CN114167975B - Method and device for constructing and adjusting directional vibration waveform - Google Patents
Method and device for constructing and adjusting directional vibration waveform Download PDFInfo
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- CN114167975B CN114167975B CN202111280093.4A CN202111280093A CN114167975B CN 114167975 B CN114167975 B CN 114167975B CN 202111280093 A CN202111280093 A CN 202111280093A CN 114167975 B CN114167975 B CN 114167975B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/032—Reciprocating, oscillating or vibrating motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/02—Arrangements for regulating or controlling the speed or torque of electric DC motors the DC motors being of the linear type
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The application relates to a method and a device for constructing and adjusting a directional vibration waveform. The construction method comprises the following steps: constructing a piecewise linear waveform; smoothing the piecewise linear waveform to obtain a continuous curve; carrying out low-pass filtering on the continuous curve twice to obtain a first waveform; differentiating the first waveform once to obtain a second waveform; differentiating the second waveform once to obtain a third waveform; and adjusting the third waveform according to preset target intensity, motor space limitation and circuit limitation in sequence to obtain a target directional vibration waveform. The application realizes better directional touch sense through the shape difference, especially the amplitude difference, of the vibration waveform in the positive direction and the negative direction. The application not only avoids the problems of displacement and driving voltage divergence, but also can adjust the waveform according to the actual motor and hardware conditions, and has the feasibility of actual control.
Description
Technical Field
The application relates to the technical field of electric control and inductance, in particular to a method and a device for constructing and adjusting directional vibration waveforms.
Background
Haptic feedback can provide a third sensory experience in addition to visual and audible, and has very wide application in consumer electronics, such as vibration alerts in cell phones, vibration haptic simulation on gamepads, and vibration feedback for AR/VR products. Linear resonant actuators (Linear Resonant Actuator, LRA) have become the dominant haptic feedback motors by virtue of their strong, rich, crisp and low energy consumption. Different vibration waveforms correspond to different haptic experiences, e.g., a haptic sensation of low frequency vibration is softer and more comfortable, and a haptic sensation of high frequency vibration is harder and crunchy.
In addition to amplitude and frequency, the difference in positive and negative directional waveforms also has some effect on the haptic experience, mainly in terms of directional vibration, i.e., when the motor vibrates with such positive and negative directional differentiated vibration waveforms, the user appears to feel a force applied and pulled in a particular direction, we call this feel directional or pseudo-force haptic, and the vibration waveform that achieves this feel is a directional vibration waveform or pseudo-force vibration waveform.
CN111033441a discloses a method for constructing pseudo force vibration waveform, which realizes directional touch sense by the density difference in the positive and negative directions. However, the feasibility of actual control is not considered, the acceleration waveform is integrated once to obtain a corresponding velocity waveform, and since the negative area of the acceleration waveform is obviously larger than the positive area, the velocity waveform obtained by integrating the acceleration waveform once is always increased in negative direction, the velocity is integrated again to obtain a displacement waveform, and obviously the displacement waveform is always increased in negative direction. In other words, the acceleration waveform is divergent in terms of speed and displacement, and since the motor internal space is limited and the control voltage amplitude that can be applied by the hardware circuit is limited, it is obvious that such acceleration waveform does not have practical control feasibility.
Disclosure of Invention
Based on the technical problems, in order to fully meet the feasibility of the waveform in the actual application scene, the application constructs a directional vibration waveform, and adjusts the waveform according to the related preset conditions of the actual application scene, thereby obtaining a target directional vibration waveform, and further realizing rich haptic experience matched with the actual scene.
The first aspect of the present application provides a method for constructing and adjusting a directional vibration waveform, the method comprising:
constructing a piecewise linear waveform, wherein the piecewise linear waveform is asymmetric in positive and negative directions;
smoothing the piecewise linear waveform to obtain a continuous curve;
carrying out low-pass filtering on the continuous curve twice to obtain a first waveform;
differentiating the first waveform once to obtain a second waveform;
differentiating the second waveform once to obtain a third waveform;
and adjusting the third waveform according to preset target intensity, motor space limitation and circuit limitation in sequence to obtain a target directional vibration waveform.
Further, the adjusting the third waveform sequentially according to the preset intensity requirement, the motor space limitation and the circuit limitation, before obtaining the target directional vibration waveform, further includes: and (3) adjusting parameters of the low-pass filter, and starting from the step (S3).
Specifically, adjusting the third waveform according to a preset target intensity includes:
acquiring peak acceleration of the third waveform;
calculating the ratio of the preset target strength to the peak acceleration;
and carrying out amplitude scaling on the third waveform according to the ratio to obtain a first adjustment waveform.
Specifically, adjusting the third waveform according to a motor space constraint includes:
integrating the first adjustment waveform twice to obtain a displacement waveform;
acquiring the peak displacement of the displacement waveform;
calculating the ratio of the maximum displacement allowed by the internal space of the motor to the peak displacement;
taking root mean square for the ratio to obtain a time axis scaling factor;
and performing time axis scaling adjustment on the first adjustment waveform according to the time axis scaling coefficient to obtain a second adjustment waveform.
Still more particularly, adjusting the third waveform according to circuit constraints includes:
performing primary integration and secondary integration on the second adjustment waveform to respectively obtain a velocity waveform and a displacement waveform;
calculating a driving voltage required for the second adjustment waveform based on the velocity waveform and the displacement waveform;
obtaining a peak voltage in the driving voltage;
calculating the ratio of the voltage limit value of circuit driving to the peak voltage in a preset application scene;
and carrying out amplitude scaling on the second adjusting waveform according to the ratio to obtain a target directional vibration waveform.
Further, the driving voltage required for calculating the second adjustment waveform based on the velocity waveform and the displacement waveform has a formula:
wherein m represents the vibrator mass of the motor, R e The dc resistance, bl, the magnetic field strength, r, the damping coefficient, k, the spring stiffness coefficient, a (t), the second tuning waveform, v (t), the velocity waveform, and x (t) the displacement waveform.
Preferably, the constructed piecewise linear waveform is constructed using piecewise linearization functions.
A second aspect of the present application provides a device for constructing and adjusting a directional vibration waveform, the device comprising:
a first module for constructing a piecewise linear waveform, wherein the piecewise linear waveform is asymmetric in a positive-negative direction;
the second module is used for carrying out smoothing treatment on the piecewise linear waveform to obtain a continuous curve;
the third module is used for carrying out low-pass filtering on the continuous curve twice to obtain a first waveform;
a fourth module, configured to differentiate the first waveform once to obtain a second waveform;
a fifth module, configured to differentiate the second waveform once to obtain a third waveform;
and a sixth module, configured to adjust the third waveform according to a preset target intensity, a motor space limit, and a circuit limit in order, so as to obtain a target directional vibration waveform.
A third aspect of the present application provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
constructing a piecewise linear waveform, wherein the piecewise linear waveform is asymmetric in positive and negative directions;
smoothing the piecewise linear waveform to obtain a continuous curve;
carrying out low-pass filtering on the continuous curve twice to obtain a first waveform;
differentiating the first waveform once to obtain a second waveform;
differentiating the second waveform once to obtain a third waveform;
and adjusting the third waveform according to preset target intensity, motor space limitation and circuit limitation in sequence to obtain a target directional vibration waveform.
A fourth aspect of the application provides a computer program product comprising a computer program which, when executed by a processor, performs the steps of:
constructing a piecewise linear waveform, wherein the piecewise linear waveform is asymmetric in positive and negative directions;
smoothing the piecewise linear waveform to obtain a continuous curve;
carrying out low-pass filtering on the continuous curve twice to obtain a first waveform;
differentiating the first waveform once to obtain a second waveform;
differentiating the second waveform once to obtain a third waveform;
and adjusting the third waveform according to preset target intensity, motor space limitation and circuit limitation in sequence to obtain a target directional vibration waveform.
The beneficial effects of the application are as follows: the method realizes better directional touch sense through the shape difference (including the degree of density, amplitude and the like) of the vibration waveform in the positive direction and the negative direction, particularly the amplitude difference. In the action process of the directional vibration waveform, the increment of the speed and the acceleration of the motor vibrator is 0, so that the problem of divergence is avoided; in the action process of the directional vibration waveform, the displacement of the motor vibrator is always within the allowed space range in the motor, so that the motor is not damaged due to collision with the shell; in the course of the action of the directional vibration waveform, the required driving voltage amplitude is always below the hardware voltage driving voltage peak value. In short, the directional vibration waveform constructed by the construction and adjustment method of the directional vibration waveform not only avoids the problems of displacement and driving voltage divergence, but also can be adjusted according to the actual motor and hardware conditions, and has the feasibility of actual control.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
The application may be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram showing the steps of a method for constructing and adjusting directional vibration waveforms in an exemplary embodiment of the present application;
fig. 2 is a schematic diagram showing a process of constructing a directional vibration waveform in an exemplary embodiment of the present application;
FIG. 3 illustrates a piecewise linear waveform schematic in an exemplary embodiment of the present application;
FIG. 4 illustrates a rough target acceleration waveform diagram in an exemplary embodiment of the application;
FIG. 5 illustrates a displacement waveform diagram in an exemplary embodiment of the application;
FIG. 6 illustrates a velocity waveform diagram in an exemplary embodiment of the application;
FIG. 7 illustrates a schematic view of a preliminary acceleration waveform in an exemplary embodiment of the present application;
FIG. 8 illustrates a process diagram of adjusting a directional vibration waveform in an exemplary embodiment of the present application;
FIG. 9 is a schematic diagram of an apparatus according to an exemplary embodiment of the present application;
fig. 10 is a schematic structural view of an electronic device according to an exemplary embodiment of the present application;
fig. 11 shows a schematic diagram of a storage medium according to an exemplary embodiment of the present application.
Detailed Description
Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the application. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present application. It will be apparent to one skilled in the art that the present application may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the application.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. The figures are not drawn to scale, wherein certain details may be exaggerated and certain details may be omitted for clarity of presentation. The shapes of the various regions, layers and relative sizes, positional relationships between them shown in the drawings are merely exemplary, may in practice deviate due to manufacturing tolerances or technical limitations, and one skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions as actually required.
Several examples are given below in connection with the accompanying drawings 1-11 of the specification to describe exemplary embodiments according to the present application. It should be noted that the following application scenarios are only shown for facilitating understanding of the spirit and principles of the present application, and embodiments of the present application are not limited in this respect. Rather, embodiments of the application may be applied to any scenario where applicable.
Example 1:
the present embodiment implements a method for constructing and adjusting a directional vibration waveform, as shown in fig. 1, where the method specifically includes:
s1, constructing a piecewise linear waveform, wherein the piecewise linear waveform is asymmetric in the positive and negative directions;
s2, performing smoothing treatment on the piecewise linear waveform to obtain a continuous curve;
s3, carrying out low-pass filtering on the continuous curve twice to obtain a first waveform;
s4, performing primary differentiation on the first waveform to obtain a second waveform;
s5, performing primary differentiation on the second waveform to obtain a third waveform;
and S6, adjusting the third waveform according to preset target strength, motor space limitation and circuit limitation in sequence to obtain a target directional vibration waveform.
It should be noted that, the present application realizes better directional touch sense by the shape difference (including the degree of density, amplitude, etc.) of the vibration waveform in the positive direction and the negative direction, especially the amplitude difference. In a preferred embodiment, therefore, the piecewise linear waveform is constructed such that the piecewise linear waveform is asymmetric in both positive and negative directions, so that the target directional vibration waveform that we expect will be obtained through the subsequent steps of processing.
Further, the adjusting the third waveform according to the preset intensity requirement, the motor space limitation and the circuit limitation in sequence, before obtaining the target directional vibration waveform, further includes: and (3) adjusting parameters of the low-pass filter, and starting from the step (S3).
Specifically, adjusting the third waveform according to the preset target intensity includes:
acquiring peak acceleration of a third waveform;
calculating the ratio of the preset target strength to the peak acceleration;
and carrying out amplitude scaling on the third waveform according to the ratio to obtain a first adjustment waveform.
Specifically, adjusting the third waveform according to the motor space constraint includes:
integrating the first adjustment waveform twice to obtain a displacement waveform;
acquiring peak displacement of a displacement waveform;
calculating the ratio of the maximum displacement allowed by the internal space of the motor to the peak displacement;
taking root mean square of the comparison value to obtain a time axis scaling factor;
and performing time axis scaling adjustment on the first adjustment waveform according to the time axis scaling coefficient to obtain a second adjustment waveform.
Still more particularly, adjusting the third waveform according to the circuit constraint includes:
performing primary integration and secondary integration on the second adjustment waveform to respectively obtain a velocity waveform and a displacement waveform;
calculating a driving voltage required for the second adjustment waveform based on the velocity waveform and the displacement waveform;
obtaining a peak voltage in the driving voltage;
calculating the ratio of the voltage limit value of circuit driving to the peak voltage in a preset application scene;
and carrying out amplitude scaling on the second adjustment waveform according to the ratio to obtain a target directional vibration waveform.
Further, a driving voltage required for the second adjustment waveform is calculated based on the velocity waveform and the displacement waveform, with the formula:
wherein m representsVibrator mass of motor, R e The dc resistance, bl, the magnetic field strength, r, the damping coefficient, k, the spring stiffness coefficient, a (t), the second tuning waveform, v (t), the velocity waveform, and x (t) the displacement waveform.
Preferably, constructing the piecewise linear waveform is constructed using piecewise linearization functions.
Example 2:
the present embodiment implements a method for constructing and adjusting a directional vibration waveform, wherein the process of constructing the directional vibration waveform is shown in fig. 2, and the process of adjusting the constructed directional vibration waveform is shown in fig. 8, and the specific steps are as follows.
In a first step, a piecewise linear waveform is constructed, wherein the piecewise linear waveform is asymmetric in the positive and negative directions. Specifically, a piecewise linearization function is first utilized to construct a polyline, i.e., a "piecewise linear waveform", similar in shape to the intended directional vibration waveform, i.e., the target directional vibration waveform, where a piecewise linear waveform schematic is shown in fig. 3. It should be noted that, the present application realizes better directional touch sense by the shape difference (including the degree of density, amplitude, etc.) of the vibration waveform in the positive direction and the negative direction, especially the amplitude difference. In a preferred embodiment, therefore, the piecewise linear waveform is constructed such that the piecewise linear waveform is asymmetric in both positive and negative directions, so that the target directional vibration waveform that we expect will be obtained through the subsequent steps of processing.
And step two, performing smoothing treatment on the piecewise linear waveform to obtain a continuous curve. In one possible embodiment, as shown in fig. 2, the smoothing process may utilize a low pass filter to smooth the segmented linear waveform to obtain a continuous curve similar in shape to the expected directional vibration waveform, i.e., a "coarse target acceleration waveform", where a schematic diagram of the coarse target acceleration waveform is shown in fig. 4.
And thirdly, carrying out low-pass filtering on the continuous curve twice to obtain a first waveform. Here, the continuous curve is regarded as a rough target acceleration waveform, and the rough target acceleration waveform is subjected to low-pass filtering twice to obtain a first waveform, wherein the first waveform is a "displacement waveform" corresponding to an expected directional vibration waveform, and a displacement waveform schematic diagram is shown in fig. 5.
And step four, differentiating the first waveform once to obtain a second waveform. The second waveform is a velocity waveform, and a velocity waveform diagram is shown in fig. 6.
And fifthly, differentiating the second waveform once to obtain a third waveform. The third waveform is the primary directional vibration waveform after construction, and the primary directional vibration waveform is adjusted to obtain the target directional vibration waveform, wherein the target directional vibration waveform is a waveform which accords with a preset application scene or is matched with a preset condition.
And a sixth step of adjusting parameters of the low-pass filter, and then executing from the third step. In a possible specific embodiment, according to the shape difference between the primary directional vibration waveform and the directional vibration waveform of the expected structure, the cut-off frequency and the damping coefficient of the two low-pass filters in the third step and the fourth step are adjusted until the shape similarity between the primary directional vibration waveform and the directional vibration waveform of the expected structure meets the requirement, and an adjusted primary directional vibration waveform is obtained, wherein the primary directional vibration waveform is shown in fig. 7, and the primary acceleration waveform of fig. 7 is equal to the primary directional vibration waveform.
And seventhly, adjusting the third waveform according to preset target strength, motor space limitation and circuit limitation in sequence to obtain a target directional vibration waveform.
The specific adjustment method is shown in fig. 8, and the adjustment is performed three times from the initial acceleration waveform (i.e. the initial directional vibration waveform and the third waveform) to the adjusted acceleration waveform, firstly, the amplitude scaling adjustment is performed according to the expected intensity requirement, then the time axis scaling adjustment is performed according to the motor space limitation, and finally the amplitude scaling adjustment is performed according to the hardware circuit limitation.
The preliminary acceleration waveform is adjusted according to a preset target strength, and the method comprises the following steps: acquiring peak acceleration of the preliminary acceleration waveform; calculating the ratio of the preset target strength to the peak acceleration; and carrying out amplitude scaling on the preliminary acceleration waveform according to the ratio to obtain a first adjustment waveform.
Further, the first adjustment waveform is readjusted, the adjustment being based on a motor space constraint, comprising: integrating the first adjustment waveform twice to obtain a displacement waveform; acquiring peak displacement of a displacement waveform; calculating the ratio of the maximum displacement allowed by the internal space of the motor to the peak displacement; taking root mean square of the comparison value to obtain a time axis scaling factor; and performing time axis scaling adjustment on the first adjustment waveform according to the time axis scaling coefficient to obtain a second adjustment waveform.
Continuing to adjust the second adjustment waveform, adjusting according to the circuit limit, including: performing primary integration and secondary integration on the second adjustment waveform to respectively obtain a velocity waveform and a displacement waveform; calculating a driving voltage required for the second adjustment waveform based on the velocity waveform and the displacement waveform; obtaining a peak voltage in the driving voltage; calculating the ratio of the voltage limit value of circuit driving to the peak voltage in a preset application scene; and carrying out amplitude scaling on the second adjustment waveform according to the ratio to obtain a target directional vibration waveform. The driving voltage required for calculating the second adjustment waveform based on the velocity waveform and the displacement waveform is calculated by the formula:
wherein m represents the vibrator mass of the motor, R e The dc resistance, bl, the magnetic field strength, r, the damping coefficient, k, the spring stiffness coefficient, a (t), the second tuning waveform, v (t), the velocity waveform, and x (t) the displacement waveform.
The method realizes better directional touch sense through the shape difference (including the degree of density, amplitude and the like) of the vibration waveform in the positive direction and the negative direction, particularly the amplitude difference. In the action process of the directional vibration waveform, the increment of the speed and the acceleration of the motor vibrator is 0, so that the problem of divergence is avoided; in the action process of the directional vibration waveform, the displacement of the motor vibrator is always within the allowed space range in the motor, so that the motor is not damaged due to collision with the shell; in the course of the action of the directional vibration waveform, the required driving voltage amplitude is always below the hardware voltage driving voltage peak value. In short, the directional vibration waveform constructed by the construction and adjustment method of the directional vibration waveform not only avoids the problems of displacement and driving voltage divergence, but also can be adjusted according to the actual motor and hardware conditions, and has the feasibility of actual control.
Example 3:
the present embodiment provides a device for constructing and adjusting a directional vibration waveform, as shown in fig. 9, the device includes:
a first module 401 for constructing a piecewise linear waveform, wherein the piecewise linear waveform is asymmetric in a positive-negative direction;
a second module 402, configured to perform smoothing on the piecewise linear waveform to obtain a continuous curve;
a third module 403, configured to perform low-pass filtering on the continuous curve twice to obtain a first waveform;
a fourth module 404, configured to differentiate the first waveform once to obtain a second waveform;
a fifth module 405, configured to differentiate the second waveform once to obtain a third waveform;
and a sixth module 406, configured to adjust the third waveform according to a preset target intensity, a motor space limit, and a circuit limit in order, so as to obtain a target directional vibration waveform.
Here, the first module may also be referred to as a construction module, the second module may also be referred to as a smoothing module, the third module may also be referred to as a low-pass filtering module, the fourth module may also be referred to as a second waveform obtaining module, the fifth module may also be referred to as a third waveform obtaining module, and the sixth module may also be referred to as a target waveform obtaining module. Wherein the first module is preferably configured to construct a piecewise linear waveform using a piecewise linearization function.
Referring now to fig. 10, a schematic diagram of an electronic device according to some embodiments of the present application is shown. As shown in fig. 10, the electronic device 2 includes: a processor 200, a memory 201, a bus 202 and a communication interface 203, the processor 200, the communication interface 203 and the memory 201 being connected by the bus 202; the memory 201 stores a computer program that can be executed on the processor 200, and the processor 200 executes the method for constructing and adjusting the directional vibration waveform according to any one of the foregoing embodiments of the present application when executing the computer program, and the electronic device may be an electronic device with a touch-sensitive display.
The memory 201 may include a high-speed random access memory (RAM: random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 203 (which may be wired or wireless), the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
Bus 202 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. The memory 201 is configured to store a program, and the processor 200 executes the program after receiving an execution instruction, and the method for constructing and adjusting a directional vibration waveform disclosed in any of the foregoing embodiments of the present application may be applied to the processor 200 or implemented by the processor 200.
The processor 200 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 200 or by instructions in the form of software. The processor 200 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201, and in combination with its hardware, performs the steps of the above method.
The electronic equipment provided by the embodiment of the application and the method for constructing and adjusting the directional vibration waveform provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the electronic equipment and the method for adjusting the directional vibration waveform provided by the embodiment of the application are in the same application conception.
The present application further provides a computer readable storage medium corresponding to the method for constructing and adjusting a directional vibration waveform according to the foregoing embodiment, referring to fig. 11, the computer readable storage medium shown in fig. 11 is an optical disc 30, on which a computer program (i.e. a program product) is stored, which when executed by a processor, performs the method for constructing and adjusting a directional vibration waveform according to any of the foregoing embodiments.
In addition, examples of the computer readable storage medium may include, but are not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical and magnetic storage medium, which will not be described in detail herein.
The computer readable storage medium provided by the above embodiment of the present application has the same beneficial effects as the method adopted, operated or implemented by the application program stored in the same concept of the application as the method for distributing the quantum key distribution channel in the space division multiplexing optical network provided by the embodiment of the present application.
The present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method for constructing and adjusting a directional vibration waveform provided in any of the foregoing embodiments, the steps of the method comprising: constructing a piecewise linear waveform, wherein the piecewise linear waveform is asymmetric in positive and negative directions; smoothing the piecewise linear waveform to obtain a continuous curve; carrying out low-pass filtering on the continuous curve twice to obtain a first waveform; differentiating the first waveform once to obtain a second waveform; differentiating the second waveform once to obtain a third waveform; and adjusting the third waveform according to preset target intensity, motor space limitation and circuit limitation in sequence to obtain a target directional vibration waveform.
It should be noted that: the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may also be used with the teachings herein. The required structure for the construction of such devices is apparent from the description above. In addition, the present application is not directed to any particular programming language. It will be appreciated that the teachings of the present application described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present application. In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the above description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
It is also emphasized that embodiments of the present application may acquire and process relevant data based on artificial intelligence techniques. Among these, artificial intelligence (Artificial Intelligence, AI) is the theory, method, technique and application system that uses a digital computer or a digital computer-controlled machine to simulate, extend and extend human intelligence, sense the environment, acquire knowledge and use knowledge to obtain optimal results.
Artificial intelligence infrastructure technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a robot technology, a biological recognition technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and other directions.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification, and all processes or units of any method or apparatus so disclosed, may be employed, except that at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Various component embodiments of the application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some or all of the components in the creation means of a virtual machine according to an embodiment of the present application may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present application may also be implemented as an apparatus or device program for performing part or all of the methods described herein. The program embodying the present application may be stored on a computer readable medium or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
The present application is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present application are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. A method of constructing and adjusting a directional vibration waveform, the method comprising:
constructing a piecewise linear waveform, wherein the piecewise linear waveform is asymmetric in positive and negative directions;
smoothing the piecewise linear waveform to obtain a continuous curve;
carrying out low-pass filtering on the continuous curve twice to obtain a first waveform;
differentiating the first waveform once to obtain a second waveform;
differentiating the second waveform once to obtain a third waveform;
and adjusting the third waveform according to preset target intensity, motor space limitation and circuit driving voltage limit value in sequence to obtain a target directional vibration waveform.
2. The method for constructing and adjusting a directional vibration waveform according to claim 1, wherein the adjusting the third waveform sequentially according to a preset intensity requirement, a motor space limitation, and a voltage limit of a circuit drive, further comprises, before obtaining the target directional vibration waveform: the parameters of the low-pass filter are adjusted and then the step of low-pass filtering the continuous curve twice is started.
3. The method of constructing and adjusting a directional vibration waveform according to claim 1, wherein adjusting the third waveform according to a preset target intensity comprises:
acquiring peak acceleration of the third waveform;
calculating the ratio of the preset target strength to the peak acceleration;
and carrying out amplitude scaling on the third waveform according to the ratio to obtain a first adjustment waveform.
4. The method of constructing and adjusting a directional vibration waveform according to claim 3, wherein adjusting the third waveform according to a motor space constraint comprises:
integrating the first adjustment waveform twice to obtain a displacement waveform;
acquiring the peak displacement of the displacement waveform;
calculating the ratio of the maximum displacement allowed by the internal space of the motor to the peak displacement;
taking root mean square for the ratio to obtain a time axis scaling factor;
and performing time axis scaling adjustment on the first adjustment waveform according to the time axis scaling coefficient to obtain a second adjustment waveform.
5. The method of claim 4, wherein adjusting the third waveform according to the voltage limit of the circuit drive comprises:
performing primary integration and secondary integration on the second adjustment waveform to respectively obtain a velocity waveform and a displacement waveform;
calculating a driving voltage required for the second adjustment waveform based on the velocity waveform and the displacement waveform;
obtaining a peak voltage in the driving voltage;
calculating the ratio of the voltage limit value of circuit driving to the peak voltage in a preset application scene;
and carrying out amplitude scaling on the second adjusting waveform according to the ratio to obtain a target directional vibration waveform.
6. The method of claim 5, wherein the driving voltage required for calculating the second adjustment waveform based on the velocity waveform and the displacement waveform is expressed by the following formula:
wherein m represents the vibrator mass of the motor, R e The dc resistance, bl, the magnetic field strength, r, the damping coefficient, k, the spring stiffness coefficient, a (t), the second tuning waveform, v (t), the velocity waveform, and x (t) the displacement waveform.
7. The method of constructing and adjusting a directional vibration waveform according to claim 1, wherein the constructing a piecewise linear waveform is constructed using a piecewise linearization function.
8. A device for constructing and adjusting a directional vibration waveform, the device comprising:
a first module for constructing a piecewise linear waveform, wherein the piecewise linear waveform is asymmetric in a positive-negative direction;
the second module is used for carrying out smoothing treatment on the piecewise linear waveform to obtain a continuous curve;
the third module is used for carrying out low-pass filtering on the continuous curve twice to obtain a first waveform;
a fourth module, configured to differentiate the first waveform once to obtain a second waveform;
a fifth module, configured to differentiate the second waveform once to obtain a third waveform;
and the sixth module is used for adjusting the third waveform according to preset target intensity, motor space limitation and circuit driving voltage limit value in sequence to obtain a target directional vibration waveform.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1-7.
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| CN202111280093.4A CN114167975B (en) | 2021-10-29 | 2021-10-29 | Method and device for constructing and adjusting directional vibration waveform |
| PCT/CN2022/120706 WO2023071644A1 (en) | 2021-10-29 | 2022-09-23 | Construction method and apparatus for directional vibration waveform and adjustment method and apparatus for directional vibration waveform |
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| CN202111280093.4A CN114167975B (en) | 2021-10-29 | 2021-10-29 | Method and device for constructing and adjusting directional vibration waveform |
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| CN114167975B (en) * | 2021-10-29 | 2023-10-13 | 歌尔股份有限公司 | Method and device for constructing and adjusting directional vibration waveform |
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| WO2023071644A1 (en) | 2023-05-04 |
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