CN113300664B

CN113300664B - Method, device and medium for determining motor driving signal

Info

Publication number: CN113300664B
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: 2024-01-23
Anticipated expiration: 2040-02-21
Also published as: CN113300664A

Abstract

The present disclosure relates to a method, apparatus and medium for determining a motor driving signal, the method comprising: 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 inversely related; acquiring the current temperature of a 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 the method, when the motor needs to be driven to perform short vibration, a resonant frequency relatively close to the current actual resonant frequency of the motor is determined according to the current temperature of the motor and the corresponding relation between the determined motor temperature and the resonant frequency, so that vibration sense differences of different motors caused by temperature changes are 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 users.

Description

Method, device and medium for determining motor driving signal

Technical Field

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

Background

Mobile terminals increasingly use linear motors to enhance the jarring effect. The motor may provide a short vibration (typically 10 to 20 ms) or a long vibration (typically greater than 20 ms).

However, actual performances of motors are different due to different motor batches, and individual performance differences may also exist between motors in the same batch. In general, the short-vibration driving waveform of the motor is adjusted according to the resonance frequency (F0) of the motor itself.

However, in practical applications, calibration of the resonant frequency cannot be achieved when the motor generates a short vibration. This is because calibration of the resonant frequency is typically performed by sending a calibration drive 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 between the motor driving signal for short vibration and the calibration driving signal, and the motor driving signal for short vibration further includes a braking waveform, and the presence of the braking waveform affects the detection of back electromotive force.

In addition, the resonance frequency is aged with environmental information such as temperature, and therefore, when the motor temperature is changed, the resonance frequency is changed to deteriorate the consistency of the short vibration.

Disclosure of Invention

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

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 inversely related;

acquiring the current temperature of a 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 correspondence relationship, includes:

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

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

before receiving the vibration event trigger signal, the following is performed in a loop: detecting the current temperature of a motor, updating the value of the reference temperature to be the value of the current temperature when the 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 the vibration event trigger signal, detecting the current temperature of the motor in response to the vibration event trigger signal, 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 resonance frequency corresponding to the current temperature based on the corresponding relation, and taking the determined resonance frequency as the current resonance 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 value, and the first threshold values corresponding to different set temperature intervals are different; the representative temperature of the set temperature interval is positively correlated 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 value, and the second threshold values corresponding to different set temperature intervals are different; the representative temperature of the set temperature interval is positively correlated 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 to the absolute value of the reference temperature;

the second gap 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.

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

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

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

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

According to a second aspect of the embodiments of the present disclosure, there is provided a determining apparatus of 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 the motor in the mobile terminal and the resonant frequency; the motor temperature and the resonant frequency in the corresponding relation are inversely related;

the second determining module is used for 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 relation;

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

In another embodiment, the second determining module includes:

the first receiving module is used for receiving the 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;

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

In another embodiment, the second determining module includes:

the loop execution module is used for executing the following steps in a loop 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 the 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 the 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 the second difference information between the current temperature and the reference temperature is smaller than or equal to a second threshold value;

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 smaller 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 resonance 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 larger than a second threshold value, and taking the determined resonance frequency as the current resonance frequency.

In another embodiment, the apparatus further comprises:

a first threshold determining module, configured to determine the first threshold, where determining the first threshold includes: 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 value, and the first threshold values corresponding to different set temperature intervals are different; the representative temperature of the set temperature interval is positively correlated with the corresponding first threshold value;

a second threshold determining module that determines 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 value, and the second threshold values corresponding to different set temperature intervals are different; the representative temperature of the set temperature interval is positively correlated with the corresponding second threshold value;

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

According to a third aspect of the embodiments of the present disclosure, there is provided a motor drive signal determining 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, which when executed by a processor of a mobile terminal, causes the mobile terminal to perform a method of determining a motor drive signal, the method comprising:

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects: by utilizing the characteristic that the resonance frequency of the motor can change according to temperature change, the corresponding relation between the temperature of the motor and the resonance frequency is constructed in advance, when the motor needs to be driven to perform short vibration, the resonance frequency which is relatively close to the current actual resonance frequency of the motor is determined according to the current temperature of the motor and the corresponding relation, so that the vibration sense difference of different motors caused by temperature change is reduced under the condition that the resonance frequency of the motor cannot be calibrated, the short vibration consistency of the motor is kept at a relatively high level, and better use experience is provided for users. The embodiment can effectively solve the problem that the consistency of the short vibration is poor due to 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 flowchart illustrating a method of determining a motor driving signal according to an exemplary embodiment;

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

FIG. 3 is a schematic diagram illustrating fitted motor temperatures and resonant frequencies 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 showing a determination device of a motor driving signal according to an exemplary embodiment;

fig. 6 is a block diagram showing a determining apparatus of a motor driving signal according to an exemplary embodiment;

fig. 7 is a block diagram showing a determination device of a motor driving signal according to an exemplary embodiment;

Fig. 8 is a block diagram showing a determination device of a motor driving signal according to an exemplary embodiment;

fig. 9 is a block diagram showing a determination device of a motor driving signal according to an exemplary embodiment.

Detailed Description

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

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

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 motor temperature and the resonance frequency in the mobile terminal; the motor temperature and the resonant frequency in the corresponding relation are inversely related.

Step S12, 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 relation.

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

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

In this embodiment, by using the characteristic that the resonant frequency of the motor changes according to the temperature change, a corresponding relation between the temperature of the motor and the resonant frequency is pre-constructed, and when the motor needs to be driven to perform short vibration, a resonant frequency relatively close to the current actual resonant frequency of the motor is determined according to the current temperature of the motor and the corresponding relation, so that under the condition that the resonant frequency of the motor cannot be calibrated, the vibration sense difference of different motors caused by the temperature change is reduced, the consistency of the short vibration of the motor is kept at a relatively high level, and better use experience is provided for users. The embodiment can effectively solve the problem that the consistency of the short vibration is poor due to 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 correspondence relationship between the motor temperature and the resonance frequency is determined in step S11 shown in fig. 1, including one of the following:

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

The following are illustrated:

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

TABLE 1

And calculating the average value of the resonant frequency corresponding to each temperature in the test temperature set according to the data pair set, as shown in table 2.

TABLE 2

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

Testing a plurality of motors to obtain a data pair set under the same test temperature set, wherein the data pair set comprises data pairs of motor test temperature and resonance frequency; updating the set of data pairs; the updating the set of data pairs includes: removing a resonance frequency with the maximum variance from a set formed by a plurality of resonance 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, the data of one resonance frequency with the largest variance is removed for the set of a plurality of resonance frequencies corresponding to each test temperature, as shown in table 3.

TABLE 3 Table 3

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

In the second mode, for the set formed by the plurality of resonant frequencies corresponding to each test temperature, after removing the resonant frequency with the largest variance, the data denoising function is realized, and individual data with more differences from 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 a plurality of motors to obtain a data pair set of the motors, wherein the data pair set comprises data pairs of motor temperature and resonant frequency; and fitting the corresponding relation to the set according to the data.

The following are illustrated:

the plurality of motors were tested and the data pair sets for the plurality of motors were obtained as shown in table 1.

And constructing corresponding relation curve information according to the data pair sets of each motor, and obtaining a plan view of the relation curve information corresponding to the data pair sets shown in table 1 and shown in fig. 2. The abscissa in this plan view is temperature in degrees celsius; the ordinate is the resonant frequency in hertz. The curves of 5 different gray values in fig. 2 correspond to different 5 motors.

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

In another embodiment, different motors are tested using different sets of test temperatures. 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, by testing a plurality of motors, using test data to determine a correspondence between motor temperature and resonant frequency, where the motor temperature and resonant frequency are inversely related, a general trend of variation can be represented, and using this correspondence, under the condition that the resonant frequency of the motor cannot be calibrated, a resonant frequency closer to the current actual resonant frequency of the motor can be obtained, so as to reduce the vibration difference of different motors caused by temperature variation, and keep the short vibration consistency of the motor at a higher level.

The embodiment of the disclosure also provides a method for determining the motor driving signal. In this method, determining the current resonant frequency according to the current temperature of the motor and the correspondence in step S12 shown in fig. 1 includes: and 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 embodiments of the present disclosure, the vibration event triggered by the motor in the short vibration mode is simply referred to as a short vibration event, and the short vibration event is taken as an exemplary description of the vibration event.

Illustrating:

after testing the different motors, the corresponding relation shown in fig. 3 is obtained. After the outdoor user carries the terminal and starts up, after the terminal receives the short message, triggering a short vibration event, detecting the current temperature of the motor to be 0 degrees, determining the current resonant frequency corresponding to the current temperature of the motor to be 175 Hz according to the corresponding relation shown in fig. 3, determining a motor driving signal for short vibration by using the 175 Hz, and driving the motor to perform short vibration by using the motor driving signal. After the user carries the terminal into a room, after receiving the short message, the terminal triggers a short vibration event, detects the current temperature of the motor to be 25 degrees, determines the current resonant frequency corresponding to the current temperature of the motor to be 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, detecting the current temperature of the motor, and taking the resonant frequency corresponding to the current temperature of the motor determined according to the corresponding relation as the current resonant frequency; therefore, the influence of temperature on the resonance frequency of the motor can be overcome, and a frequency which is relatively close to the actual resonance frequency of the motor at the current temperature is used as the current resonance frequency before each time of short vibration driving. The motors in the terminals can be driven by using a resonant frequency which is relatively close to the actual resonant frequency under the condition of different temperatures by using the method of the embodiment, so that the change of the vibration effect caused by the change of the motor resonant frequency referenced by the change of the motor temperature is overcome, and the consistency of the short vibration of the same terminal under 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, in step S12 shown in fig. 1, a current temperature of a motor is obtained, and a current resonant frequency corresponding to the motor is determined according to the current temperature and the correspondence relation, including:

Step S41, before receiving the vibration event trigger signal, performing the following steps: detecting the current temperature of a motor, updating the value of the reference temperature to be the value of the current temperature when the 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.

Step S42, after receiving the vibration event trigger signal, detecting the current temperature of the motor in response to the vibration event trigger signal.

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

And S44, when the second difference information between the current temperature and the reference temperature is smaller than or equal to a second threshold value, the reference frequency is used as the current resonant frequency.

And S45, when the second difference information between the current temperature and the reference temperature is larger than a second threshold value, determining the resonance frequency corresponding to the current temperature based on the corresponding relation, and taking the determined resonance frequency as the current resonance frequency.

In step S41, the motor temperature at the start of the terminal is taken as an 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 gap 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.

Illustrating:

the first threshold is set to 5. When the terminal is started, the temperature of the measuring motor is 0 ℃, and the 0 ℃ is set as a reference temperature. And determining the resonant frequency corresponding to the reference temperature to be 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, the absolute value 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 ℃, the absolute value of the difference between the current temperature and the reference temperature is 10, the absolute value is larger than the first threshold value, the value of the updated reference temperature is 10 ℃, the resonance frequency corresponding to the reference temperature is determined to be 173 Hz based on the corresponding relation, and the value of the updated reference frequency is 173 Hz.

In the third execution process, the current temperature of the detection motor is 25 ℃, the absolute value of the difference between the current temperature and the reference temperature is 10, the absolute value is larger than a first threshold value, the value of the updated reference temperature is 25 ℃, the corresponding resonant frequency of 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 motor temperature and the resonant frequency are in negative correlation in the corresponding relation, and the negative correlation coefficients in different temperature intervals are different. In another embodiment, different set temperature intervals are divided according to the correspondence between the motor temperature and the resonant frequency, and the different set temperature intervals correspond to different first thresholds and different second thresholds.

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 value, and the second threshold values 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. By the arrangement, when the temperature of the motor is in different intervals, the more accurate current resonant frequency can be obtained on the basis of reducing the calculated amount according to the characteristic of the change of the resonant frequency in the intervals.

Illustrating:

the correspondence of motor temperature to resonant frequency is shown in fig. 3. According to the rule of the corresponding relation, the temperature ranges are divided into two temperature ranges. 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 faster, 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 slower, 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 motor reference temperature and the motor real-time temperature keep a small gap, and the motor reference frequency and the motor real-time resonance frequency keep a small gap in real time. 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 smaller, the reference frequency of the motor can be directly used as the current resonant frequency, so that the data processing amount is reduced, and meanwhile, the effect of short vibration consistency can be ensured; 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 redetermined according to the corresponding relation, and the calculation cost of increasing the data processing amount is replaced by the improvement of the short vibration consistency effect.

The embodiment of the disclosure also provides a method for determining a motor driving signal, in which each reference driving signal corresponds to a reference resonant frequency in the mapping relationship between the reference driving signal and the reference resonant frequency in fig. 1. Typically, the resonant frequency of the motor is distributed over the range 165 to 185 hertz. For example: setting 5 reference resonant frequencies, which are respectively: 165 hz, 170 hz, 175 hz, 180 hz and 185 hz. The motor drive signals for the 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 resonance frequency is, the larger the period of the starting driving signal in the corresponding reference driving signal is, and the smaller the period of the braking driving signal is. In step S13, based on a mapping relationship between a preset reference driving signal and a reference resonant frequency, determining a motor driving signal corresponding to the current resonant frequency includes: determining a first association relation between the period of the starting driving signal and the reference resonance frequency according to the reference driving signal, and a second association relation between the period of the braking driving signal and the reference resonance frequency, determining the starting driving signal of the motor driving signal according to the first association relation, and determining the braking driving signal when the motor driving signal is according to the second association relation. The mapping relation between the reference driving signals and the reference resonant frequency is preset through 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 the mobile terminal. Fig. 5 is a block diagram showing a determination device of a motor driving signal according to an exemplary embodiment; as shown in fig. 5, the apparatus includes:

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

a second determining module 502, configured to obtain a current temperature of a 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 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 embodiment of the disclosure also provides a device for determining the motor driving signal. Fig. 6 is a block diagram showing a determining apparatus of a motor driving signal according to 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 for detecting a current temperature of the 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 relationship, and take 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 showing a determination device of a motor driving signal according to an exemplary embodiment; as shown in fig. 7, the second determining module 502 shown in fig. 5 includes:

the loop execution module 701 is configured to, before receiving the vibration event trigger signal, loop execute: detecting the current temperature of a motor, updating the value of the reference temperature to be the value of the current temperature when the 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 a 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 less than or equal to a second threshold;

And the second processing module 705 is configured to take the reference frequency as a 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, as shown in fig. 8, the second determining module 502 further includes: and a third processing module 801, configured to determine, based on the correspondence, a resonant frequency corresponding to the current temperature when the second difference information between the current temperature and the reference temperature is greater than a second threshold, and take 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 gap 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 embodiment of the disclosure also provides a device for determining the motor driving signal. In this apparatus, a first determining module 501 shown in fig. 5 is configured to determine a correspondence between a motor temperature and a resonant frequency in the mobile terminal by using one of the following:

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 device 900 for a motor drive signal according to an exemplary embodiment. For example, apparatus 900 may be a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, exercise device, personal digital assistant, or 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 operations of the apparatus 900, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 902 may include one or more processors 920 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 902 can include one or more modules that facilitate interaction between the 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 operations at the device 900. Examples of such data include instructions for any application or method operating on the device 900, contact data, phonebook data, messages, pictures, videos, and the like. The memory 904 may be implemented by any type of volatile or nonvolatile memory device or combination thereof, 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 disk.

The power component 906 provides power to the various components of the device 900. 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 device 900.

The multimedia component 908 comprises a screen between the device 900 and the user that provides an output interface. 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 input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also 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 operational 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 focal length and optical zoom capabilities.

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

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

The sensor assembly 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 the on/off state of the device 900, the relative positioning of the components, such as the display and keypad of the apparatus 900, the sensor assembly 914 may also detect the change in position of the apparatus 900 or one component of the apparatus 900, the presence or absence of user contact with the apparatus 900, the orientation or acceleration/deceleration of the apparatus 900, and the change in temperature of the apparatus 900. The sensor assembly 914 may include a proximity sensor configured to detect the presence of nearby objects without 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 gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 916 is configured to facilitate communication between the apparatus 900 and other devices in a wired or wireless manner. The device 900 may access a wireless network based on a communication standard, such as WiFi,2G, or 3G, or a combination thereof. In one exemplary embodiment, the communication component 916 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one 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, 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, microcontrollers, microprocessors, or other electronic elements for executing the methods described above.

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

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 is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected 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, applied to a mobile terminal, comprising:

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

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 relation, includes:

before receiving the vibration event trigger signal, the following is circularly executed: detecting the current temperature of a motor, updating the value of the reference temperature to be the value of the current temperature when the 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;

2. The method of claim 1, wherein,

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 relation, including:

3. The method of claim 1, wherein,

the method further comprises the steps of:

4. The method of claim 3, wherein,

the method further comprises the steps of:

determining the first threshold; the determining the first threshold includes: 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 value, and the first threshold values corresponding to different set temperature intervals are different; the representative temperature of the set temperature interval is positively correlated with the corresponding first threshold value;

Determining the second threshold; the determining the second threshold includes: 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 value, and the second threshold values corresponding to different set temperature intervals are different; the representative temperature of the set temperature interval is positively correlated with the corresponding second threshold value;

5. The method of claim 3, wherein,

6. The method of claim 1, wherein,

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

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

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

wherein the second determining module includes:

8. The apparatus of claim 7, wherein,

the second determining module includes:

9. The apparatus of claim 7, wherein,

the second determining module further includes:

10. The apparatus of claim 9, wherein the device comprises a plurality of sensors,

the apparatus further comprises:

a first threshold determining module, configured to determine the first threshold; the determining the first threshold includes: 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 value, and the first threshold values corresponding to different set temperature intervals are different; the representative temperature of the set temperature interval is positively correlated with the corresponding first threshold value;

a second threshold determining module that determines the second threshold; the determining the second threshold includes: 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 value, and the second threshold values corresponding to different set temperature intervals are different; the representative temperature of the set temperature interval is positively correlated with the corresponding second threshold value;

11. The apparatus of claim 9, wherein the device comprises a plurality of sensors,

12. The apparatus of claim 7, wherein,

the first determining module is configured to determine a correspondence between a motor temperature and a resonant frequency in the mobile terminal using one of:

13. A motor drive signal determining apparatus, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

14. A non-transitory computer readable storage medium, which when executed by a processor of a mobile terminal, causes the mobile terminal to perform a method of determining a motor drive signal, the method comprising: