CN114221596B - Method, apparatus and computer readable storage medium for adjusting vibration feeling based on motor - Google Patents
Method, apparatus and computer readable storage medium for adjusting vibration feeling based on motor Download PDFInfo
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Classifications
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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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- 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
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Abstract
The application discloses a vibration sense adjusting method, equipment and a computer readable storage medium based on a motor, wherein the method comprises the following steps: according to the received audio signal, carrying out frequency division displacement prediction on the motor to obtain predicted displacement; compressing and limiting the predicted displacement; and synthesizing a driving voltage according to the predicted displacement after compression and limitation and the model parameters of the motor. Through the vibration sensor, the richness of vibration of the linear motor is guaranteed, the vibration sense is improved, the linear motor can vibrate in the allowed maximum space range, and the damage or noise and other conditions of the motor are avoided.
Description
Technical Field
The present application relates to the field of linear motors, and in particular, to a method, apparatus, and computer readable storage medium for adjusting vibration feeling based on a motor.
Background
At present, the linear motor (Linear Resonant Actuator, LRA) has been widely used in various vibration occasions of consumer electronics, including games and AR (augmented Reality)/VR (Virtual Reality) products, by virtue of the advantages of strong, rich, crisp and low energy consumption.
In order to ensure the intensity and richness of vibration, in a broadband driving scene, an audio signal is generally used to directly drive a linear motor, so that the high-frequency vibration of the motor is weak, the motor is easy to sound, the low-frequency vibration is not strong under the condition of small volume, and in order to enhance the intensity and richness of vibration, a method of integrally increasing the voltage in a time domain is generally used, but the method cannot ensure the richness of the vibration of the motor, and the intensity of the integral vibration is still weak.
Disclosure of Invention
The application provides a vibration sense adjusting method, equipment and a computer readable storage medium based on a motor, and aims to solve the technical problem that vibration sense is weak when a linear motor is directly driven by an audio signal.
To achieve the above object, the present application provides a motor-based vibration feeling adjustment method, which includes the steps of:
according to the received audio signal, carrying out frequency division displacement prediction on the motor to obtain predicted displacement;
compressing and limiting the predicted displacement;
and synthesizing a driving voltage according to the predicted displacement after compression and limitation and the model parameters of the motor so as to drive the motor to vibrate.
Optionally, filtering out the ultralow frequency signal and the sounding frequency band signal in the audio signal through preprocessing;
frequency division filtering is carried out on the preprocessed audio signals to obtain a plurality of sub-band audio signals;
and carrying out displacement prediction on the plurality of sub-band audio signals to obtain predicted displacement.
Optionally, constructing an output voltage as an input, and predicting displacement as a displacement voltage transfer function of the output;
and calculating according to the displacement voltage transfer function and the output voltage of the subband audio signals to obtain the predicted displacement.
Optionally, compressing the predicted displacement;
and combining the compressed predicted displacements, and integrally limiting the combined predicted displacements according to the maximum vibration space reserved by the linear motor.
Optionally, converting the predicted displacement of the subband audio signal corresponding to the audio signal into a digital signal;
and compressing the digital signal segment according to a preset compression formula to obtain a compressed predicted displacement.
Optionally, the preset compression formula is:
output＝2input+20，input∈(-20dB，-15dB)
output＝input+5，input∈(-15dB，-10dB)
output＝0.6input+1，input∈(-10dB，-5dB)
output＝0.4input，input∈(-5dB，0dB)
wherein input is a digital signal and output is a predicted displacement after compression.
Optionally, detecting a maximum value of the combined predicted displacements;
calculating a limit ratio of the maximum value and a maximum vibration space reserved by the linear motor;
and carrying out overall enlargement or reduction on the predicted displacement according to the limiting ratio.
Optionally, constructing a mechanical end model of the voltage synthesis based on model parameters of the motor;
and synthesizing a driving voltage according to the predicted displacement after compression and limitation and the mechanical end model.
In order to achieve the above object, the present application further proposes a motor-based vibration-sensing adjustment device, which includes a memory, a processor, and a motor-based vibration-sensing adjustment program stored on the memory and executable on the processor, the motor-based vibration-sensing adjustment program implementing the motor-based vibration-sensing adjustment method when executed by the processor.
To achieve the above object, the present application further proposes a computer-readable storage medium having stored thereon a motor-based vibration feeling adjustment program that when executed by a processor implements the motor-based vibration feeling adjustment method.
According to the technical scheme, the motor is subjected to frequency division displacement prediction according to the received audio signals to obtain predicted displacement; then compressing and limiting the predicted displacement; and synthesizing a driving voltage according to the predicted displacement after compression and limitation and model parameters of the motor. In contrast to the prior art, the present application does not directly drive the linear motor with an audio signal, but synthesizes a driving voltage according to the audio signal to drive the linear motor. The linear motor vibration control device has the advantages that the predicted displacement is compressed and limited, the driving voltage is synthesized according to the compressed and limited predicted displacement to drive the linear motor to vibrate, the richness of the vibration of the linear motor is guaranteed, the vibration sense is improved, the linear motor can be guaranteed to vibrate in the allowed maximum space range, and the damage or noise and other conditions of the motor are avoided.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from the structures shown in these drawings without inventive effort to a person of ordinary skill in the art.
Fig. 1 is a schematic block diagram of a vibration sensing adjustment method based on a motor according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for adjusting vibration feeling based on a motor according to an embodiment of the present application;
FIG. 3 is a diagram showing an example of a motor-based vibration-sensing adjustment method according to an embodiment of the present application;
FIG. 4 is an example of a motor-based vibration sensation adjustment method according to an embodiment of the present application;
FIG. 5 is a flow chart of a method for adjusting vibration feeling based on a motor according to an embodiment of the present application;
fig. 6 is a flowchart of a method for adjusting vibration feeling based on a motor according to an embodiment of the present application.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
Referring to fig. 1, fig. 1 is a schematic hardware structure of a motor-based vibration sensing adjustment apparatus according to various embodiments of the present application. The motor-based vibration sensing adjustment device comprises an execution module 01, a memory 02, a processor 03, a battery system and other components. Those skilled in the art will appreciate that the apparatus shown in fig. 1 may also include more or fewer components than shown, or may combine certain components, or may be arranged in different components. The processor 03 is connected to the memory 02 and the execution module 01, respectively, and the memory 02 stores a motor-based vibration adjustment program, and the motor-based vibration adjustment program is executed by the processor 03 at the same time.
The execution module 01 can predict the frequency division displacement according to the received audio signal to obtain the predicted displacement, compress and limit the predicted displacement, synthesize the driving voltage according to the compressed and limited predicted displacement and the model parameters of the motor, and feed back the information to the processor 03.
The memory 02 is used for storing software programs and various data. The memory 02 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data or information created according to the use of the internet of things terminal, and the like. In addition, memory 02 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
The processor 03 is a control center of the processing platform, and connects various parts of the whole internet of things terminal by utilizing various interfaces and lines, and executes various functions and processing data of the internet of things terminal by running or executing software programs and/or modules stored in the memory 02 and calling data stored in the memory 02, so as to perform overall monitoring on the vibration sensing adjustment device based on the motor. The processor 03 may include one or more processing units; preferably, the processor 03 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, an application program, etc., and the modem processor mainly processes wireless communication. It will be appreciated that the modem processor described above may not be integrated into the processor 03.
It will be appreciated by those skilled in the art that the motor-based vibration sensing adjustment apparatus structure shown in fig. 1 is not limiting of the apparatus and may include more or fewer components than shown, or may combine certain components, or may be a different arrangement of components.
According to the hardware structure, various embodiments of the method are provided.
At present, the linear motor (Linear Resonant Actuator, LRA) has been widely used in various vibration occasions of consumer electronics, including games and AR (augmented Reality)/VR (Virtual Reality) products, by virtue of the advantages of strong, rich, crisp and low energy consumption.
In order to ensure the intensity and richness of vibration, in a broadband driving scene, an audio signal is generally used to directly drive a linear motor, so that the high-frequency vibration of the motor is weak, the motor is easy to sound, the low-frequency vibration is not strong under the condition of small volume, and in order to enhance the intensity and richness of vibration, a method of integrally increasing the voltage in a time domain is generally used, but the method cannot ensure the richness of the vibration of the motor, and the intensity of the integral vibration is still weak.
In order to solve the above-mentioned problem, the present application proposes a motor-based vibration feeling adjustment method, referring to fig. 2, in a first embodiment of the motor-based vibration feeling adjustment method of the present application, the motor-based vibration feeling adjustment method includes:
step S100, carrying out frequency division displacement prediction according to a received audio signal to obtain a predicted displacement;
in this embodiment, the motor multiband vibration enhancement adjustment method based on displacement protection provided by the present design is applied to a linear motor, and is an adjustment method for vibration displacement of the linear motor. Specifically, the audio signal is preprocessed, wherein the preprocessing step is to perform high-pass filtering on the audio signal to remove the ultralow frequency signal, and then perform low-pass filtering on the audio signal to remove the motor sounding frequency band signal. The received audio signal may be the sound effect actually output by the game application in the terminal device provided with the linear motor, or may be a broadband signal custom designed according to the AR/VR/game scene, and stored and input in an audio format. And then, frequency division filtering is carried out on the preprocessed audio signals to obtain a plurality of sub-band audio signals, and displacement prediction is carried out on the motor according to the output voltage of the sub-band audio signals so as to obtain predicted displacement. Specifically, the displacement prediction information is a prediction of the displacement of the plurality of subband audio signals. The displacement prediction comprises the steps of constructing a displacement model according to related parameters, and then carrying out displacement prediction on a plurality of sub-band audio signals according to the constructed displacement model. Wherein displacement refers to displacement of motor vibration.
Step S200, compressing and limiting the predicted displacement;
in this embodiment, after the displacement prediction is performed on the plurality of subband audio signals and the predicted displacement is obtained, in order to ensure the richness and the vibration intensity of the motor vibration, and ensure that the motor vibration displacement is not too large to touch the shell, the motor damage or noise and other situations occur, the predicted displacement needs to be compressed and limited in sequence. The specific manner of compression is set in advance by a person skilled in the art and is not the same for audio signals of different frequency bands. In an embodiment, a person skilled in the art inputs a maximum preset value and a minimum preset value of a vibration range of each frequency band displacement into the dynamic range compression module, amplifies a small predicted displacement signal smaller than the minimum preset value of the frequency band where the subband audio signal is located according to the dynamic range compression rate, and reduces a large predicted displacement signal larger than the maximum preset value of the frequency band where the subband audio signal is located according to the dynamic range compression rate; so as to ensure the richness of motor vibration and promote vibration feeling. After compression is completed, the sub-band audio signals are combined, the combined audio signals are observed, and the displacement is integrally limited, so that the predicted displacement is ensured to be within the maximum space range of the motor. The integral limitation is to integrally amplify or integrally reduce the predicted displacement according to a certain proportion, so that the motor is ensured not to touch the outer shell in the vibration process.
And step S300, synthesizing a driving voltage according to the predicted displacement after compression and limitation and model parameters of the motor so as to drive the motor to vibrate.
In this embodiment, after compressing and limiting the predicted displacement, the driving voltage may be synthesized according to the compressed and limited predicted displacement and the model parameters of the motor. The model parameters of the motor comprise vibrator mass m, magnetic field intensity Bl, spring stiffness coefficient Kms, damping coefficient Rms and coil direct current resistance Re. Specifically, compressed and limited displacement information and model parameters are input into a vibration mechanics end model modeling module to calculate a discrete time speed model and a discrete displacement-to-force model, and finally, the information of model parameters, force, speed and the like of a motor is input into a driving voltage synthesis module to synthesize driving voltage. And driving vibration of the linear motor with the synthesized driving voltage.
As shown in fig. 5, in the present embodiment, after receiving an input audio signal, the audio signal is processed through a series of algorithms to obtain a driving voltage, and the power of the driving voltage is amplified to drive the motor to vibrate, so as to generate enhanced broadband vibration feedback.
The linear motor vibration control device has the advantages that the predicted displacement is compressed and limited, the driving voltage is synthesized according to the compressed and limited predicted displacement to drive the linear motor to vibrate, the richness of the vibration of the linear motor is guaranteed, the vibration sense is improved, the linear motor can be guaranteed to vibrate in the allowed maximum space range, and the damage or noise and other conditions of the motor are avoided.
In one embodiment, the step of performing the frequency division shift prediction according to the received audio signal to obtain the predicted shift includes:
filtering out an ultralow frequency signal and a sounding frequency band signal in the audio signal through preprocessing;
in this embodiment, after receiving the audio signal, the audio signal is first preprocessed, specifically, the audio signal is high-pass filtered to remove the ultralow frequency signal, and then the audio signal is low-pass filtered to remove the motor sounding frequency band signal.
Frequency division filtering is carried out on the preprocessed audio signals to obtain a plurality of sub-band audio signals;
and carrying out displacement prediction on the plurality of sub-band audio signals to obtain predicted displacement.
In this embodiment, after the ultralow frequency signal and the sounding frequency band signal in the audio signal are filtered through preprocessing, the audio signal after preprocessing is subjected to frequency division filtering to obtain a plurality of subband audio signals. Specifically, as shown in fig. 6, the parameters of the filter used for the frequency division filtering, such as the cut-off frequency, are set in advance by those skilled in the art according to the vibration sensing requirement of the required increase, wherein the vibration sensing requirement of the required increase may be the frequency band or the gain of the required increase of the vibration sensing. After the filter cut-off frequency is set, the input audio signal is subjected to low-pass filtering, band-pass filtering and high-pass filtering in sequence, so as to obtain a plurality of sub-band audio signals BD1, BD2 … BDn, and the sub-band output voltage is u1, u2 … un.
In an embodiment, the step of performing displacement prediction on the plurality of sub-band audio signals to obtain a predicted displacement comprises:
constructing an output voltage as an input, and predicting displacement as a displacement voltage transfer function of the output;
and calculating according to the displacement voltage transfer function and the output voltage of the subband audio signals to obtain the predicted displacement.
In this embodiment, the model parameters of the motor are known: under the conditions of vibrator mass m, magnetic field intensity Bl, spring stiffness coefficient Kms, damping coefficient Rms and coil direct current resistance Re, a displacement voltage transfer function taking the output voltage of an audio signal as input and taking displacement prediction as output can be obtained, the displacement voltage transfer function can be converted into a discretization transfer function of the displacement voltage, and a displacement prediction formula can be obtained through formula deformation after the discretization transfer function is obtained. Then, substituting the output voltage of the sampled sub-band audio signal into a displacement prediction formula to obtain the predicted displacement of the sub-band audio signal.
Specifically, the displacement voltage transfer function of the linear motor is:
wherein,
specifically, the discretized transfer function is:
wherein,
further, the displacement prediction formula obtained by conversion is as follows:
since the present embodiment is to predict the predicted displacements of the plurality of subband audio signals, the displacement prediction formula may be further converted into a subband displacement prediction formula, where the subband displacement prediction formula is:
wherein the output displacement of sub-band 1 to sub-band n is x 1 (k)～x n (k) The voltages of sub-band 1 to sub-band n are denoted as u 1 (k)～u n (k) I=1, 2,..n, ts is the sampling time, m is vibrator mass, bl is magnetic field intensity, kms is spring stiffness coefficient, rms is damping coefficient, re is coil DC resistance, x (z) is the output quantity predicted displacement of the transfer function, u (z) is the input quantity output voltage of the transfer function, and z is the conventional coefficient of the transfer function.
Therefore, the output voltage of the subband audio signals is substituted into the subband displacement prediction formula, and the predicted displacement of the subband audio signals can be obtained.
In one embodiment, the step of compressing and limiting the predicted displacement comprises:
compressing the predicted displacement;
and combining the compressed predicted displacements, and integrally limiting the combined predicted displacements according to the maximum vibration space reserved by the linear motor.
In this embodiment, after the predicted displacement of the subband audio signal is calculated according to the displacement voltage transfer function and the output voltage of the subband audio signal, in order to ensure the richness and the vibration intensity of the motor vibration, and ensure that the motor vibration displacement is not too large to touch the shell, the motor is damaged or noise occurs, and the predicted displacement needs to be compressed and limited in sequence. The specific compression mode is set in advance by a person skilled in the art, in an embodiment, the person skilled in the art inputs the maximum preset value and the minimum preset value of the vibration range of each frequency band displacement into the dynamic range compression module, amplifies the small predicted displacement signal smaller than the minimum preset value of the frequency band where the sub-band audio signal is located according to the dynamic range compression rate, and reduces the large predicted displacement signal larger than the maximum preset value of the frequency band where the sub-band audio signal is located according to the dynamic range compression rate; so as to ensure the richness of motor vibration and promote vibration feeling. After compression is completed, the sub-band audio signals are combined, the combined audio signals are observed, and the displacement is integrally limited, so that the predicted displacement is ensured to be within the maximum space range of the motor. Specifically, the whole limitation is that the ratio of the maximum vibration space reserved by the linear motor to the maximum value of the predicted displacement is calculated, and the predicted displacement is wholly amplified or wholly reduced according to the ratio of the maximum vibration space reserved by the linear motor to the maximum value of the predicted displacement, so that the maximum value of the predicted displacement cannot exceed the maximum vibration space reserved by the linear motor in the vibration process of the motor, and therefore the external shell cannot be touched.
In one embodiment, the step of compressing the predicted displacement comprises:
converting the predicted displacement of the sub-band audio signal corresponding to the audio signal into a digital signal;
and compressing the digital signal segment according to a preset compression formula to obtain a compressed predicted displacement.
In this embodiment, the preset compression formula is a compression mode set by a person skilled in the art in advance according to a preset rule, and can be adjusted according to actual requirements. Because the application needs to amplify the small displacement signal and reduce the large displacement signal, the compression modes of the audio signals with different displacements are different, and therefore the audio signals with different displacements need to be compressed by different preset compression formulas. Specifically, before compression, the predicted displacement of the subband audio signal is converted into a digital signal, and the specific conversion mode is as follows:
input＝20*log10(BD)
where BD is the predicted displacement and input is the digital signal obtained by conversion.
Because the compression modes of different predicted displacements are different, after the predicted displacements are converted into digital signals by the method, the digital signals are segmented, and different digital signals are substituted into different preset compression formulas to obtain the compressed predicted displacements. The preset compression formula is set in advance by a person skilled in the art according to preset rules and can be adjusted in real time according to actual conditions.
In one embodiment, the predetermined compression formula is:
output＝2input+20，input∈(-20dB，-15dB)
output＝input+5，input∈(-15dB，-10dB)
output＝0.6input+1，input∈(-10dB，-5dB)
output＝0.4input，input∈(-5dB，0dB)
wherein input is a digital signal and output is a predicted displacement after compression.
In this embodiment, the compressed predicted displacement can be obtained by substituting the digital signals with different sizes into corresponding preset compression formulas. Further, by the preset compression formula, the small displacement signal can be amplified, and the large displacement signal can be reduced. Specifically, when the input digital signal is in the interval (-20 dB, -15 dB), the calculation formula of the predicted displacement is output=2input+20; when the input digital signal is in the interval (-15 dB, -10 dB), the calculation formula of the predicted displacement is output=input+5; when the input digital signal is in the interval (-10 dB, -5 dB), the calculation formula of the predicted displacement is output=0.6input+1; when the input digital signal is in the interval (-5 db,0 db), the calculation formula of the predicted displacement is output=0.4 input. For example, if the input digital signal is-16 dB, the formula output=2input+20 is selected for calculation, and the calculated predicted displacement of the output is-13 dB. If the input digital signal is-10 dB, the output=input+5 or output=0.6input+1 may be selected for calculation, where the calculated predicted displacement of the output is-5 dB. As shown in fig. 3, on a coordinate system with a horizontal axis and a vertical axis of the digital signal and the predicted displacement, a preset compression formula is a linear piecewise function with 3 inflection points, and the inflection points of the function are (-15, -10) (-10, -5) (-5, -2) respectively.
In one embodiment, the step of limiting the combined predicted displacement according to the maximum vibration space reserved by the linear motor includes:
detecting the maximum value of the combined predicted displacement;
calculating a limit ratio of the maximum value and a maximum vibration space reserved by the linear motor;
and carrying out overall enlargement or reduction on the predicted displacement according to the limiting ratio.
In this embodiment, after compressing the predicted displacement after compressing the audio signal of each sub-band, the predicted displacements after compressing are combined, and then the predicted displacement is integrally limited, so as to ensure that the predicted displacement is smaller than the maximum motor vibration space. In an embodiment, as shown in fig. 4, x1 and x2 are the predicted displacement of each sub-band audio signal, each sub-band audio signal is first combined, and then each combined sub-band audio signal is input to the x_limit module, so that the predicted displacement is integrally limited, and the predicted displacement is ensured to be smaller than the maximum motor vibration space. Specifically, after the combined sub-band audio signals are input to the x_limit module, the maximum value xmax of the combined predicted displacement x is detected, the maximum vibration space x_lim reserved by the linear motor design is obtained, and the limit ratio x_ratio of the maximum value and the maximum vibration space x_lim reserved by the linear motor is calculated, wherein the calculation formula is as follows:
x_ratio＝xmax/x_lim。
after the limit ratio x_ratio is obtained, the corresponding multiple of the limit ratio x_ratio is integrally enlarged or reduced for the predicted displacement, so that the linear motor cannot exceed the reserved vibration maximum space in the vibration process. In one embodiment, the overall zoom-in or zoom-out is as follows:
x_out＝x/x_ratio
where x_out is the predicted displacement after the overall limit.
In one embodiment, the step of synthesizing the driving voltage based on the predicted displacement after compression and limitation and model parameters of the motor comprises:
constructing a mechanical end model of voltage synthesis based on model parameters of the motor;
and synthesizing a driving voltage according to the predicted displacement after compression and limitation and the mechanical end model.
In the present embodiment, after the compression and the overall restriction are performed on the predicted displacement of the linear motor, the corresponding driving voltages are also synthesized based on the predicted displacement after the compression and the overall restriction. Further, the synthesis of the driving voltage requires the construction of a mechanical end model of the voltage synthesis, wherein the mechanical end model comprises a discrete model of speed and a discrete model of displacement to force.
Specifically, in one embodiment, the mechanical equation is:
f＝K ms x+m ms a+R ms v
the voice coil vibration velocity equation is:
again according to u=bl v+i Re, f=bl i
The equation from which the drive voltage synthesis can be derived is then:
wherein T is s For sampling time, m ms Is the vibrator mass, bl is the magnetic field intensity, K ms Is the spring stiffness coefficient, R ms Is the damping coefficient, R e The coil direct current resistance is calculated by the following method, x is the predicted displacement of the linear motor, v is the vibration speed of the voice coil, f is the driving force of the motor, u is the synthesized driving voltage, and k is the conventional coefficient.
And synthesizing the driving voltage according to the mechanical end model after obtaining the equation of the driving voltage synthesis.
The application also provides a motor-based vibration sensing adjustment device, which comprises a memory, a processor and a motor-based vibration sensing adjustment program stored on the memory and capable of running on the processor, wherein the motor-based vibration sensing adjustment program is used for executing the method described in each embodiment of the application.
The present application also proposes a computer-readable storage medium having stored thereon a motor-based vibration feeling adjustment program. The computer readable storage medium includes a computer readable storage medium, which may be a Memory in fig. 1, or may be at least one of ROM (Read-Only Memory)/RAM (Random Access Memory ), a magnetic disk, and an optical disc, and the computer readable storage medium includes several instructions to cause an internet of things terminal device (which may be a mobile phone, a computer, a server, an internet of things terminal, or a network device) with a processor to perform a method according to the embodiments of the present application.
In this application, the terms "first," "second," "third," "fourth," "fifth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, as the specific meaning of the terms in this application will be understood by those of ordinary skill in the art in view of the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Although embodiments of the present application have been shown and described above, the scope of protection of the present application is not limited thereto, it will be appreciated that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications and substitutions of the above embodiments may be made by those skilled in the art within the scope of the present application, and these variations, modifications and substitutions are intended to be included in the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (7)
1. A method for adjusting vibration sensation based on a motor, the method comprising the steps of:
according to the received audio signal, carrying out frequency division displacement prediction to obtain a predicted displacement;
compressing and limiting the predicted displacement;
synthesizing a driving voltage according to the predicted displacement after compression and limitation and model parameters of the motor so as to drive the motor to vibrate;
the step of compressing and limiting the predicted displacement comprises:
compressing the predicted displacement;
combining the compressed predicted displacements;
detecting the maximum value of the combined predicted displacement;
calculating a limit ratio of the maximum value and a maximum vibration space reserved by the linear motor;
and integrally amplifying or reducing the predicted displacement according to the limiting ratio so as to amplify the small displacement signal and reduce the large displacement signal.
2. The motor-based vibration-feeling adjustment method according to claim 1, wherein the step of performing the frequency-division displacement prediction based on the received audio signal to obtain the predicted displacement comprises:
filtering out an ultralow frequency signal and a sounding frequency band signal in the audio signal through preprocessing;
frequency division filtering is carried out on the preprocessed audio signals to obtain a plurality of sub-band audio signals;
and carrying out displacement prediction on the plurality of sub-band audio signals to obtain predicted displacement.
3. The motor-based vibration inductance adjustment method of claim 2, wherein the step of performing displacement prediction on the plurality of sub-band audio signals to obtain a predicted displacement comprises:
constructing an output voltage as an input, and predicting displacement as a displacement voltage transfer function of the output;
calculating according to the displacement voltage transfer function, the output voltage of the sub-band audio signal and a sub-band displacement prediction formula to obtain a predicted displacement, wherein the sub-band displacement prediction formula is as follows:
，
wherein,，/>，，/>sub-band 1 to sub-band n output shift is +.>~/>Subband 1 to subbandThe subband n voltage is expressed as~/>， />，T s For sampling time, m is vibrator mass, bl is magnetic field strength, K ms Is the spring stiffness coefficient, R ms Is the damping coefficient, R e Is a coil direct current resistor.
4. The motor-based vibration-feel adjustment method of claim 1, wherein the step of compressing the predicted displacement comprises:
converting the predicted displacement of the sub-band audio signal corresponding to the audio signal into a digital signal;
compressing the digital signal segment according to a preset compression formula to obtain a compressed predicted displacement, wherein the preset compression formula is as follows:
output = 2input+20 ，input∈(-20dB，-15dB)
output = input+5，input∈(-15dB，-10dB)
output = 0.6input+1，input∈(-10dB，-5dB)
output = 0.4input，input∈(-5dB，0dB)
wherein input is a digital signal and output is a predicted displacement after compression.
5. The motor-based vibration-feeling adjustment method according to claim 1, wherein the step of synthesizing a driving voltage based on the predicted displacement after compression and limitation and model parameters of the motor comprises:
constructing a mechanical end model of voltage synthesis based on model parameters of the motor;
and synthesizing a driving voltage according to the predicted displacement after compression and limitation and the mechanical end model.
6. A motor-based vibration-feeling adjustment apparatus comprising a memory, a processor, and a motor-based vibration-feeling adjustment program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the motor-based vibration-feeling adjustment method according to any one of claims 1 to 5.
7. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a motor-based vibration adjustment program, which when executed by a processor, implements the steps of the motor-based vibration adjustment method according to any one of claims 1 to 5.
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| PCT/CN2022/124546 WO2023116133A1 (en) | 2021-12-22 | 2022-10-11 | Motor-based vibration sense adjustment method and device, and computer-readable storage medium |
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| CN115333432A (en) * | 2022-07-29 | 2022-11-11 | 歌尔股份有限公司 | Displacement compression method and device for motor oscillator, terminal device and storage medium |
| CN115483865A (en) * | 2022-08-31 | 2022-12-16 | 歌尔股份有限公司 | Collision protection method and device for motor oscillator, terminal device and storage medium |
| CN115632593A (en) * | 2022-11-07 | 2023-01-20 | 歌尔股份有限公司 | Protection method of linear motor, terminal device and computer readable storage medium |
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