CN114509156A - Linear motor calibration method, electronic device and storage medium - Google Patents
Linear motor calibration method, electronic device and storage medium Download PDFInfo
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Abstract
The application discloses a calibration method of a linear motor, which comprises the following steps: acquiring the vibration time of the linear motor each time; if the vibration time is greater than a first preset time which is acquired in advance, tracking the resonant frequency value of the linear motor; acquiring a resonant frequency value every a preset second preset time, and acquiring a preset number of resonant frequency values; detecting whether the variability between a predetermined number of resonant frequency values is less than a predetermined frequency value set in advance; if the variability is less than the predetermined frequency value, calculating an average value of a predetermined number of resonant frequency values; if the average value is within the pre-calculated trust interval, calibrating the average value into the initial value of the resonant frequency of the linear motor; therefore, the calibrated initial value of the resonant frequency is still used as the frequency point of the open loop, the probability of the frequency point of the open loop shifting is reduced, the probability of prolonging the time of tracking the resonant frequency by the closed loop is reduced, and the risk that the vibration effect of the linear motor cannot generate the best vibration experience for a user is reduced.
Description
Technical Field
The present disclosure relates to the field of motor frequency calibration technologies, and in particular, to a calibration method for a linear motor, an electronic device, and a storage medium.
Background
A linear motor is a device for converting electric energy into linear motion mechanical energy, and is often used as a vibrator for electronic devices and the like to achieve a vibration effect of the electronic devices.
In general, the driving program of the linear motor provides the driving chip with an initial value of the resonant frequency as the frequency point of the open loop of the driving chip, which is also the initial setting value of the vibration frequency before the starting of the closed loop to track the resonant frequency of the linear motor. The resonance frequency is a value that gives the user the best tremolo experience. The frequency point is the expected resonance frequency of the linear motor when vibrating according to the initial value of the resonance frequency.
However, due to some reasons, such as linear manufacturing tolerance of the linear motor, aging of devices, etc., a frequency point corresponding to the initial value of the resonant frequency may be shifted from an actual frequency point of the open loop of the driving chip, so that the time for the closed loop to track the resonant frequency corresponding to the actual frequency point is lengthened compared with the time for tracking the initial set value of the vibration frequency, thereby increasing the risk that the vibration effect of the linear motor cannot generate the best vibration experience for the user.
Disclosure of Invention
In view of this, the present application provides a calibration method for a linear motor, an electronic device and a storage medium, so as to solve the problem that the risk that the vibration effect of the linear motor cannot generate the optimal vibration experience for a user is increased after the frequency point corresponding to the initial value of the resonant frequency of the conventional driving chip is shifted from the actual frequency point.
The present application provides, in a first aspect, a calibration method for a linear motor, including: acquiring the vibration time of the linear motor each time; if the vibration time is greater than a first preset time which is acquired in advance, tracking a resonant frequency value of the linear motor; acquiring a resonant frequency value every a preset second preset time, and acquiring a preset number of resonant frequency values; detecting whether the variability between a predetermined number of resonant frequency values is less than a predetermined frequency value set in advance; calculating an average of a predetermined number of resonant frequency values if the variability is less than the predetermined frequency value; and if the average value is within a pre-calculated trust interval, calibrating the average value to be the initial value of the resonant frequency of the linear motor.
The acquisition mode of the first preset time comprises the following steps: acquiring vibration duration of all vibration scenes set by the electronic equipment; setting the shaking time length of one of all scenes or the average value of all the shaking time lengths as the first preset time; the second preset time is one of time values of 15-25 ms; the predetermined number is one of 25-35; the predetermined frequency value is 1 Hz.
The method for calculating the trust interval comprises the following steps: and calculating an upper limit value of the initial frequency value to be calibrated which floats upwards by 10% and a lower limit value which floats downwards by 10%, and using the upper limit value and the lower limit value as interval endpoints to form the trust interval.
Wherein the method further comprises: and if the vibration time is less than the first preset time, returning to the step of acquiring the vibration time of the linear motor each time.
Wherein the method further comprises: and if the variability among the preset number of the resonant frequency values is larger than the preset frequency value, returning to the step of acquiring the vibration time of the linear motor every time.
Wherein the method further comprises: and if the average value is not positioned in the trust interval, returning to the step of acquiring the vibration time of the linear motor every time.
Wherein the method further comprises: before the vibration time of the linear motor is obtained each time, the vibration state of the electronic equipment is obtained; the vibration time of the linear motor is obtained when the electronic equipment is in a state of ringing vibration, or starting vibration of the electronic equipment, or vibration when a typing operation instruction of a user is received, or vibration when the electronic equipment runs a game.
And acquiring the vibration time of the linear motor every time is to acquire the vibration time of the linear motor every time in real time.
According to the calibration method of the linear motor, the initial value of the resonant frequency of the linear motor is calibrated, so that the calibrated initial value of the resonant frequency can be matched with frequency points affected by some reasons, the calibrated initial value of the resonant frequency is used as the frequency point of the open loop, the probability of offset between the frequency point corresponding to the initial value of the resonant frequency and the actual frequency point of the open loop can be reduced, the probability of elongation of the time of tracking the resonant frequency by the closed loop compared with the set value of the vibration frequency is reduced, and therefore the risk that the vibration effect of the linear motor cannot generate the optimal vibration experience for a user is reduced.
A second aspect of the present application provides an electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of calibrating a linear motor as described in any one of the above when executing the computer program.
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, implements a method of calibrating a linear motor as described in any one of the above.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for calibrating a linear motor according to an embodiment of the present invention;
FIG. 2 is a schematic overall flowchart of a method for calibrating a linear motor according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. The following embodiments and their technical features may be combined with each other without conflict.
Referring to fig. 1, a calibration method for a linear motor according to an embodiment of the present application includes: s1, acquiring the vibration time of the linear motor each time; s2, if the vibration time is larger than the first preset time, tracking the resonant frequency value of the linear motor; s3, acquiring a resonant frequency value every a second preset time, and acquiring a preset number of resonant frequency values; s4, detecting whether the variability among the resonance frequency values of a preset number is smaller than a preset frequency value; s5, if the variability is less than the preset frequency value, calculating the average value of the preset number of resonance frequency values; and S6, if the average value is within the pre-calculated trust interval, calibrating the average value as the initial value of the resonant frequency of the linear motor. When the linear motor is driven to vibrate, the frequency of the linear motor is tracked to reach the initial value of the calibrated resonant frequency, and then the linear motor is considered to reach the resonant frequency.
The variability between a predetermined number of resonant frequency values refers to the value of the difference between the predetermined number of resonant frequency values.
In some embodiments, in step S3, the predetermined number of resonant frequency values are obtained continuously.
And the obtaining mode of the first predetermined time may include: acquiring vibration duration of all vibration scenes set by the electronic equipment; the vibration time period of one of all the scenes or the average value of all the vibration time periods is set as the first predetermined time.
The vibration duration of all vibration scenes set by the electronic device can be any time value between 50ms and 750ms, and in particular, in some embodiments, 350ms is set as the first predetermined time, and in other embodiments, 50ms, 70ms, 90ms, 110ms, 130ms, 150ms, 170ms, 190ms, 210ms, 230ms, 250ms, 270ms, 290ms, 310ms, 330ms, 370ms, 390ms, 410ms, 430ms, 450ms, 470ms, 490ms, 510ms, 530ms, 550ms, 570ms, 590ms, 610ms, 630ms, 650ms, 670ms, 690ms, 710ms, 730ms or 750ms can also be set as the first predetermined time.
In some embodiments, the second predetermined time is one of 15-25 ms.
In specific implementation, 20ms can be used as second preset time, and a resonant frequency value is obtained every 20 ms; in other embodiments, 15ms, 16ms, 17ms, 18ms, 19ms, 21ms, 22ms, 23ms, 24ms, or 25ms may also be used as the second predetermined time.
In some embodiments, the predetermined number is one of 25-35.
In a specific implementation, 30 may be set as a predetermined number, a resonant frequency value is obtained every 20ms, and 30 resonant frequency values are obtained.
In some embodiments, the predetermined frequency value is set to 1Hz, but is not limited thereto.
The following describes a specific implementation of the calibration of the linear motor when the first predetermined time is 350ms, the second predetermined time is 20ms, the predetermined number of 30 pens and the predetermined frequency value is 1 Hz.
Specifically, referring to fig. 2, in the process of calibrating the linear motor, an initial value of the resonant frequency of the linear motor is set or obtained, where the initial value may be a value provided in the specification of the linear motor alone. Then, starting to detect the vibration time of the electronic equipment, if the vibration time of the electronic equipment does not exceed 350ms, temporarily maintaining an initial value of the resonant frequency of the linear motor which is set at the beginning, starting to calibrate and correct when the vibration time of the electronic equipment is greater than 350ms each time, starting to track the resonant frequency of the linear motor, acquiring a reported resonant frequency value, reporting a resonant frequency value every 20ms, and acquiring data of 30 resonant frequency values; then judging whether the variability among the 30 resonance frequency values is smaller than 1Hz, if the variability is larger than 1Hz, temporarily maintaining the initial value of the resonance frequency of the linear motor which is initially set, not updating, continuously acquiring the vibration time of the linear motor every time, and starting calibration and correction again after tracking the electronic equipment for the next vibration larger than 350 ms; if the variability is less than 1Hz, the linear motor needs to be calibrated, at the moment, the data of 30 resonance frequency values are taken, the average value of the data of the 30 resonance frequency values is obtained, whether the average value is in a trust interval is judged, when the average value is confirmed to be beyond the trust interval, the initial value of the resonance frequency of the linear motor is maintained to be set at the beginning temporarily, updating is not carried out, the vibration time of the linear motor every time is continuously obtained, and calibration and correction are carried out again after the next vibration of the mobile phone is tracked to be more than 350 ms; if the average value of the data of the 30 resonant frequency values is located in the trust interval, it is indicated that the linear motor needs to be calibrated, and since the average value is located in the trust interval, it is indicated that the average value is reliable, and then the average value is updated to the initial value of the resonant frequency of the linear motor, so as to achieve the effect of dynamically tracking the vibration sense optimization of the electronic equipment, thereby completing the calibration of the linear motor. Wherein, the variability is the difference value between the obtained resonant frequency values of the linear motor 30.
In some embodiments, the method for computing a trust interval comprises: and calculating an upper limit value which floats upwards by 10% and a lower limit value which floats downwards by 10% of the initial frequency value to be calibrated, and using the upper limit value and the lower limit value as interval endpoints to form a trust interval. In other embodiments, the float may not be limited to 10%.
In some embodiments, the calibration method of the linear motor further comprises: and if the vibration time is less than the first preset time, stopping calibration and continuously acquiring the vibration time of the linear motor every time.
For example, the first predetermined time is 350ms, when the vibration time of the linear motor is less than 350ms, it indicates that the initial value of the vibration frequency of the linear motor does not need to be calibrated, the step of obtaining the vibration time of the linear motor every time is returned, and calibration correction is started again after tracking that the next vibration of the mobile phone is greater than 350 ms.
In some embodiments, the calibration method of the linear motor further comprises: if the variability among the preset number of the resonant frequency values is larger than the preset frequency value, returning to the step of acquiring the vibration time of the linear motor each time, and continuously acquiring the vibration time of the linear motor each time.
For example, the predetermined frequency value is 1Hz, and if the variability is greater than 1Hz, it indicates that the linear motor may be affected by external factors, for example, the resonant frequency of the linear motor has a large difference from the resonant frequency of the linear motor under normal conditions due to collision of electronic devices, damage of other devices, and the like, so that under the influence of the external factors, the error of the resonant frequency value of the linear motor is large, and the confidence of the initial value of the resonant frequency obtained by calibrating the linear motor is not high. At this time, the step of acquiring the vibration time of the linear motor is returned until the resonant frequency value having the difference smaller than the predetermined frequency value is retraced, and the subsequent steps are not performed.
In some embodiments, the calibration method of the linear motor further comprises: and if the average value is not within the trust interval, stopping calibration and continuously acquiring the vibration time of the linear motor each time.
Because the trust interval is formed by the fact that the initial frequency value to be calibrated floats upwards by 10% as an upper limit value and floats downwards by 10% as a lower limit value, if the average value is not in the trust interval, the linear motor is possibly influenced by external factors, for example, the resonance frequency of the linear motor has a large difference from the normal condition due to collision of electronic equipment, damage of other devices and the like, and the confidence coefficient of the initial value of the resonance frequency obtained by calibrating the linear motor is not high. At this time, the step of acquiring the vibration time of the linear motor is returned until the resonant frequency value having the difference smaller than the predetermined frequency value is retraced, and the subsequent steps are not performed.
In some embodiments, the calibration method of the linear motor further comprises: before the vibration time of the linear motor is acquired each time, acquiring the vibration state of the electronic equipment; the vibration time of the linear motor is obtained when the electronic equipment is in a state of ringing vibration, or starting vibration of the electronic equipment, or vibration when a typing operation instruction of a user is received, or vibration when the electronic equipment runs a game.
The method and the device are suitable for calibrating the linear motor in some vibration scenes, for example, in long-vibration scenes, vibration can be calibrated when the bell of the electronic equipment of a user rings, and the electronic equipment of the user can also be calibrated when the electronic equipment of the user starts to vibrate; for example, in a short shake scene, the shake feedback of the electronic device during typing and the shake feedback during playing can be calibrated.
The step of acquiring the vibration time of the linear motor at each time is to acquire the vibration time of the linear motor at each time in real time.
The linear motor can be monitored in real time by acquiring the vibration time of the linear motor every time in real time, and the linear motor can be calibrated in real time when the vibration time of the linear motor is more than 350 ms.
In summary, according to the calibration method for the linear motor, by calibrating the initial value of the resonant frequency of the linear motor, the calibrated initial value of the resonant frequency can be adapted to the frequency point affected by some reasons, and the calibrated initial value of the resonant frequency is used as the frequency point of the open loop, so that the probability of offset between the frequency point corresponding to the initial value of the resonant frequency and the actual frequency point of the open loop can be reduced, and thus the probability of elongation of the time of tracking the resonant frequency by the closed loop compared with the set value of the vibration frequency is reduced, and therefore the risk that the vibration effect of the linear motor cannot generate the best experience of the vibration sense for the user is reduced.
In some unexpected situations, for example, due to collision of electronic equipment, damage of other devices, and the like, the resonant frequency of the linear motor has a large difference from the normal situation, so that under the influence of external factors, the error of the resonant frequency value of the linear motor is tracked to be large, the confidence of the initial value of the resonant frequency obtained by calibrating the linear motor is not high, at this time, the step of obtaining the vibration time of the linear motor is returned until the resonant frequency value with the difference smaller than the predetermined frequency value is tracked again, and the subsequent steps are not executed, so that the situation of calibrating the initial value of the resonant frequency under the unexpected situations is avoided, and the error of calibration is reduced.
In the concrete implementation, the time of more than 20ms is generally needed to reach the resonant frequency point, the calibration scheme of the application dynamically calibrates, corrects and sets the initial setting value to ensure that the whole system can still provide the best earthquake feeling experience before the closed loop is started, and effectively improves the earthquake feeling experience of short earthquakes (for example <20 ms).
An embodiment of the present application provides an electronic device, please refer to fig. 3, which includes: a memory 601, a processor 602 and a computer program stored on the memory 601 and executable on the processor 602, which when executed by the processor 602, implement the calibration method of the linear motor described in the foregoing.
Further, the electronic device further includes: at least one input device 603 and at least one output device 604.
The memory 601, the processor 602, the input device 603, and the output device 604 are connected by a bus 605.
The input device 603 may be a camera, a touch panel, a physical button, a mouse, or the like. The output device 604 may be embodied as a display screen.
The Memory 601 may be a high-speed Random Access Memory (RAM) Memory, or a non-volatile Memory (non-volatile Memory), such as a disk Memory. The memory 601 is used for storing a set of executable program code, and the processor 602 is coupled to the memory 601.
Further, an embodiment of the present application also provides a computer-readable storage medium, which may be disposed in the electronic device in the foregoing embodiments, and the computer-readable storage medium may be the memory 601 in the foregoing. The computer readable storage medium has stored thereon a computer program which, when executed by the processor 602, implements the calibration method of the linear motor described in the foregoing embodiments.
Further, the computer-readable storage medium may be various media that can store program codes, such as a usb disk, a removable hard disk, a Read-Only Memory 601 (ROM), a RAM, a magnetic disk, or an optical disk.
Although the application has been shown and described with respect to one or more implementations, equivalent alterations and modifications will occur to others skilled in the art based upon a reading and understanding of this specification and the annexed drawings. This application is intended to embrace all such modifications and variations and is limited only by the scope of the appended claims. In particular regard to the various functions performed by the above described components, the terms used to describe such components are intended to correspond, unless otherwise indicated, to any component which performs the specified function of the described component (e.g., that is functionally equivalent), even though not structurally equivalent to the disclosed structure which performs the function in the herein illustrated exemplary implementations of the specification.
That is, the above description is only an embodiment of the present application, and not intended to limit the scope of the present application, and all equivalent structures or equivalent flow transformations made by using the contents of the specification and the drawings, such as mutual combination of technical features between various embodiments, or direct or indirect application to other related technical fields, are included in the scope of the present application.
In addition, in the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be considered as limiting the present application. In addition, structural elements having the same or similar characteristics may be identified by the same or different reference numerals. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The previous description is provided to enable any person skilled in the art to make and use the present application. In the foregoing description, various details have been set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes are not shown in detail to avoid obscuring the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
Claims (11)
1. A method of calibrating a linear motor, comprising:
acquiring the vibration time of the linear motor each time;
if the vibration time is greater than a first preset time which is acquired in advance, tracking a resonant frequency value of the linear motor;
acquiring a resonant frequency value every a preset second preset time, and acquiring a preset number of resonant frequency values;
detecting whether the variability between a predetermined number of resonant frequency values is less than a predetermined frequency value set in advance;
calculating an average of a predetermined number of resonant frequency values if the variability is less than the predetermined frequency value;
and if the average value is within a pre-calculated trust interval, calibrating the average value to be the initial value of the resonant frequency of the linear motor.
2. The calibration method of a linear motor according to claim 1,
the first preset time obtaining mode comprises the following steps:
acquiring vibration duration of all vibration scenes set by the electronic equipment;
setting the shaking time period of one of all scenes or an average of all the shaking time periods as the first predetermined time.
3. The calibration method of a linear motor according to claim 1,
the second preset time is one of time values of 15-25 ms;
the predetermined number is one of 25-35;
the predetermined frequency value is 1 Hz.
4. The calibration method of a linear motor according to claim 1,
the method for calculating the trust interval comprises the following steps:
and calculating an upper limit value of the initial frequency value to be calibrated which floats upwards by 10% and a lower limit value which floats downwards by 10%, and using the upper limit value and the lower limit value as interval endpoints to form the trust interval.
5. The calibration method of a linear motor according to any one of claims 1 to 4,
the method further comprises the following steps:
and if the vibration time is less than the first preset time, returning to the step of acquiring the vibration time of the linear motor each time.
6. The calibration method of a linear motor according to any one of claims 1 to 4,
the method further comprises the following steps:
and if the variability among the preset number of the resonant frequency values is larger than the preset frequency value, returning to the step of acquiring the vibration time of the linear motor every time.
7. The calibration method of a linear motor according to any one of claims 1 to 4,
the method further comprises the following steps:
and if the average value is not positioned in the trust interval, returning to the step of acquiring the vibration time of the linear motor every time.
8. The calibration method of a linear motor according to any one of claims 1 to 4,
the method further comprises the following steps:
before the vibration time of the linear motor is obtained each time, the vibration state of the electronic equipment is obtained;
the vibration time of the linear motor is obtained when the electronic equipment is at least in a state of ringing vibration, or starting vibration of the electronic equipment, or vibration when a typing operation instruction of a user is received, or vibration when the electronic equipment runs a game.
9. The calibration method of a linear motor according to any one of claims 1 to 4,
the step of obtaining the vibration time of the linear motor at each time is to obtain the vibration time of the linear motor at each time in real time.
10. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of any one of claims 1 to 8 when executing the computer program.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 1 to 8.
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| CN116699388A (en) * | 2022-11-22 | 2023-09-05 | 荣耀终端有限公司 | Linear motor calibration method and electronic equipment |
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