CN113359892A - Method and device for generating transfer function of vibration motor and storage medium - Google Patents
Method and device for generating transfer function of vibration motor and storage medium Download PDFInfo
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Abstract
The invention discloses a method and a device for generating a transfer function of a vibration motor and a storage medium, wherein the method for generating the transfer function of the vibration motor comprises the following steps: acquiring a sweep frequency characteristic curve of the vibration motor; performing second-order high-pass filter parameter fitting on the sweep frequency characteristic curve to obtain filter parameters, wherein the filter parameters comprise actual quality factors, gains and cut-off frequencies; obtaining a frequency range of a target vibration waveform according to the target vibration waveform of the vibration motor, and determining a lower limit value of a target frequency according to the frequency range, wherein the target vibration waveform is an acceleration waveform; and correcting the frequency sweep characteristic of the vibration motor according to the lower limit value of the target frequency, the filter parameter and a preset reference quality factor to obtain a first transfer function of the target vibration waveform and a voltage driving signal of the vibration motor, wherein the frequency sweep characteristic is a second transfer function from voltage to acceleration. The method can more accurately restore the target vibration waveform.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to a transfer function generation method and device of a vibration motor and a storage medium.
Background
The vibration motor is widely applied to various vibration occasions of terminal equipment, along with the requirement of the application in the terminal equipment on the vibration effect, the vibration motor is often required to accurately restore a target waveform, the essence of vibration is the alternating-current embodiment of force, the force is directly related to acceleration, the acceleration waveform is generally used as the target vibration waveform to drive for realizing accurate control, and the actual acceleration waveform and the target acceleration waveform have obvious difference when the target acceleration waveform is directly used as voltage to drive the vibration motor because the transfer function from the voltage to the acceleration of the vibration motor is a second-order high-pass model with a high Q value, the amplitude of the vibration motor is not constant in a broadband vibration frequency band, so that accurate broadband acceleration control cannot be realized.
Disclosure of Invention
The invention mainly aims to provide a method and a device for generating a transfer function of a vibration motor and a storage medium, aiming at improving the accuracy of the vibration motor on the reduction of an acceleration waveform.
In order to achieve the above object, the present invention provides a method for generating a transfer function of a vibration motor, comprising:
acquiring a sweep frequency characteristic curve of the vibration motor;
performing second-order high-pass filter parameter fitting on the sweep frequency characteristic curve to obtain filter parameters, wherein the filter parameters comprise actual quality factors, gains and cut-off frequencies;
obtaining a frequency range of the target vibration waveform according to the target vibration waveform of the vibration motor, and determining a lower limit value of a target frequency according to the frequency range, wherein the target vibration waveform is an acceleration waveform;
and correcting the frequency sweep characteristic of the vibration motor according to the lower limit value of the target frequency, the filter parameter and a preset reference quality factor to obtain a first transfer function of a target vibration waveform and a voltage driving signal of the vibration motor, wherein the frequency sweep characteristic is a second transfer function from voltage to acceleration.
Optionally, the method of generating a transfer function according to claim 1, wherein the step of obtaining a first transfer function of a target vibration waveform and a voltage driving signal of a vibration motor according to the target frequency lower limit value, the filter parameter and a preset reference quality factor comprises:
obtaining a numerator expression of a first transfer function in an s domain according to the filter parameters, wherein the numerator expression of the first transfer function corresponds to a denominator expression of the second transfer function;
obtaining a denominator expression of the first transfer function in the s domain according to the target frequency lower limit value and a preset reference quality factor, wherein the denominator expression of the first transfer function is obtained by correcting a denominator expression of a second transfer function by adopting the target frequency lower limit value and the preset reference quality factor;
and obtaining the first transfer function according to the numerator expression of the first transfer function and the denominator expression of the first transfer function.
