:

determining the first threshold; the determining the first threshold comprises: determining a set temperature interval to which the current temperature belongs, and determining a first threshold corresponding to the set temperature interval; each set temperature interval corresponds to a first threshold, and the first thresholds corresponding to different set temperature intervals are different; setting the representative temperature of the temperature interval to be in positive correlation with the corresponding first threshold value;

determining the second threshold; the determining the second threshold comprises: determining a set temperature interval to which the current temperature belongs, and determining a second threshold corresponding to the set temperature interval; each set temperature interval corresponds to a second threshold, and the second thresholds corresponding to different set temperature intervals are different; setting the representative temperature of the temperature interval to be in positive correlation with the corresponding second threshold value;

6. The method of claim 4,

7. The method of claim 1,

the determining the corresponding relation between the temperature of the motor and the resonant frequency in the mobile terminal comprises one of the following steps:

8. A motor driving signal determining apparatus applied to a mobile terminal, comprising:

9. The apparatus of claim 8,

the second determining module includes:

10. The apparatus of claim 8,

the second determining module includes:

11. The apparatus of claim 10,

the second determining module further includes:

12. The apparatus of claim 11,

the device further comprises:

a first threshold determination module for determining the first threshold; the determining the first threshold comprises: determining a set temperature interval to which the current temperature belongs, and determining a first threshold corresponding to the set temperature interval; each set temperature interval corresponds to a first threshold, and the first thresholds corresponding to different set temperature intervals are different; setting the representative temperature of the temperature interval to be in positive correlation with the corresponding first threshold value;

a second threshold determination module that determines the second threshold; the determining the second threshold comprises: determining a set temperature interval to which the current temperature belongs, and determining a second threshold corresponding to the set temperature interval; each set temperature interval corresponds to a second threshold, and the second thresholds corresponding to different set temperature intervals are different; setting the representative temperature of the temperature interval to be in positive correlation with the corresponding second threshold value;

13. The apparatus of claim 11,

14. The apparatus of claim 7,

the first determining module is used for determining the corresponding relation between the temperature of the motor and the resonant frequency in the mobile terminal by using one of the following steps:

15. An apparatus for determining a motor drive signal, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

16. A non-transitory computer-readable storage medium having instructions therein, which when executed by a processor of a mobile terminal, enable the mobile terminal to perform a method of determining a motor driving signal, the method comprising: