CN113678091A - 用于改进换能器动力学特性的方法和系统 - Google Patents
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Abstract
一种系统可以包括信号发生器,其被配置为生成原始波形信号;以及建模子系统,其被配置为实施仿真虚拟电磁负载的电磁负载的离散时间模型,并且进一步被配置为通过下列方式来修改原始波形信号以生成用于驱动电磁负载的波形信号:修改虚拟电磁负载,以具有期望特性;将离散时间模型施加到原始波形信号,以生成用于驱动电磁负载的波形信号;并且将波形信号施加到电磁负载。
Description
技术领域
本公开总体上涉及改进换能器,例如触觉换能器的动力学特性。
背景技术
振动-触觉换能器,例如线性共振致动器(LRA)广泛应用于诸如移动电话之类的便携式设备,以向用户产生振动反馈。以各种形式的振动-触觉反馈给用户的皮肤造成不同的触感,并且可以在用于现代设备的人-机交互中发挥日益重要的作用。
LRA可以被建模为质量-弹簧机电振动系统。当采用适当设计或控制的驱动信号驱动时,LRA可以生成特定期望形式的振动。例如,用户手指上的急剧且确切的振动模式可以用于产生模拟机械按钮点击的感觉。这种确切的振动然后可以用作虚拟开关以取代机械按钮。
图1示出了设备100中的振动-触觉系统的示例。设备100可以包括控制器101,其被配置为控制所施加到放大器102的信号。然后,放大器102可以基于信号来驱动触觉换能器103。控制器101可以由触发器触发以输出信号。触发器可以例如包括设备100的屏幕或虚拟按钮上的压力传感器或力传感器。
在各种形式的振动-触觉反馈之中,长时间持续的音调振动可以在通知设备用户某些预定义事件(诸如来电或消息、紧急警报以及定时器警告等)方面上发挥重要作用。为了有效地生成音调振动通知,可能期望以其共振频率来操作触觉致动器。
触觉换能器的共振频率f0可以近似估计为:
其中,C是弹簧系统的柔量,并且M是等效移动质量,其可以基于触觉换能器中的实际移动部分和持有触觉换能器的便携式设备的质量两者来确定。
由于单独的触觉换能器中样本-样本的变化、移动设备装配的变化、由老化所引起的时间分量的改变、以及诸如用户抓握设备的各种不同强度之类的使用条件,触觉换能器的振动共振可能时不时地变化。
图2A示出了被建模为线性系统的线性共振致动器(LRA)的示例。LRA是非线性分量,其取决于例如施加的电压电平、工作温度和工作频率,行为可能会有所不同。然而,这些分量可以被建模为特定条件内的线性分量。
图2B示出了被建模为线性系统的LRA的示例,所述线性系统包括LRA的质量-弹簧系统201的电气等效模型。在该示例中,LRA被建模为具有电气和机械元件的三阶系统。具体地,Re和Le分别是线圈-磁体系统中的DC电阻和线圈电感;并且Bl是线圈的磁力因数。驱动放大器输出具有输出阻抗Ro的电压波形V(t)。端电压VT(t)可以跨触觉换能器的端子之间感测。质量-弹簧系统201以速度u(t)运动。
电磁负载诸如LRA可以具有其阻抗ZLRA被视为线圈阻抗Zcoil与机械阻抗Zmech之和的特征:
ZLRA=Zcoil+Zmech (2)
反过来,线圈阻抗Zcoil又可以包括与电感Le串联的直流(DC)电阻Re:
Zcoil=Re+s*Le (3)
机械阻抗Zmech可以由下列三个参数界定,包括:共振时的电阻RRES,其表示代表了触觉换能器的质量-弹簧系统的机械摩擦的电阻;电容CMES,其表示代表了触觉换能器的质量-弹簧系统的等效移动质量M的电容;以及电感LCES,其代表触觉换能器的质量-弹簧系统的柔量C。总机械阻抗的电气等效是RRES、CMES、LCES的并联连接。这种并联连接的拉普拉斯(Laplace)变换由如下描述:
触觉换能器的共振频率f0可以如下表示为:
LRA的品质因数Q可以如下表示为:
参考等式(6),其可能表现得不直观,在于其表达式涉及描述电阻Re与RRES的并联连接的子表达式(即,),而在图2B中,这些电阻示出为串联连接。然而,这种情况可能是驱动电压Ve在振荡,但然后突然关闭且变为零。图2B中示出的电压放大器可以被视为具有较低的源阻抗,理想地为零源阻抗。在这些条件下,当驱动电压Ve变为零时,电压放大器有效地从电路中消失。在这时,图2B中的电阻Re的最顶部端子如电阻RRES的最底部端子一样接地,并且因此如等式(6)中所反映的,电阻Re和RRES确实并联连接。
电磁换能器诸如LRA或微型扬声器可能具有较慢的响应时间。图3是LRA的示例响应的曲线图,其描绘了到LRA的示例驱动信号、流经LRA的电流以及LRA的反电动势(反EMF),其中这种反电动势可以与换能器的移动元件(例如线圈或磁体)的速度成比例。如图3所示,在能量被传递到LRA时,反EMF的启动时间可能较慢,并且随着存储在LRA中的机械能放电,反电动势可能会在驱动信号已经结束之后出现一些“嗡嗡”的振铃。在触觉LRA的背景下,这种行为特性可能导致“稠糊的”感觉的点击或脉冲,而不是“清脆的”触觉响应。因此,可能期望LRA而是具有类似于图4中所示的那种响应,图4中在驱动信号已经结束之后存在最小的振铃,并且其可以在触觉的背景下提供更“清脆的”触觉响应。因此,可能期望施加处理到驱动信号,使得在将处理的驱动信号施加到换能器时,换能器的速度或反电动势更紧密接近图4中的换能器的速度或反电动势。
发明内容
根据本公开的教导,可以减少或消除与电磁负载的不理想动力学特性相关联的不足和问题。
根据本公开的实施例,一种系统可以包括信号发生器,其被配置为生成原始波形信号;以及建模子系统,其被配置为实施仿真虚拟电磁负载的电磁负载的离散时间模型,并且进一步被配置为通过下列方式,修改原始波形信号以生成用于驱动电磁负载的波形信号:修改虚拟电磁负载,以具有期望特性;将离散时间模型施加到原始波形信号以生成用于驱动电磁负载的波形信号;并且将波形信号施加到电磁负载。
根据本公开的这些以及其它实施例,一种方法可以包括实施仿真虚拟电磁负载的电磁负载的离散时间模型;以及通过下列方式,修改原始波形信号以生成用于驱动电磁负载的波形信号:修改虚拟电磁负载,以具有期望特性;将离散时间模型施加到原始波形信号,以生成用于驱动电磁负载的波形信号;并且将波形信号施加到电磁负载。
根据本公开的这些以及其它实施例,一种主机设备可以包括电磁负载;信号发生器,其被配置为生成原始波形信号;以及建模子系统,其被配置为实施仿真虚拟电磁负载的电磁负载的离散时间模型,并且进一步被配置为通过下列方式,修改原始波形信号,以生成用于驱动电磁负载的波形信号:修改虚拟电磁负载,以具有期望特性;将离散时间模型施加到原始波形信号,以生成用于驱动电磁负载的波形信号;并且将波形信号施加到电磁负载。
从本文所包括的附图、说明书和权利要求书中来看,本公开的技术优势对于本领域普通技术人员而言将会是显而易见的。至少通过权利要求书中特别指出的元件、特征以及组合,将会完成和实现实施例的目的和优点。
应当理解的是,前面的总体描述和下面的详细描述两者都是示例和说明性的,并非是对本公开中所阐述的权利要求书的限制。
附图说明
本实施例及其优点可以通过参考与附图结合的下述说明书,获得更完整的理解,其中类似的附图标记指示类似的特征,并且其中:
图1示出了如本领域中公知的设备中的振动-触觉系统的示例;
图2A和2B各自示出了如本领域中公知的被建模为线性系统的线性共振致动器(LRA)的示例;
图3示出了如本领域中公知的电磁负载的示例波形的曲线图;
图4示出了根据本公开的实施例的电磁负载的理想示例波形的曲线图;
图5示出了根据本公开的实施例的用于改进换能器动力学特性的示例系统;以及
图6示出了根据本公开的实施例的被建模为线性系统并且包括负电阻的线性共振致动器(LRA)的示例。
具体实施方式
以下说明书阐述了根据本公开的示例实施例。进一步的示例实施例和实施方式对于本领域普通技术人员而言将是显而易见的。此外,本领域普通技术人员将认识到可以应用各种等效技术来代替,或结合以下讨论的实施例,并且所有的这类等效技术应当被视为被涵盖在本公开中。
各种电子器件设备或智能设备可以具有换能器、扬声器、以及声输出换能器,例如用于将适当的电气驱动信号转换为声输出(诸如声压波或机械振动)的任何换能器。例如,许多电子器件设备可以包括一个或多个扬声器或扩音器,以用于生成声音,例如用于音频内容、语音通信的回放和/或用于提供可听通知。
这种扬声器或扩音器可以包括电磁致动器,例如音圈电机,其机械耦合到柔性膜片(例如常规的扩音器纸盆),或其机械耦合到设备的表面(例如移动设备的玻璃屏幕)。一些电子器件设备还可以包括能够生成超声波的声输出换能器,例如用于接近检测式的应用和/或机器-机器的通信。
附加地或可替代地,许多电子器件设备可以包括更专用的声输出换能器,例如触觉换能器,其被定制为生成振动以用于给用户提供触觉控制反馈或通知。附加地或可替代地,电子器件设备可以具有连接器例如插座,以用于与附件装置的对应连接器进行可拆卸的接合连接,并且可以被布置为向连接器提供驱动信号以便在连接时驱动上述类型的附件装置的一个或多个中的换能器。因此,这种电子器件设备将包括驱动电路系统,以用于采用适当的驱动信号驱动主机设备的换能器或连接附件。对于声换能器或触觉换能器,驱动信号将生成模拟时变电压信号,例如时变波形。
图3所示的问题可能由具有高品质因数Q的换能器301造成,其在换能器的共振频率f0处具有阻抗的尖峰。
图5示出了根据本公开的实施例的用于改进电磁负载的动力学特性的示例系统300。在一些实施例中,系统300可以对包括系统300和触觉换能器301的主机设备是不可或缺的。这类设备可以包括但不限于:移动设备、家用电器、车辆、和/或包括人-机界面的各种其它系统、设备或装置。如以下更详细地描述,系统300可以实施负阻抗滤波器326以施加原始换能器驱动信号,这可以降低换能器的有效品质因数Q,反过来这又可以减少启动时间并且最小化在原始换能器驱动信号已经结束之后发生的振铃。换能器的质量因数Q可以如下表示为:
在等式(7)中,随着DC电阻Re增加,分子项RRES*Re比分母项RRES+Re增加得更为迅速。所以,品质因数QLRA通常随着DC电阻Re的增加而增加。因此,系统300可以最小化品质因数q的一种方式是有效地减少DC电阻Re。在一些实施例中,系统300可以理想地将有效DC电阻Re减少至在换能器301中发生临界阻尼的点。
图6示出了根据本公开的实施例,被建模为包括电气分量602和机械分量604的电气模型并且包括所插入与触觉换能器301串联的具有负阻抗Re_neg的负电阻电阻器606的线性系统的触觉换能器301的示例。增加负阻抗Re_neg可以降低品质因数QLRA,因为实际上其从DC电阻Re中减去从而减少了总DC电阻抗。
实际上,不存在负电阻器。反而,负阻抗滤波器326可以包括数字滤波器,其被配置为基本上表现得类似图6所示的电路,其包括与触觉换能器301的数学模型串联的负阻抗Re_neg的数学模型。在工作中,负阻抗滤波器326实际上可以计算电压Vm,事实上如果可能放置具有负阻抗Re_neg的物理电阻器与触觉传感器301相串联,所述电压Vm将发生在如图6所示的负阻抗Re_neg与DC电阻Re的结点处。计算的电压Vm然后可以用于驱动触觉传感器301。
从图6的检测中来看,电压Vm与驱动电压Ve之间的拉普拉斯(Laplace)变换关系可以由下式给出:
等式(8)实际上是输出给定输入Ve的Vm的分压器。负阻抗滤波器326可以是数字滤波器,其实施如下的传递函数的数字版本:
在系统300中,由脉冲发生器322所生成并且被驱动到负阻抗滤波器326的原始波形信号x′(t)可以对应于图6所示的驱动电压Ve的数字表示。由负阻抗滤波器326所生成的波形信号x(t)可以依次对应于电压Vm。电压Vm可以被输入到放大器306,其依次可以驱动触觉传感器301。
在一些实施例中,负阻抗Re_neg可以如下表示为DC电阻Re中的一小部分:
Re_neg=Re*Re_cancel (10)
其中因数Re_cancel可以包括0与1之间的无单位数值,并且可以是先验选择,其表示由负阻抗滤波器326所抵消的DC电阻Re中的一小部分。
负阻抗326可以采用对应于等式(9)的传递函数来实施数字滤波器。假设负阻抗Re_neg由等式(10)给定,则将负阻抗滤波器326实施为数字滤波器可能需要换能器阻抗ZLRA、DC电阻Re和用于因数Re_cancel的先验选择的数字估计。
负阻抗滤波器传递函数可以是具有Z变换的三阶数字滤波器,如下表示为:
负阻抗滤波器326的系数b0_nif、b1_nif、b2_nif、b3_nif、a1_nif、a2_nif和a3_nif可以具体表现关于换能器阻抗ZLRA、DC电阻Re和因数Re_cancel的信息。
在于2019年3月29日提交的美国临时专利申请序列号62/826,388以及要求保护其优先权权益的任何申请中,描述了用于在线实时估计触觉换能器阻抗ZLRA的参数的示例方法和系统,所有这些以其整体通过引用并入本文,并且在本文中可以被称为“估计专利申请”,并且以其整体通过引用并入。
在“估计专利申请”中,描述了一种方法,其将估计问题分为一方面估计线圈阻抗Zcoil=Re+Le*s,和另一方面估计机械阻抗Zmech。具体地,机械阻抗Zmech的电气等效可以使用最小二乘估计来估计为二阶系统,其然后被放置与线圈阻抗Zcoil串联以确定三阶触觉换能器阻抗ZLRA。在“估计专利申请”中,二阶机械阻抗Zmech从三个最小二乘参数估计g、a1和a2中来估计。然后,完整的触觉换能器阻抗ZLRA可以从这三个参数加上单独估计的DC线圈电阻Re和线圈电感Le中来估计。
是传递函数,其可以描述采用电流作为输入并且产生电压作为输出的滤波器。然而,期望找到用于描述采用Ve(z)=VLRA(z)作为输入并且产生电压Vm(z)作为输出的分压器的负阻抗滤波器326中的参数b0_nif、b1_nif、b2_nif、b3_nif、a1_nif、a2_nif和a3_nif。通过使用以上等式(9)以及获知单独估计的DC线圈电阻Re(例如,其可以假设线圈电感Le通过实验室测量或其它方式固定或先验估计),则可以提供用于负阻抗滤波器326的表达式。将用于来自“估计专利申请”中的涉及g、a1、a2和Re的触摸换能器阻抗ZLRA的表达式代入以上等式(9),并且应用双线性变换以从连续时间转换为离散(数字)时间,则用于参数b0_nif、b1_nif、b2_nif、b3_nif、a1_nif、a2_nif和a3_nif的表达式可以被推导用于负阻抗滤波器326。电感Le_nrm和阻抗Zfb可以如下界定为:
Le_nrm=2*Le*fs;
Zfb=Re_cancel*Re;
用于负阻抗滤波器326的非归一化系数可以如下界定为:
b0_nif=-Le_nrm-Re–g;
b1_nif=Le_nrm-Re-g-Le_nrm*a1-Re*a1;
b2_nif=g+Le_nrm*a1-Le_nrm*a2-Re*a1-Re*a2;
b3_nif=g+Le_nrm*a2-Re*a2;
a0_nif=Zfb-Le_nrm-Re–g;
a1_nif=Zfb+Le_nrm-Re-g+Zfb*a1-Le_nrm*a1-Re*a1;
a2_nif=g+Zfb*a1+Zfb*a2+Le_nrm*a1-Le_nrm*a2-Re*a1-Re*a2;以及
a3_nif=g+Zfb*a2+Le_nrm*a2-Re*a2。
所有这些表达式可以进一步通过将上述系数除以a0_nif来归一化,以得到负阻抗滤波器326的最终参数系数b0_nif、b1_nif、b2_nif、b3_nif、a1_nif、a2_nif和a3_nif。
负阻抗滤波器326的传递函数可以是具有z变换的三阶数字滤波器,其如下表示为:
其中负阻抗滤波器326的系数b0_nif、b1_nif、b2_nif、b3_nif、a1_nif、a2_nif和a3_nif具体表现关于换能器阻抗ZLRA、DC电阻Re和因数Re_cancel的信息。
在一些实施例中,可以离线获知电气及电气等效换能器参数Re、Le、RRES、CMES、LCES。这些知识可以源于换能器设备的实验室测量和/或由换能器制造商所公布的数据。
用于等式(9)中给出的负阻抗滤波器326函数的传递函数的表达式是以s域拉普拉斯(Laplace)变换的形式。这种表达式可以使用任何数量的标准技术(诸如双线性变换、脉冲不变转换及其它)被转换为数字z变换。
通过将用于换能器阻抗ZLRA的等式(2)和用于负阻抗Re_neg的等式(10)代入等式(9)中,负阻抗滤波器326的传递函数可以如下表示为:
进一步将用于Zcoil(s)的等式(3)和用于Zmech(s)的等式(3)代入,如下给出为:
因此,等式(13)可以依据电气及电气等效参数Re、Le、RRES、CMES、LCES以及因数Re_cancel,提供用于负阻抗滤波器326的传递函数ZNIF(s)的拉普拉斯(Laplace)变换的表达式。为了使用双线性变换将等式(14)转换为数字滤波器z变换,可以根据下式来代入拉普拉斯变量s:
如果将等式(15)代入到等式(14)中,然后进行简化,则可以获得以等式(12)形式的用于数字z变换ZNIF(z)的等式,其中根据下式,依据Re、Le、RREs、CMES、LCES以及因数Re_cancel表示系数b0_nif、b1_nif、b2_nif、b3_nif、a1_nif、a2_nif和a3_nif:
b0_nif=(Re*Rres+2*Lces*Re*fs+2*Lces*Rres*fs+2*Le*Rres*fs+4*Lces*Le*fs2+8*Cmes*Lces*Le*Rres*fs3+4*Cmes*Lces*Re*Rres*fs2)/(Re*Rres-Re*Re_cancel*Rres+2*Lces*Re*fs+2*Lces*Rres*fs+2*Le*Rres*fs+4*Lces*Le*fs2-2*Lces*Re*Re_cancel*fs+8*Cmes*Lces*Le*Rres*fs3+4*Cmes*Lces*Re*Rres*fs2-4*Cmes*Lces*Re*Re_cancel*Rres*fs2);
b1_nif=(3*Re*Rres+2*Lces*Re*fs+2*Lces*Rres*fs+2*Le*Rres*fs-4*Lces*Le*fs2-24*Cmes*Lces*Le*Rres*fs3-4*Cmes*Lces*Re*Rres*fs2)/(Re*Rres-Re*Re_cancel*Rres+2*Lces*Re*fs+2*Lces*Rres*fs+2*Le*Rres*fs+4*Lces*Le*fs2-2*Lces*Re*Re_cancel*fs+8*Cmes*Lces*Le*Rres*fs3+4*Cmes*Lces*Re*Rres*fs2-4*Cmes*Lces*Re*Re_cancel*Rres*fs2);
b2_nif=-(2*Lces*Re*fs-3*Re*Rres+2*Lces*Rres*fs+2*Le*Rres*fs+4*Lces*Le*fs2-24*Cmes*Lces*Le*Rres*fs3+4*Cmes*Lces*Re*Rres*fs3)/(Re*Rres-Re*Re_cancel*Rres+2*Lces*Re*fs+2*Lces*Rres*fs+2*Le*Rres*fs+4*Lces*Le*fs2-2*Lces*Re*Re_cancel*fs+8*Cmes*Lces*Le*Rres*fs3+4*Cmes*Lces*Re*Rres*fs2-4*Cmes*Lces*Re*Re_cancel*Rres*fs2);
b3_nif=-(2*Lces*Re*fs-Re*Rres+2*Lces*Rres*fs+2*Le*Rres*fs-4*Lces*Le*fs2+8*Cmes*Lces*Le*Rres*fs3-4*Cmes*Lces*Re*Rres*fs2)/(Re*Rres-Re*Re_cancel*Rres+2*Lces*Re*fs+2*Lces*Rres*fs+2*Le*Rres*fs+4*Lces*Le*fs2-2*Lces*Re*Re_cancel*fs+8*Cmes*Lces*Le*Rres*fs3+4*Cmes*Lces*Re*Rres*fs2-4*Cmes*Lces*Re*Re_cancel*Rres*fs2);
a1_nif=(3*Re*Rres-3*Re*Re_cancel*Rres+2*Lces*Re*fs+2*Lces*Rres*fs+2*Le*Rres*fs-4*Lces*Le*fs2-2*Lces*Re*Re_cancel*fs-24*Cmes*Lces*Le*Rres*fs3-4*Cmes*Lces*Re*Rres*fs2+4*Cmes*Lces*Re*Re_cancel*Rres*fs2)/(Re*Rres-Re*Re_cancel*Rres+2*Lces*Re*fs+2*Lces*Rres*fs+2*Le*Rres*fs+4*Lces*Le*fs2-2*Lces*Re*Re_cancel*fs+8*Cmes*Lces*Le*Rres*fs3+4*Cmes*Lces*Re*Rres*fs2-4*Cmes*Lces*Re*Re_cancel*Rres*fs2);
a2_nif=-(3*Re*Re_cancel*Rres-3*Re*Rres+2*Lces*Re*fs+2*Lces*Rres*fs+2*Le*Rres*fs+4*Lces*Le*fs2-2*Lces*Re*Re_cancel*fs-24*Cmes*Lces*Le*Rres*fs3+4*Cmes*Lces*Re*Rres*fs2-4*Cmes*Lces*Re*Re_cancel*Rres*fs2)/(Re*Rres-Re*Re_cancel*Rres+2*Lces*Re*fs+2*Lces*Rres*fs+2*Le*Rres*fs+4*Lces*Le*fs2-2*Lces*Re*Re_cancel*fs+8*Cmes*Lces*Le*Rres*fs3+4*Cmes*Lces*Re*Rres*fs2-4*Cmes*Lces*Re*Re_cancel*Rres*fs2)
a3_nif=-(Re*Re_cancel*Rres-Re*Rres+2*Lces*Re*fs+2*Lces*Rres*fs+2*Le*Rres*fs-4*Lces*Le*fs2-2*Lces*Re*Re_cancel*fs+8*Cmes*Lces*Le*Rres*fs3-4*Cmes*Lces*Re*Rres*fs2+4*Cmes*Lces*Re*Re_cancel*Rres*fs2)/(Re*Rres-Re*Re_cancel*Rres+2*Lces*Re*fs+2*Lces*Rres*fs+2*Le*Rres*fs+4*Lces*Le*fs2-2*Lces*Re*Re_cancel*fs+8*Cmes*Lces*Le*Rres*fs3+4*Cmes*Lces*Re*Rres*fs2-4*Cmes*Lces*Re*Re_cancel*Rres*fs2)
在其中离线获得参数Re、Le、RRES、CMES、LCES以及因数Re_cancel的实施例中,以上表达式可以用于计算用于负阻抗滤波器326的系数。
虽然前面讨论了对线性电磁负载的应用,但是理解的是,与所公开的那些相类似或完全相同的系统和方法可以应用到其它线性或非线性系统。
此外,虽然前面考虑了使用负阻抗滤波器以实施LRA的模型,但是在一些实施例中,LRA的数学等效可以用来代替模型。
因此,使用上述系统和方法,系统(例如系统300)可以包括信号发生器(例如脉冲发生器322),其被配置为生成原始波形信号(例如原始波形信号x′(t));以及建模子系统(例如负阻抗滤波器326),其被配置为实施仿真虚拟电磁负载的电磁负载(例如触觉换能器301)的离散时间模型(例如图6所示的模型),并且进一步被配置为通过下列方式,修改原始波形信号以生成用于驱动电磁负载的波形信号(例如波形信号x(t)):修改虚拟电磁负载以具有期望特性(例如施加负电阻606);将离散时间模型施加到原始波形信号以生成用于驱动电磁负载的波形信号;并且将波形信号施加到电磁负载。
如本文中使用的,当两个或更多个元件被称为“耦合”到另一个元件时,这一术语指示这样的两个或更多个元件如适用的话,无论是间接或直接地相连接,具有中介元件与否都在进行电子通信或机械通信。
本公开涵盖本领域普通技术人员将理解的对本文中的示例实施例的所有的变化、代替、变型、更改和修改。类似地,在适当的情况下,所附权利要求书涵盖本领域普通技术人员将理解的对本文中的示例实施例的所有的变化、代替、变型、更改和修改。此外,所附权利要求书中对适配、布置、能够、配置、启用、可操作或操作为执行特定功能的装置、或者系统、或者装置或系统的组件的参考,涵盖无论其或其特定功能是否激活、打开或解锁的装置、系统或组件,只要装置、系统或组件如此适配、布置、能够、配置、启用、可操作或操作。因此,在不脱离本公开的范围的情况下,可以对本文中描述的系统、装置和方法进行修改、添加或删除。例如,可以将系统和装置中的组件进行集成或分离。此外,可以通过更多、更少或其它的组件执行本文中公开的系统和装置的操作,并且所述方法可以包括更多、更少或其它的步骤。另外,可以以任何适当的顺序执行步骤。如本文档中所使用的,“每个”是指集合中的每个元素,或集合的子集中的每个元素。
虽然以下附图中示出并且描述了示例性实施例,但是可以使用无论当前已知与否的任何数量的技术来实施本公开的原理。本公开不应当以任何方式受限于以上附图中示出并且描述的示例性实施方式和技术。
除非另外特别指出,否则附图中所描绘的物品未必是按比例绘制的。
本文中列举的所有示例和条件性语言旨在用于教学目的,以辅助读者理解由发明者促进深入本领域所贡献的本公开和概念,并且被解释为不受限于这些特别列举的示例和条件。虽然已经详细描述了本公开的实施例,但是应当理解的是,在不脱离本公开的精神和范围的情况下,可以对其进行各种变化、替换和更改。
虽然以上已经列举了具体优势,但是各种实施例可以包括具体优点中的一些、没有一个或全部。另外,对于在阅读了前面的附图和说明书之后的本领域普通技术人员而言,其它技术优势将变得显而易见。
为了帮助专利局以及本申请上所发布的任何专利的任何读者解释其中所附的权利要求书,申请人希望注意到的是,除非在特定权利要求中明确使用词语“...的手段”或“...的步骤”,否则他们并不打算任何所附权利要求或权利要求元素援引35 U.S.C.§112(f)。
Claims (21)
1.一种系统,包括:
信号发生器,其被配置为生成原始波形信号;以及
建模子系统,其被配置为实施对虚拟电磁负载进行仿真的电磁负载的离散时间模型,并且进一步被配置为通过下列方式来修改所述原始波形信号以生成用于驱动所述电磁负载的波形信号:
修改所述虚拟电磁负载,以具有期望特性;
将所述离散时间模型施加到所述原始波形信号,以生成用于驱动所述电磁负载的所述波形信号;并且
将所述波形信号施加到所述电磁负载。
2.根据权利要求1所述的系统,其中所述电磁负载是触觉换能器。
3.根据权利要求1所述的系统,其中,所述离散时间模型是基于根据实验室模拟所确定的电磁负载的一个或多个参数。
4.根据权利要求1所述的系统,其中,所述离散时间模型是基于根据在所述系统的工作期间所述一个或多个参数的实时估计所确定的电磁负载的一个或多个参数。
5.根据权利要求4所述的系统,其中,基于至少所述波形信号的瞬态的开始与所述波形信号的瞬态的结束中的宽带内容,执行所述实时估计。
6.根据权利要求4所述的系统,其中,所述建模子系统被配置为周期性地更新所述实时估计,以便实现所述期望特性。
7.根据权利要求1所述的系统,其中,所述期望特性是虚拟换能器的期望阻抗。
8.一种方法,包括:
实施对虚拟电磁负载进行仿真的电磁负载的离散时间模型;以及
通过下列方式来修改原始波形信号以生成用于驱动所述电磁负载的波形信号:
修改所述虚拟电磁负载,以具有期望特性;
将所述离散时间模型施加到所述原始波形信号,以生成用于驱动所述电磁负载的所述波形信号;并且
将所述波形信号施加到所述电磁负载。
9.根据权利要求8所述的方法,其中所述电磁负载是触觉换能器。
10.根据权利要求8所述的方法,其中,所述离散时间模型是基于根据实验室模拟所确定的电磁负载的一个或多个参数。
11.根据权利要求8所述的方法,其中,所述离散时间模型是基于根据在所述系统的工作期间所述一个或多个参数的实时估计所确定的电磁负载的一个或多个参数。
12.根据权利要求11所述的方法,其中,基于至少所述波形信号的瞬态的开始与所述波形信号的瞬态的结束中的宽带内容,执行所述实时估计。
13.根据权利要求11所述的方法,进一步包括周期性地更新所述实时估计,以便实现所述期望特性。
14.根据权利要求8所述的方法,其中所述期望特性是虚拟换能器的期望阻抗。
15.一种主机设备,包括:
电磁负载;
信号发生器,其被配置为生成原始波形信号;以及
建模子系统,其被配置为实施对虚拟电磁负载进行仿真的所述电磁负载的离散时间模型,并且进一步被配置为通过下列方式来修改所述原始波形信号以生成用于驱动所述电磁负载的波形信号:
修改所述虚拟电磁负载,以具有期望特性;
将所述离散时间模型施加到所述原始波形信号,以生成用于驱动所述电磁负载的所述波形信号;并且
将所述波形信号施加到所述电磁负载。
16.根据权利要求15所述的主机设备,其中所述电磁负载是触觉换能器。
17.根据权利要求15所述的主机设备,其中,所述离散时间模型是基于根据实验室模拟所确定的电磁负载的一个或多个参数。
18.根据权利要求15所述的主机设备,其中,所述离散时间模型是基于根据在所述系统的工作期间所述一个或多个参数的实时估计所确定的电磁负载的一个或多个参数。
19.根据权利要求18所述的主机设备,其中,基于至少所述波形信号的瞬态的开始与所述波形信号的瞬态的结束中的宽带内容,执行所述实时估计。
20.根据权利要求18所述的主机设备,其中,所述建模子系统被配置为周期性地更新所述实时估计,以便实现所述期望特性。
21.根据权利要求15所述的主机设备,其中,所述期望特性是虚拟换能器的期望阻抗。
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GB2596449B (en) | 2024-02-28 |
GB2596449A (en) | 2021-12-29 |
KR20210144764A (ko) | 2021-11-30 |
WO2020205408A1 (en) | 2020-10-08 |
KR102562869B1 (ko) | 2023-08-04 |
CN113678091B (zh) | 2023-03-24 |
US20200313529A1 (en) | 2020-10-01 |
US11283337B2 (en) | 2022-03-22 |
US20200306796A1 (en) | 2020-10-01 |
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