Alternatively,
the molecular expression of the first transfer function is,
wherein k is the gain, Q0 is the actual quality parameter, and ω 0 is the cut-off frequency;
the denominator expression of the first transfer function is,
wherein Qc is the preset reference quality factor, and ω c is the target frequency lower limit;
the first transfer function is such that,
optionally, the step of obtaining a frequency range of the target vibration waveform according to the target vibration waveform of the vibration motor, and determining a lower limit value of the target frequency according to the frequency range includes:
obtaining a frequency range of the target vibration waveform according to the target vibration waveform of the vibration motor, and obtaining a first lower limit value of the frequency range of the target vibration waveform;
judging whether the first lower limit value is smaller than a second lower limit value of a preset broadband vibration range;
when the first lower limit value is smaller than the second lower limit value, taking the first lower limit value as a target frequency lower limit value;
and when the first lower limit value is greater than or equal to the second lower limit value, taking the second lower limit value as a target frequency lower limit value.
Optionally, the step of acquiring a frequency sweep characteristic curve of the vibration motor includes:
sequentially inputting driving voltage signals corresponding to all frequency points in a preset frequency range to the vibration motor;
acquiring a feedback acceleration signal of the vibration motor;
determining an acceleration peak value corresponding to each frequency point according to the feedback acceleration signal corresponding to each frequency point;
determining unit voltage acceleration of each frequency point according to the acceleration peak value of each frequency point and the amplitude of the driving voltage signal;
and drawing the sweep frequency characteristic curve by taking each frequency point as an abscissa and the unit voltage acceleration corresponding to the frequency point as an ordinate.
Optionally, the step of acquiring a feedback acceleration signal of the vibration motor includes:
acquiring a feedback acceleration signal acquired by an acceleration sensor on the vibration motor;
or acquiring a feedback displacement signal detected by a displacement sensor on the vibration motor, and determining the feedback acceleration signal according to the feedback displacement signal.
Optionally, the step of sequentially inputting the driving voltage signals corresponding to each frequency point within the preset frequency range to the vibration motor includes:
sequentially acquiring a plurality of frequency points within a preset frequency range by a preset step length;
after each frequency point is obtained, generating the voltage driving signal according to the currently obtained frequency point and a preset amplitude value;
inputting the generated voltage driving signal to the vibration motor.
Optionally, the reference quality factor has a value range of [0.707,10 ].
In order to achieve the above object, the present invention further provides a transfer function generating apparatus for a vibration motor, including a memory for storing a transfer function generating program for a vibration motor, and a processor, wherein the transfer function generating program for a vibration motor in the memory realizes the above transfer function generating method for a vibration motor when executed by the processor.
In addition, in order to achieve the above object, the present invention further provides a terminal device, which is characterized in that the terminal device includes:
a vibration motor;
the transfer function generating device of a vibration motor as described above, configured to control vibration of the vibration motor.
Further, to achieve the above object, the present invention also proposes a computer-readable storage medium having stored thereon a transfer function generation program of a vibration motor, which when executed by a processor, implements the steps of the transfer function generation method of the vibration motor as described in any one of the above.
According to the method, the device and the storage medium for generating the transfer function of the vibration motor, provided by the invention, as the sweep frequency characteristic is the second transfer function from voltage to acceleration, and the first transfer function of the target vibration waveform and the voltage driving signal of the vibration motor is the transfer function from acceleration to voltage, the first transfer function of the target vibration waveform and the voltage driving signal of the vibration motor can be obtained through the correction of the sweep frequency characteristic; meanwhile, because the target vibration waveforms have different requirements on the cut-off frequency, the sweep frequency characteristic of the vibration motor needs to be corrected by adopting a lower limit value of the target frequency, namely the cut-off frequency, obtained according to the target vibration waveforms and a preset reference quality factor, so that a first transfer function of the target vibration waveforms and a voltage driving signal of the vibration motor is obtained, and the target vibration waveforms can be more accurately restored after the driving voltage obtained by converting the target vibration waveforms through the first transfer function drives the vibration motor to vibrate.
Drawings
Fig. 1 is a schematic diagram of a hardware architecture of an apparatus involved in a transfer function generation method of a vibration motor according to the present invention;
fig. 2 is a flowchart illustrating a first exemplary embodiment of a transfer function generating method of a vibration motor according to the present invention;
fig. 3 is a flowchart illustrating a second exemplary embodiment of a transfer function generating method of a vibration motor according to the present invention;
fig. 4 is a flowchart illustrating a third exemplary embodiment of a transfer function generating method of a vibration motor according to the present invention;
fig. 5 is a flowchart illustrating a fourth exemplary embodiment of a transfer function generating method of a vibration motor according to the present invention;
fig. 6 is a schematic diagram illustrating a comparison between an actual vibration waveform and a target vibration waveform obtained by correcting a target vibration waveform using a first transfer function and driving a vibration motor.
The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware architecture of an apparatus related to a transfer function generation method of a vibration motor according to the present invention.
As shown in fig. 1, the transfer function generating apparatus of the vibration motor according to the present embodiment may be a terminal device, or may be a single control component in the terminal device, such as a control chip.
The device for generating a transfer function of a vibration motor in the present embodiment may include a memory 110 and a processor 120, where the memory 110 is configured to store a program for generating a transfer function of a vibration motor; and a processor 120 for executing a transfer function generation program of the vibration motor in the memory 110.
In the technical solution disclosed in this embodiment, the processor 120 is connected to a vibration motor, and is configured to drive the vibration motor according to the adjusted target vibration waveform.
The transfer function generation program of the vibration motor in the memory 110, when executed by the processor 120, implements the steps of:
acquiring a sweep frequency characteristic curve of the vibration motor;
performing second-order high-pass filter parameter fitting on the sweep frequency characteristic curve to obtain filter parameters, wherein the filter parameters comprise actual quality factors, gains and cut-off frequencies;
obtaining a target frequency lower limit value of the target vibration waveform according to the target vibration waveform of the vibration motor, wherein the target vibration waveform is an acceleration waveform;
and correcting the sweep frequency characteristic of the vibration motor according to the lower limit value of the target frequency, the filter parameter and a preset reference quality factor to obtain a transfer function of a target vibration waveform and a voltage driving signal of the vibration motor, wherein the sweep frequency characteristic is a transfer function from voltage to acceleration.
Referring to fig. 2, fig. 2 is a flowchart illustrating a first exemplary embodiment of a method for generating a transfer function of a vibration motor according to the present invention, in this embodiment, the method for generating a transfer function of a vibration motor includes:
step S10, acquiring a sweep frequency characteristic curve of the vibration motor;
the sweep frequency characteristic is a transfer function from voltage to acceleration, a sweep frequency characteristic curve is a curve corresponding to the transfer function correspondingly, a drive voltage signal can be input into the vibration motor, the acceleration signal is detected after the vibration motor is driven to vibrate by the drive voltage signal, and the sweep frequency characteristic curve of the vibration motor can be obtained according to the drive voltage signal and the acceleration signal.
Step S20, performing second-order high-pass filter parameter fitting on the sweep frequency characteristic curve to obtain filter parameters, wherein the filter parameters comprise actual quality factors, gains and cut-off frequencies;
the second-order high-pass filter parameters can be carried out on the sweep frequency characteristic curve by adopting a least square method so as to obtain the filter parameters of the vibrating motor.
Step S30, obtaining a frequency range of the target vibration waveform according to the target vibration waveform of the vibration motor, and determining a target frequency lower limit value according to the frequency range, wherein the target vibration waveform is an acceleration waveform;
in the solution disclosed in this embodiment, Fast Fourier Transform (FFT) may be performed on the target vibration waveform to obtain a frequency range corresponding to the target vibration waveform, and the target frequency lower limit value may be obtained according to the frequency range corresponding to the target vibration waveform. The target vibration waveform is a broadband signal.
Step S40, correcting the frequency sweep characteristic of the vibration motor according to the target frequency lower limit value, the filter parameter, and a preset reference quality factor to obtain a first transfer function of a target vibration waveform and a voltage driving signal of the vibration motor, where the frequency sweep characteristic is a second transfer function from voltage to acceleration.
The frequency sweep characteristic is a second transfer function from voltage to acceleration, the target vibration waveform is an acceleration waveform, and the first transfer function of the target vibration waveform and a voltage driving signal of the vibration motor is a transfer function from the acceleration to the voltage and is opposite to the transfer direction of the frequency sweep characteristic; the frequency sweep characteristic is related to the actual quality factor, gain and cut-off frequency of the vibration motor, that is, the frequency sweep characteristic of the vibration motor can be obtained according to the actual quality factor, gain and cut-off frequency of the vibration motor, but because the target vibration waveform has different requirements for the cut-off frequency, the frequency sweep characteristic of the vibration motor needs to be corrected by adopting a lower limit value of the target frequency, that is, the cut-off frequency, obtained according to the target vibration waveform and a preset reference quality factor, so as to obtain a first transfer function of the target vibration waveform and the voltage driving signal of the vibration motor.
The preset reference quality factor may have a value range of [0.707,10 ].
In the technical scheme disclosed in this embodiment, after a first transfer function is obtained, the first transfer function is stored in a terminal device including the vibration motor, after a target vibration waveform to be restored is obtained, the stored first transfer function is called to convert the target vibration waveform to obtain a voltage driving signal, and the obtained voltage driving signal is used for driving the vibration motor to vibrate; it is understood that the voltage driving signal may be power-amplified by a power amplifier after obtaining the voltage driving signal, and the power-amplified voltage driving signal is input to the vibration motor, and the power amplifier may be a class a, a class B, a class AB, or a class D.
The number of the first transfer functions corresponds to the number of the target vibration waveforms; when a plurality of target vibration waveforms exist, a mapping relation between each target vibration waveform and the first transfer function can be established; after the target vibration waveform is obtained, a first transfer function associated with the target vibration waveform to be restored is obtained according to the mapping relation, the target vibration waveform is converted by adopting the first transfer function to obtain a voltage driving signal, and the obtained voltage driving signal is adopted to drive the vibration motor to vibrate.
As shown in fig. 6, the target vibration (acceleration) waveform and the actual vibration (acceleration) waveform are respectively shown in the figure, the actual vibration waveform is acquired by an acceleration sensor arranged in the vibration motor, or acquired by performing secondary derivation on a displacement signal acquired by a displacement sensor in the vibration motor, a curve of broadband change is adopted as the target vibration waveform, the target vibration waveform is converted by adopting the first transfer function obtained in the present application to obtain a driving voltage signal and drive the vibration motor, and the acquired actual vibration waveform is substantially consistent with the target vibration waveform.
In the technical scheme disclosed in this embodiment, since the sweep frequency characteristic is the second transfer function from voltage to acceleration, and the first transfer function of the target vibration waveform and the voltage driving signal of the vibration motor is the transfer function of acceleration and voltage, the first transfer function of the target vibration waveform and the voltage driving signal of the vibration motor can be obtained by correcting the sweep frequency characteristic; meanwhile, because the target vibration waveforms have different requirements on the cut-off frequency, the sweep frequency characteristic of the vibration motor needs to be corrected by adopting a lower limit value of the target frequency, namely the cut-off frequency, obtained according to the target vibration waveforms and a preset reference quality factor, so that a first transfer function of the target vibration waveforms and a voltage driving signal of the vibration motor is obtained, and the target vibration waveforms can be more accurately restored after the driving voltage obtained by converting the target vibration waveforms through the first transfer function drives the vibration motor to vibrate.
Further, referring to fig. 3, an exemplary embodiment two of the transfer function generating method of the vibration motor of the present invention is proposed based on the first embodiment, in which step S40 includes:
step S41, obtaining a numerator expression of a first transfer function in the S domain according to the filter parameters, wherein the numerator expression of the first transfer function corresponds to a denominator expression of the second transfer function;
step S42, obtaining a denominator expression of the first transfer function in the S domain according to the target frequency lower limit value and a preset reference quality factor, wherein the denominator expression of the first transfer function is obtained by correcting a denominator expression of a second transfer function by using the target frequency lower limit value and the preset reference quality factor;
step S43, obtaining the first transfer function according to the numerator expression of the first transfer function and the denominator expression of the first transfer function.
The formula corresponding to the sweep frequency characteristic is
Where k is the gain, Q0As an actual quality parameter, ω0The frequency sweep characteristic is a second-order high-pass filter model, the high-pass filter is used for filtering low-frequency signals, the cut-off frequency is a lower-limit cut-off frequency, the frequency sweep characteristic, namely a second transfer function, can be directly converted into a first transfer function, namely G(s) -1/H(s), but the lower limit value of the target frequency corresponding to the target vibration waveform does not correspond to the cut-off frequency in the filter parameters of the vibration motor, the lower limit value of the target frequency and a preset reference frequency are requiredModifying the quality factor H(s) to obtain corresponding G(s), correspondingly:
the molecular expression of the first transfer function is,
wherein k is the gain, Q0Is said actual quality parameter, ω0Is the cut-off frequency;
the denominator expression of the first transfer function is,
wherein, Q iscFor the predetermined reference quality factor, thecThe target frequency lower limit value is obtained;
the first transfer function is such that,
in a corresponding manner, the first and second electrodes are,
it will be understood by those skilled in the art that when the target vibration waveform has no requirement for a cut-off frequency, i.e., the cut-off frequency is zero, then the target vibration waveform has no effect on the first transfer function, i.e., ω is not affectedmIs 0, corresponding to
Exactly opposite to the aforementioned second transfer function, i.e. h(s).
According to the technical scheme disclosed by the embodiment, a generation mode of the first transfer function is limited, the first transfer function is obtained by correcting the frequency offline value of the target vibration waveform and the preset reference quality factor after the second transfer function is reversed, and the obtained first transfer function is more accurate.
Further, referring to fig. 4, a third exemplary embodiment of the transfer function generating method of the vibration motor of the present invention is proposed based on the first or second exemplary embodiment, where step S30 includes:
step S31, obtaining the frequency range of the target vibration waveform according to the target vibration waveform of the vibration motor, and obtaining a first lower limit value of the frequency range of the target vibration waveform;
step S32, judging whether the first lower limit value is smaller than a second lower limit value of a preset broadband vibration range;
step S33, when the first lower limit value is smaller than the second lower limit value, setting the second lower limit value as a target frequency lower limit value;
step S34 is executed if the first lower limit value is greater than or equal to the second lower limit value, and the first lower limit value is set as a target frequency lower limit value.
For example, the frequency range of the target vibration waveform is [ ω ]L,ωH]The preset wide frequency vibration range is [ omega ]min,ωmax]Has a lower limit value of ωminWhen the first lower limit value ωLLower than a second lower limit value omegaminDefining the wide frequency vibration range as [ omega ]L,ωH]I.e. the lower limit of the target frequency is the first lower limit omegaL(ii) a Otherwise, defining the broadband vibration range as [ omega ]min,ωH]The lower limit value of the target frequency is a first lower limit value omegamin(ii) a In [ omega ]min,ωmax]Is [0, + ∞]When the lower limit value of the corresponding target frequency is zero, then
In the technical solution disclosed in this embodiment, the second lower limit of the preset broadband vibration range is preferably set to be more than 6060 π rad/s.
In the technical scheme disclosed in this embodiment, not only the frequency range of the target vibration waveform but also the preset broadband vibration range are considered, and according to the frequency range of the target vibration waveform and a smaller boundary value of the minimum boundary value of the preset broadband vibration range, the cutoff frequency is more accurate, so that the obtained first transfer function is more accurate.
Further, referring to fig. 5, an exemplary fourth embodiment of the transfer function generating method of a vibration motor of the present invention is proposed based on any one of the first to third exemplary embodiments, in which step S10 includes:
step S11, sequentially inputting driving voltage signals corresponding to each frequency point in a preset frequency range to the vibration motor;
in the embodiment, a data group comprising a plurality of frequency points can be generated according to a preset frequency range, each frequency point in the data group is called in sequence, and a corresponding driving voltage signal is generated according to the called frequency point and a preset amplitude value and is input to the vibration motor; alternatively, a plurality of frequency points may be generated within the preset frequency range according to the preset step, that is, step S11 includes: sequentially acquiring a plurality of frequency points within a preset frequency range by a preset step length; after each frequency point is obtained, generating the voltage driving signal according to the currently obtained frequency point and a preset amplitude value; inputting the generated voltage driving signal to the vibration motor.
In this embodiment, the target vibration waveform is a broadband signal, and the frequency range of the target vibration waveform is within a preset frequency range.
Step S12, acquiring a feedback acceleration signal of the vibration motor;
the feedback acceleration signal may be obtained from acceleration data detected by an acceleration sensor mounted on the vibration motor, or may be obtained from data detected by a displacement sensor mounted on the vibration motor, that is, step S12 includes: acquiring a feedback acceleration signal acquired by an acceleration sensor on the vibration motor; or acquiring a feedback displacement signal detected by a displacement sensor on the vibration motor, determining the feedback acceleration signal according to the feedback displacement signal, and performing secondary derivation on the feedback displacement signal to obtain the feedback acceleration signal.
Step S13, determining an acceleration peak value corresponding to each frequency point according to the feedback acceleration signal corresponding to each frequency point;
step S14, determining unit voltage acceleration of each frequency point according to the acceleration peak value of each frequency point and the amplitude of the driving voltage signal;
the unit voltage acceleration is the ratio of the acceleration peak value to the amplitude value.
Step S15, drawing the sweep characteristic curve with the frequency points as abscissa and the unit voltage acceleration corresponding to the frequency points as ordinate.
The embodiment discloses a process for generating a sweep characteristic curve.
The present invention also provides a transfer function generating device of a vibration motor, which includes a memory for storing a transfer function generating program of the vibration motor and a processor, wherein the transfer function generating program of the vibration motor in the memory is executed by the processor to implement the transfer function generating method of the vibration motor according to any one of the above embodiments.
The present invention also proposes a computer-readable storage medium having stored thereon a transfer function generation program of a vibration motor, which when executed by a processor, implements the steps of the transfer function generation method of a vibration motor as described in the above embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a controlled terminal, or a network device) to execute the method of each embodiment of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method of generating a transfer function of a vibration motor, comprising:
acquiring a sweep frequency characteristic curve of the vibration motor;
performing second-order high-pass filter parameter fitting on the sweep frequency characteristic curve to obtain filter parameters, wherein the filter parameters comprise actual quality factors, gains and cut-off frequencies;
obtaining a frequency range of the target vibration waveform according to the target vibration waveform of the vibration motor, and determining a lower limit value of a target frequency according to the frequency range, wherein the target vibration waveform is an acceleration waveform;
and correcting the frequency sweep characteristic of the vibration motor according to the lower limit value of the target frequency, the filter parameter and a preset reference quality factor to obtain a first transfer function of a target vibration waveform and a voltage driving signal of the vibration motor, wherein the frequency sweep characteristic is a second transfer function from voltage to acceleration.
2. The method of generating a transfer function according to claim 1, wherein the step of obtaining a first transfer function of a target vibration waveform and a voltage driving signal of a vibration motor according to the target frequency lower limit value, the filter parameter, and a preset reference quality factor comprises:
obtaining a numerator expression of a first transfer function in an s domain according to the filter parameters, wherein the numerator expression of the first transfer function corresponds to a denominator expression of the second transfer function;
obtaining a denominator expression of the first transfer function in the s domain according to the target frequency lower limit value and a preset reference quality factor, wherein the denominator expression of the first transfer function is obtained by correcting a denominator expression of a second transfer function by adopting the target frequency lower limit value and the preset reference quality factor;
and obtaining the first transfer function according to the numerator expression of the first transfer function and the denominator expression of the first transfer function.
3. The transfer function generation method of claim 2,
the molecular expression of the first transfer function is,
wherein k is the gain, Q0Is said actual quality parameter, ω0Is the cut-off frequency;
the denominator expression of the first transfer function is,
wherein, Q iscFor the predetermined reference quality factor, thecThe target frequency lower limit value is obtained;
the first transfer function is such that,
4. the transfer function generation method according to claim 1, wherein the step of obtaining a frequency range of the target vibration waveform from the target vibration waveform of the vibration motor, and the step of determining a lower limit value of the target frequency from the frequency range includes:
obtaining a frequency range of the target vibration waveform according to the target vibration waveform of the vibration motor, and obtaining a first lower limit value of the frequency range of the target vibration waveform;
judging whether the first lower limit value is smaller than a second lower limit value of a preset broadband vibration range;
when the first lower limit value is smaller than the second lower limit value, taking the first lower limit value as a target frequency lower limit value;
and when the first lower limit value is greater than or equal to the second lower limit value, taking the second lower limit value as a target frequency lower limit value.
5. The transfer function generating method of a vibration motor according to claim 1, wherein the step of acquiring a frequency sweep characteristic curve of the vibration motor includes:
sequentially inputting driving voltage signals corresponding to all frequency points in a preset frequency range to the vibration motor;
acquiring a feedback acceleration signal of the vibration motor;
determining an acceleration peak value corresponding to each frequency point according to the feedback acceleration signal corresponding to each frequency point;
determining unit voltage acceleration of each frequency point according to the acceleration peak value of each frequency point and the amplitude of the driving voltage signal;
and drawing the sweep frequency characteristic curve by taking each frequency point as an abscissa and the unit voltage acceleration corresponding to the frequency point as an ordinate.
6. The transfer function generating method of a vibration motor according to claim 5, wherein said step of acquiring a feedback acceleration signal of said vibration motor includes:
acquiring a feedback acceleration signal acquired by an acceleration sensor on the vibration motor;
or acquiring a feedback displacement signal detected by a displacement sensor on the vibration motor, and determining the feedback acceleration signal according to the feedback displacement signal.
7. The transfer function generating method of a vibration motor according to claim 5, wherein the step of sequentially inputting the driving voltage signal corresponding to each frequency point within a preset frequency range to the vibration motor comprises:
sequentially acquiring a plurality of frequency points within a preset frequency range by a preset step length;
after each frequency point is obtained, generating the voltage driving signal according to the currently obtained frequency point and a preset amplitude value;
inputting the generated voltage driving signal to the vibration motor.
8. The transfer function generating method of a vibration motor according to claim 1, wherein the reference quality factor has a value in a range of [0.707,10 ].
9. A transfer function generation apparatus of a vibration motor, characterized in that the transfer function generation apparatus of a vibration motor comprises a memory for storing a transfer function generation program of a vibration motor and a processor, and the transfer function generation program of a vibration motor in the memory realizes the transfer function generation method of a vibration motor according to any one of claims 1 to 8 when executed by the processor.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a transfer function generation program of a vibration motor, which when executed by a processor, implements the steps of the transfer function generation method of a vibration motor according to any one of claims 1 to 8.
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| CN113406495A (en) * | 2021-06-28 | 2021-09-17 | 歌尔股份有限公司 | Method and device for generating sweep frequency characteristic curve of vibration motor and storage medium |
| CN114389491A (en) * | 2021-12-14 | 2022-04-22 | 歌尔股份有限公司 | Motor vibration control method, motor vibration control device, computer equipment and storage medium |
| CN116451622A (en) * | 2023-06-16 | 2023-07-18 | 杭州行芯科技有限公司 | Voltage waveform acquisition method and storage medium |
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| CN114389491B (en) * | 2021-12-14 | 2023-10-20 | 歌尔股份有限公司 | Motor vibration control method, apparatus, computer device, and storage medium |
| CN116451622A (en) * | 2023-06-16 | 2023-07-18 | 杭州行芯科技有限公司 | Voltage waveform acquisition method and storage medium |
| CN116451622B (en) * | 2023-06-16 | 2023-10-24 | 杭州行芯科技有限公司 | Voltage waveform acquisition method and storage medium |
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