CN115242157A - Displacement limiting method and device for motor oscillator, terminal device and storage medium - Google Patents
Displacement limiting method and device for motor oscillator, terminal device and storage medium Download PDFInfo
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- CN115242157A CN115242157A CN202210907311.0A CN202210907311A CN115242157A CN 115242157 A CN115242157 A CN 115242157A CN 202210907311 A CN202210907311 A CN 202210907311A CN 115242157 A CN115242157 A CN 115242157A
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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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- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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Abstract
The invention discloses a displacement limiting method, a displacement limiting device, terminal equipment and a computer readable storage medium of a motor oscillator, wherein the method comprises the steps that the maximum value of the displacement of a single-frame oscillator of the oscillator of a linear motor is predicted through the terminal equipment configured with the linear motor according to the pre-driving voltage of the linear motor; adjusting the pre-driving voltage according to the maximum displacement value of the single-frame oscillator and the preset maximum allowable displacement of the oscillator to obtain an adjusted driving voltage; and driving the linear motor according to the adjusted driving voltage to limit the displacement of the vibrator. By adopting the technical scheme of the invention, the motor oscillator can be ensured not to collide with the motor shell in the voltage-driven motion process, so that the problems of motor performance reduction, abnormal vibration sense, high vibration noise, motor damage and the like caused by the motor oscillator are effectively avoided.
Description
Technical Field
The invention belongs to the technical field of linear motors, and particularly relates to a displacement limiting method and device of a motor oscillator, terminal equipment and a computer readable storage medium.
Background
The Linear motor (LRA) has been widely used in various vibration situations of consumer electronics, especially games and AR (Augmented Reality)/VR (Virtual Reality) products, due to its advantages of strong vibration sense, abundance, crispness, low energy consumption, etc.
The linear motor mainly realizes very rich, real and strong vibration feedback by constructing diversified driving voltage waveforms. However, when a game developer constructs a driving voltage waveform, because specific physical characteristics and a control algorithm of a motor are not accurately known, it is difficult to ensure that the oscillator displacement corresponding to the driving voltage is always within a maximum displacement range allowed by the hardware design of the motor, and especially in some occasions requiring large oscillation sensation, the oscillation sensation is generally improved by increasing the amplitude of the driving voltage, but the probability that the oscillator displacement exceeds the limit is increased by the large voltage amplitude. Therefore, once the displacement of the vibrator exceeds the allowable space range of the motor, the vibrator can generate mechanical collision with the motor shell, so that the performance of the motor is reduced, vibration noise is generated, the normal vibration output is influenced, and the motor can be directly damaged if the displacement of the vibrator exceeds the allowable space range of the motor.
Disclosure of Invention
The invention mainly aims to provide a displacement limiting method and device of a motor oscillator, terminal equipment and a computer readable storage medium. The linear motor aims to avoid the problems of motor performance reduction, abnormal vibration sense, high vibration noise, motor damage and the like caused by collision between a vibrator of the linear motor and a motor shell in the motion process.
In order to achieve the above object, the present invention provides a displacement limiting method of a motor vibrator applied to a terminal device provided with a linear motor, the displacement limiting method of the motor vibrator comprising:
predicting the maximum value of the displacement of the single-frame vibrator of the linear motor according to the pre-driving voltage of the linear motor;
adjusting the pre-driving voltage according to the maximum displacement value of the single-frame oscillator and the preset maximum allowable displacement of the oscillator to obtain an adjusted driving voltage;
and driving the linear motor according to the adjusted driving voltage to limit the displacement of the vibrator.
Optionally, the step of predicting a maximum value of a displacement of a single-frame vibrator of the linear motor according to a pre-driving voltage of the linear motor includes:
acquiring a pre-driving voltage of the linear motor;
predicting the displacement of the vibrator of the linear motor frame by frame according to the pre-driving voltage to obtain displacement data of each single-frame vibrator;
and determining the maximum value of the displacement of the single-frame oscillator of the oscillator from the displacement data of each single-frame oscillator.
Optionally, the step of predicting, frame by frame, the displacement of the oscillator of the linear motor according to the pre-driving voltage to obtain displacement data of each single-frame oscillator includes:
determining a transfer characteristic between the displacement of the vibrator and a driving voltage of the linear motor according to each configuration parameter of the linear motor;
and calculating the displacement of the vibrator of the linear motor according to the transmission characteristic and the single-frame voltage data in the pre-driving voltage to obtain the displacement data of each single-frame vibrator.
Optionally, the step of determining a maximum value of the displacement of the single-frame oscillator of the oscillator from the displacement data of each single-frame oscillator includes:
determining the displacement absolute value of each single-frame oscillator displacement data;
and sequentially comparing the displacement absolute values to obtain a maximum displacement absolute value, and determining the single-frame oscillator displacement data corresponding to the maximum displacement absolute value as a single-frame oscillator displacement maximum value.
Optionally, the step of adjusting the pre-driving voltage according to the maximum displacement of the single-frame oscillator and a preset maximum allowable displacement of the oscillator to obtain an adjusted driving voltage includes:
determining a voltage adjustment coefficient according to the maximum displacement value of the single-frame oscillator and the preset maximum allowable displacement of the oscillator;
and multiplying the pre-driving voltage frame by the voltage adjusting coefficient to obtain the driving voltage adjusted frame by frame.
Optionally, the step of driving the linear motor according to the adjusted driving voltage includes:
performing smooth filtering processing on the adjusted driving voltage to obtain a smoothly filtered driving voltage;
power amplifying the smooth filtered driving voltage to drive the linear motor.
Optionally, the step of performing a smoothing filtering process on the adjusted driving voltage to obtain a smoothed driving voltage includes:
determining the cut-off frequency of a preset low-pass filter according to the frequency sweeping characteristic of the linear motor;
and performing smooth filtering processing on the adjusted driving voltage through the preset low-pass filter according to the cut-off frequency to obtain the smoothly filtered driving voltage.
Further, in order to achieve the above object, the present invention provides a displacement limiting device of a motor vibrator applied to a terminal device in which a linear motor is disposed, the displacement limiting device of the motor vibrator including:
the displacement prediction module is used for predicting the maximum value of the displacement of the single-frame vibrator of the linear motor according to the pre-driving voltage of the linear motor;
the voltage adjusting module is used for adjusting the pre-driving voltage according to the maximum displacement value of the single-frame oscillator and the preset maximum allowable displacement of the oscillator to obtain the adjusted driving voltage;
and the displacement limiting module is used for driving the linear motor according to the adjusted driving voltage so as to limit the displacement of the vibrator.
The steps of the control method for monitoring the movement of the wireless earphone are realized when each functional module of the displacement limiting device of the motor oscillator runs.
In addition, to achieve the above object, the present invention also provides a terminal device, including: the control program for monitoring the movement of the wireless earphone realizes the steps of the control method for monitoring the movement of the wireless earphone when being executed by the processor.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a displacement limiting program of a motor vibrator, which when executed by a processor, implements the steps of the displacement limiting method of a motor vibrator as described above.
According to the displacement limiting method and device of the motor oscillator, the terminal device and the computer readable storage medium provided by the embodiment of the invention, through the terminal device configured with the linear motor, firstly, the maximum value of the displacement of the single-frame oscillator of the linear motor is predicted according to the pre-driving voltage of the linear motor; then, adjusting the pre-driving voltage according to the maximum displacement value of the single-frame oscillator and the preset maximum allowable displacement of the oscillator to obtain an adjusted driving voltage; finally, the linear motor is driven according to the adjusted driving voltage to limit the displacement of the vibrator.
That is, in the embodiment of the present invention, the displacement of the motor oscillator corresponding to the driving voltage is predicted frame by frame, so that when the predicted displacement exceeds the maximum displacement allowed by the motor hardware, the voltage of the frame is immediately adjusted to drive the motor according to the adjusted voltage, and thus, the motor oscillator is ensured not to collide with the motor housing during the voltage-driven motion, thereby effectively avoiding the problems of motor performance degradation, abnormal vibration sensation, large vibration noise, motor damage and the like caused thereby.
Drawings
Fig. 1 is a schematic device structure diagram of a hardware operating environment of a terminal device according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating the steps of a displacement limiting method for a motor vibrator according to a first embodiment of the present invention;
fig. 3 is a schematic usage flow chart of a displacement limiting method of a motor vibrator according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a hardware driving system according to an embodiment of the displacement limiting method of the motor vibrator of the present invention;
fig. 5 is a waveform diagram of a pre-driving voltage according to an embodiment of the displacement limiting method of the motor vibrator of the present invention;
fig. 6 is displacement data of each single-frame oscillator according to an embodiment of the displacement limiting method for a motor oscillator of the present invention;
fig. 7 is a diagram illustrating a voltage adjustment coefficient according to an embodiment of a displacement limiting method for a motor oscillator of the present invention;
fig. 8 is a diagram illustrating an adjusted driving voltage according to an embodiment of a displacement limiting method for a motor oscillator of the present invention;
fig. 9 shows a smoothed-filtered driving voltage according to an embodiment of the method for limiting a displacement of a motor oscillator according to the present invention;
fig. 10 is a diagram illustrating a displacement of a motor oscillator after being limited according to an embodiment of a displacement limiting method of a motor oscillator according to the present invention;
fig. 11 is a functional block diagram of an embodiment of a displacement limiting apparatus for a motor oscillator according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment related to a terminal device according to an embodiment of the present invention.
The terminal equipment provided by the embodiment of the invention is provided with the linear motor, and particularly, the terminal equipment can be electronic terminal products such as a smart phone, game equipment and AR/VR (augmented reality/virtual reality).
As shown in fig. 1, the terminal device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the terminal device configuration shown in fig. 1 is not intended to be limiting of the terminal device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a displacement limiting program of the motor vibrator.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client and performing data communication with the client; and the processor 1001 may be configured to call up the displacement limiting program of the motor vibrator stored in the memory 1005, and perform the following operations:
predicting the maximum value of the displacement of the single-frame vibrator of the linear motor according to the pre-driving voltage of the linear motor;
adjusting the pre-driving voltage according to the maximum displacement value of the single-frame oscillator and the preset maximum allowable displacement of the oscillator to obtain an adjusted driving voltage;
and driving the linear motor according to the adjusted driving voltage to limit the displacement of the vibrator.
Alternatively, the processor 1001 may be further configured to call a displacement limiting program of the motor vibrator stored in the memory 1005, and perform the following operations:
acquiring a pre-driving voltage of the linear motor;
predicting the displacement of the vibrators of the linear motor frame by frame according to the pre-driving voltage to obtain displacement data of the vibrators of each single frame;
and determining the maximum single-frame oscillator displacement value of the oscillator from the single-frame oscillator displacement data.
Alternatively, the processor 1001 may be further configured to call a displacement limiting program of the motor vibrator stored in the memory 1005, and perform the following operations:
determining a transfer characteristic between the displacement of the vibrator and a driving voltage of the linear motor according to each configuration parameter of the linear motor;
and calculating the displacement of the vibrator of the linear motor according to the transfer characteristic and the single-frame voltage data in the pre-driving voltage to obtain the displacement data of each single-frame vibrator.
Alternatively, the processor 1001 may be further configured to call a displacement limiting program of the motor vibrator stored in the memory 1005, and perform the following operations:
determining the displacement absolute value of each single-frame oscillator displacement data;
and sequentially comparing the displacement absolute values to obtain a maximum displacement absolute value, and determining the single-frame oscillator displacement data corresponding to the maximum displacement absolute value as a single-frame oscillator displacement maximum value.
Alternatively, the processor 1001 may be further configured to call a displacement limiting program of the motor vibrator stored in the memory 1005, and perform the following operations:
determining a voltage adjustment coefficient according to the maximum displacement value of the single-frame oscillator and the preset maximum allowable displacement of the oscillator;
and multiplying the pre-driving voltage frame by the voltage adjusting coefficient to obtain the driving voltage adjusted frame by frame.
Alternatively, the processor 1001 may be further configured to call a displacement limiting program of the motor vibrator stored in the memory 1005, and perform the following operations:
performing smooth filtering processing on the adjusted driving voltage to obtain a smooth filtered driving voltage;
power amplifying the smooth filtered driving voltage to drive the linear motor.
Optionally, a server is built in or connected to the terminal device, and the server is connected to the motherboard and executes the following operations:
determining the cut-off frequency of a preset low-pass filter according to the frequency sweeping characteristic of the linear motor;
and performing smooth filtering processing on the adjusted driving voltage through the preset low-pass filter according to the cut-off frequency to obtain the smoothly filtered driving voltage.
Based on the terminal device, embodiments of the displacement limiting method of the motor oscillator according to the present invention are provided. In each embodiment of the displacement restricting method of the motor vibrator of the present invention, the displacement restricting method of the motor vibrator of the present invention is applied to the terminal device in which the linear motor is arranged.
Referring to fig. 2, fig. 2 is a flowchart illustrating a displacement limiting method for a motor vibrator according to a first embodiment of the present invention. It is noted that although a logical sequence is shown in the flow chart, in some cases, the displacement limitation method of the motor vibrator of the present invention may of course perform the steps shown or described in a different order than here.
In a first embodiment of the displacement limiting method of a motor vibrator according to the present invention, the displacement limiting method of a motor vibrator according to the present invention includes:
step S10, predicting the maximum value of the displacement of the single-frame vibrator of the linear motor according to the pre-driving voltage of the linear motor;
in this embodiment, the terminal device predicts the displacement data of the single-frame vibrator of the linear motor one by using the single-frame pre-driving voltage of the linear motor configured by the terminal device, so as to obtain the maximum value of the displacement of the single-frame vibrator of the vibrator.
It should be noted that, in this embodiment, the terminal device may specifically receive the broadband signal custom-designed by the design developer according to the game scene to obtain the pre-driving voltage.
For example, as shown in fig. 3, after a design developer of a terminal device customizes a designed broadband signal according to a game scene and inputs the broadband signal into the terminal device, the terminal device may perform parsing based on the broadband signal to obtain a single frame or multiple frames of pre-driving voltages for a linear motor.
Furthermore, it should be understood that the terminal device may obtain the driving voltage for the linear motor in other possible embodiments in different manners based on different design requirements of practical applications. For example, the design developer may also perform a series of arithmetic processing on the sound effect actually output by the game application to obtain a broadband signal, and the terminal device obtains the pre-driving voltage by receiving the broadband signal.
Further, in a possible embodiment, the step S10 may include:
step S101, acquiring a pre-driving voltage of the linear motor;
in this embodiment, the terminal device obtains the single-frame or multi-frame pre-driving voltage for the linear motor configured for the terminal device by receiving the broadband signal generated by the pre-configuration of the design developer.
Step S102, predicting the displacement of the vibrator of the linear motor frame by frame according to the pre-driving voltage to obtain displacement data of each single-frame vibrator;
in this embodiment, after acquiring the pre-driving voltage of the linear motor, the terminal device further predicts the displacement of the oscillator by using the single-frame pre-driving voltage, so as to obtain displacement data of each single-frame oscillator of the linear motor through frame-by-frame prediction.
Further, in a possible embodiment, the step S102 may include:
step S1021, determining the transmission characteristic between the displacement of the vibrator and the driving voltage of the linear motor according to each configuration parameter of the linear motor;
it should be noted that, in this embodiment, each configuration parameter of the linear motor configured by the terminal device may be a basic parameter of the motor, and the configuration parameter includes, but is not limited to: the mass m of the vibrator, the strength Bl of the magnetic field, the stiffness coefficient k of the spring, the damping coefficient r, the direct-current resistance Re of the coil and the maximum displacement of the vibrator allowed by motor hardware.
Exemplarily, as shown in fig. 3, while a design developer of a terminal device customizes and designs a broadband signal according to a game scene and inputs the broadband signal to enable the terminal device to obtain a pre-driving voltage for a linear motor, the design developer may also configure and generate a signal to the terminal device according to configuration parameters such as the mass m of the vibrator, the magnetic field strength Bl, the spring stiffness coefficient k, the damping coefficient r, the direct-current coil resistance Re, and the maximum displacement of the vibrator allowed by motor hardware, so that the terminal device can obtain various configuration parameters of the linear motor while obtaining the pre-driving voltage.
In this embodiment, when the terminal device performs displacement prediction on the motor oscillator by using the single-frame pre-driving voltage, first, the transfer characteristic between the displacement of the oscillator of the linear motor and the driving voltage of the linear motor is determined according to the acquired configuration parameters of the linear motor.
For example, in this embodiment, after the terminal device receives the signal generated by the configuration of the design developer to acquire each configuration parameter of the linear motor, it may determine, by using each configuration parameter, each intermediate parameter as shown below:
then, the terminal device can use each intermediate parameter to iterate the formula:
the transmission characteristics between the displacement of the vibrator of the linear motor and the drive voltage of the linear motor are determined.
And step S1022, calculating the displacement of the vibrator of the linear motor according to the transmission characteristic and the single-frame voltage data in the pre-driving voltage to obtain displacement data of each single-frame vibrator.
In this embodiment, the terminal device may determine, in advance, a transfer characteristic between the displacement of the vibrator of the linear motor and the driving voltage of the linear motor based on each configuration parameter of the linear motor, so as to further construct a displacement prediction module dedicated to the displacement prediction of the vibrator based on the transfer characteristic. After the pre-driving voltage for the linear motor is obtained, the terminal device can successively input the single-frame pre-driving voltage into the displacement prediction module, and the displacement prediction module calculates and determines the single-frame oscillator displacement data of the oscillator of the linear motor frame by frame based on the transfer characteristic between the oscillator displacement and the driving voltage.
Illustratively, as shown in fig. 3, a design developer of the terminal device designs a broadband signal according to a game scene in a customized manner, and inputs the broadband signal for the terminal device to acquire the pre-driving voltage-u for the linear motor 1 (t) of (d). The terminal device can then operate according to the pre-drive voltage u 1 (t) Single frame data u 1 (1)、u 1 (2)、…、u 1 (n) calculating the oscillator displacement x of the corresponding linear motor by utilizing a displacement prediction module which is constructed in advance 1 (t) displacement data x of single-frame oscillator 1 (1)、x 1 (2)、…、x 1 (n)。
And step S103, determining the maximum single-frame oscillator displacement value of the oscillator from the single-frame oscillator displacement data.
In this embodiment, after predicting, frame by frame, displacement data of each single-frame oscillator of the linear motor, the terminal device may further detect, in a sequential comparison manner, a maximum single-frame oscillator displacement value in the displacement data of each single-frame oscillator.
Further, in this embodiment, the step S103 may include:
step S1031, determining displacement absolute value of each single frame oscillator displacement data;
and S1032, sequentially comparing the displacement absolute values to obtain the maximum displacement absolute value, and determining the single-frame oscillator displacement data corresponding to the maximum displacement absolute value as the maximum single-frame oscillator displacement value.
In this embodiment, when determining the maximum single-frame oscillator displacement value from the single-frame oscillator displacement data by using sequential comparison, the terminal device first determines the respective displacement absolute values of the single-frame oscillator displacement data, then compares the two displacement absolute values in sequence to obtain the maximum displacement absolute value of the displacement absolute values, and finally determines the single-frame oscillator displacement data corresponding to the maximum displacement absolute value as the maximum single-frame oscillator displacement value.
Illustratively, as shown in fig. 3, in the present embodiment, the terminal device is shifting data x from each single-frame oscillator described above 1 (1)、x 1 (2)、…、x 1 In (n), when the maximum value of the displacement of the single-frame vibrator of the linear motor is determined, the displacement data x of each single-frame vibrator is obtained by prediction 1 (1)、x 1 (2)、…、x 1 (n) taking the absolute value to obtain the corresponding | x 1 (1)|、|x 1 (2)|、…、|x 1 (n) then, using sequential comparison, first comparing | x 1 (1) I and | x 1 (2) Taking the larger value as x 1max And comparing x again 1max And | x 1 (3) Taking the larger value of | as new x 1max And so on until x is compared 1max And | x 1 Taking the larger value of (n) | as the final x 1max X of the 1max Namely, the maximum value of the displacement of the single-frame oscillator (which may also be referred to as the displacement peak value of the single-frame oscillator) in the displacement data of the single-frame oscillator.
Step S20, adjusting the pre-driving voltage according to the maximum displacement value of the single-frame oscillator and the preset maximum allowable displacement of the oscillator to obtain an adjusted driving voltage;
in this embodiment, after the maximum single-frame oscillator displacement value of the oscillator of the linear motor is obtained through the above process, the terminal device further adjusts the obtained pre-driving voltage for the linear motor based on the maximum single-frame oscillator displacement value and the pre-set maximum allowable displacement of the oscillator in the pre-obtained configuration parameters of the linear motor, so as to obtain the adjusted driving voltage for driving the linear motor.
It should be noted that, in this embodiment, the preset maximum allowable displacement may specifically be a maximum displacement that the linear motor configured in the terminal device allows the vibrator to perform on a hardware level.
Further, in a possible embodiment, the step S20 may include:
step S201, determining a voltage adjustment coefficient according to the maximum displacement of the single-frame oscillator and a preset maximum allowable displacement of the oscillator;
step S202, multiplying the pre-driving voltage frame by frame with the voltage adjusting coefficient to obtain the driving voltage adjusted frame by frame.
In this embodiment, when the terminal device adjusts the pre-driving voltage according to the maximum displacement of the single-frame vibrator of the linear motor and the preset maximum allowable displacement of the vibrator, the terminal device first calculates to determine the voltage adjustment coefficient according to the maximum displacement of the single-frame vibrator and the preset maximum allowable displacement. Then, the terminal device multiplies the pre-driving voltage for the linear motor, which is obtained from the broadband signal configured, generated and input by the design developer, by the voltage adjustment coefficient frame by frame to obtain the driving voltage adjusted frame by frame.
Illustratively, as shown in fig. 3, when the terminal device adjusts the driving voltage for the pre-driving voltage, the terminal device first adopts the maximum value x of the displacement of the single-frame oscillator described above 1max And a preset maximum allowable displacement x hmax The voltage adjustment coefficient k is calculated according to the following formula u 。
Then, the terminal device, aiming at the pre-drive voltage for the linear motor, which is acquired from the broadband signal which is configured and generated and input by the design developer, according to a calculation formula: u. u 2 (t)＝k u u 1 (t) Single framePre-drive voltage u 1 (t) multiplying by an adjustment coefficient k u Thereby obtaining an adjusted driving voltage u 2 (t)。
It should be noted that, in this embodiment, the terminal device shifts the maximum value x according to the single-frame oscillator 1max And a preset maximum allowable displacement x hmax Calculated adjustment coefficient k u When the value is more than 1, the terminal equipment directly takes the adjustment coefficient k u ＝1。
And a step S30 of driving the linear motor according to the adjusted driving voltage to limit the displacement of the vibrator.
In this embodiment, after the terminal device adjusts the pre-drive voltage to obtain the adjusted drive voltage, the terminal device drives the linear motor disposed therein according to the adjusted drive voltage to generate vibration feedback, thereby limiting the displacement of the vibrator of the linear motor.
Further, as a possible embodiment, the step S30 of "driving the linear motor according to the adjusted driving voltage" may include:
step S301, carrying out smoothing filtering processing on the adjusted driving voltage to obtain a smoothed driving voltage;
in this embodiment, in the process of driving the linear motor according to the adjusted driving voltage, the terminal device firstly performs smoothing filtering on the adjusted driving voltage by using a low-pass filter to obtain a smoothed driving voltage.
Further, in this embodiment, the step S301 may include:
step S3011, determining a cut-off frequency of a preset low-pass filter according to the frequency sweep characteristic of the linear motor;
step S3012, perform smoothing filtering on the adjusted driving voltage according to the cut-off frequency through the preset low-pass filter, so as to obtain a smoothed driving voltage.
In this embodiment, before performing smoothing filtering processing on the adjusted driving voltage, the terminal device may determine a cutoff frequency of a preset low-pass filter according to a sweep frequency characteristic of the configured linear motor, so that the driving voltage adjusted by the low-pass filter according to the cutoff frequency is subsequently subjected to smoothing filtering processing by using the low-pass filter, so as to obtain the smoothed driving voltage.
It should be noted that, in this embodiment, the frequency sweep characteristic of the linear motor may be obtained by receiving, by the terminal device, a signal configured and input by a design developer in advance. Exemplarily, as shown in fig. 3, while a design developer of the end device customizes and designs a broadband signal according to a game scene and inputs the broadband signal to a terminal device to obtain a pre-driving voltage for the linear motor, the design developer can also configure a bandwidth signal of a frequency domain response characteristic of an acceleration amplitude under a unit driving voltage, that is, [ f ] synchronously aL ,f aH ]And inputting the bandwidth signal into the terminal equipment, so that the terminal equipment can acquire the sweep frequency characteristic of the linear motor while acquiring the pre-driving voltage.
Exemplarily, in the present embodiment, the cut-off frequency f of the low-pass filter determined by the terminal device LP The upper limit frequency f of the bandwidth of the motor sweep frequency characteristic is designed generally aH In this way, filtering out frequency components in the drive voltage in a wide range of the bandwidth can be avoided, e.g. the cut-off frequency can be taken as f LP ＝2f aH 。
Step S302, performing power amplification on the smooth filtered driving voltage to drive the linear motor.
In this embodiment, after performing smoothing filtering processing on the adjusted driving voltage by using a low-pass filter, the terminal device further performs power amplification processing on the driving voltage subjected to smoothing filtering, so as to drive the linear motor by using the driving voltage subjected to power amplification to make the motor generate vibration feedback.
Illustratively, as shown in fig. 3, the terminal device adjusts the pre-driving voltage to obtain an adjusted driving voltage u through the above-mentioned process 2 (t) after that, the terminal device uses the above-mentioned determined cut-off frequency f LP ＝2f aH For the adjusted driving voltage u 2 (t) smoothing the filter to obtain a smoothed drive voltage u 3 (t) finally, the terminal device uses a power amplifier circuit to smooth the filtered driving voltage u 3 (t) amplifying power, driving the motor with the amplified voltage to generate vibration feedback, and obtaining the limited displacement x 2 (t)。
In this embodiment, in the displacement limiting method for the motor oscillator of the present invention, the terminal device predicts the displacement data of the single-frame oscillator of the linear motor one by using the single-frame pre-driving voltage of the linear motor configured by the terminal device, so as to obtain the maximum value of the displacement of the single-frame oscillator of the oscillator. And then, the terminal device further adjusts the obtained pre-driving voltage for the linear motor based on the maximum displacement value of the single-frame oscillator and the pre-set maximum allowable displacement of the oscillator in each configuration parameter of the linear motor, which is obtained in advance, so as to obtain the adjusted driving voltage for driving the linear motor. Finally, the terminal device drives the linear motor configured to itself according to the adjusted driving voltage to drive the motor to generate vibration feedback, thereby limiting the displacement of the vibrator of the linear motor.
That is, in the embodiment of the present invention, the displacement of the motor oscillator corresponding to the driving voltage is predicted frame by frame, so that when the predicted displacement exceeds the maximum displacement allowed by the motor hardware, the voltage of the frame is immediately adjusted to drive the motor according to the adjusted voltage, and thus, the motor oscillator is ensured not to collide with the motor housing during the voltage-driven motion, thereby effectively avoiding the problems of motor performance degradation, abnormal vibration sensation, large vibration noise, motor damage and the like caused thereby.
Further, a second embodiment of the displacement limiting method of the motor vibrator of the present invention is proposed based on the above-described first embodiment of the displacement limiting method of the motor vibrator of the present invention.
In this embodiment, when the displacement limiting method of the motor oscillator according to the present invention is applied to any hardware driving system, the following steps may be specifically performed: input signals, algorithm processing, driving signals, power amplification and a motor are realized by 5 process steps.
As shown in fig. 4, the input signal 1 should be divided into 3 parts;
1) Pre-drive voltage waveform u 1 (t), the pre-driving voltage waveform can be a broadband signal which is customized and designed according to a game scene, and can also be a broadband signal which is obtained by carrying out a series of operation processing on a sound effect which is actually output by game application;
2) The bandwidth of the sweep frequency characteristic (frequency domain response characteristic of acceleration amplitude under unit driving voltage) of the motor, namely [ f aL ,f aH ]；
3) Basic parameters of the motor comprise vibrator mass m, magnetic field intensity Bl, spring stiffness coefficient k, damping coefficient r, coil direct-current resistance Re, and vibrator maximum displacement x allowed by motor hardware hmax 。
The algorithm processing 2 may be implemented by a specific algorithm processing module to perform all the processing calculated by the formula in the above-described first embodiment from step S10 to step S30 on the input signal to obtain an adjusted driving voltage for driving the linear motor.
The driving signal 3 is the adjusted driving voltage obtained by processing the input signal by the algorithm processing module.
The power amplifier 4 is an amplifier (e.g., a common driver such as a class a, B, AB, or D driver) for performing power matching on an input signal selected by the system, where the input signal may be an analog signal or a digital signal of a certain system.
The motor 5 is a Linear motor configured in the terminal device, and the motor is a wide-band Linear motor (Linear resistive Actuator) whose sweep frequency characteristic (frequency response characteristic of acceleration amplitude under unit driving voltage) has a certain wide-band characteristic.
Further, a third embodiment of the displacement limiting method of the motor vibrator of the present invention is proposed based on the first embodiment and/or the second embodiment of the displacement limiting method of the motor vibrator of the present invention described above.
In the present embodiment, the relevant waveforms involved in the displacement limiting method of the motor vibrator according to the present invention are shown in fig. 5 to 10, where 1FS represents the rated amplitude (i.e. the set maximum amplitude) represented by numeral 1.
In addition, fig. 5 is a waveform of the pre-driving voltage obtained by the terminal device involved in the process of step S10;
fig. 6 is concrete single-frame oscillator displacement data obtained by the terminal device performing oscillator displacement prediction based on the single-frame pre-driving voltage u1 in the process of step S10. As can be seen from fig. 6, in the vicinity of t =0.325s and t =0.475s, the displacement of the vibrator predicted by the terminal device exceeds 1FS, that is, exceeds the maximum displacement of the vibrator allowed by the motor hardware, and at this time, the displacement limitation of the vibrator needs to be performed;
fig. 7 is a specific diagram of the voltage adjustment coefficients for adjusting the pre-driving voltage involved in the process of step S20. As can be seen from fig. 7, in the vicinity of t =0.325s and t =0.475s, the voltage adjustment coefficient is smaller than 1, which indicates that the terminal device is effectively operated after recognizing that the predicted displacement exceeds the maximum displacement through the displacement limiting module;
fig. 8 is a waveform of the driving voltage adjusted for the pre-driving voltage according to the process of step S20. As shown in fig. 8 and 5, the amplitudes near t =0.325s and t =0.475s are significantly reduced compared to the waveform of the pre-drive voltage, thereby preventing the displacement of the driven vibrator from exceeding the maximum displacement limit;
fig. 9 is a waveform of the driving voltage after the smoothing processing is performed on the adjusted driving voltage in the process of step S30. Compared with the driving voltage shown in fig. 8, the terminal device performs smoothing operation on the adjusted driving voltage through the low-pass filter, specifically, the problem of voltage waveform jump caused by jump of a voltage adjustment coefficient is smoothed, the whole voltage waveform avoids jump points and burrs, and generation of vibration noise is avoided;
fig. 10 shows a displacement after the motor oscillator limitation obtained by driving the linear motor after power amplification of the driving voltage obtained by smoothing the driving voltage in the process of step S30. Compared with the displacement of the vibrator predicted based on the pre-driving voltage shown in fig. 6, the amplitudes near t =0.325s and t =0.475s are effectively limited within 1FS, which indicates that the displacement limiting method of the motor vibrator of the present invention has an effective function.
In addition, the embodiment of the invention also provides a displacement limiting device of the motor oscillator, and the displacement limiting device of the motor oscillator is applied to terminal equipment configured with a linear motor.
Referring to fig. 11, fig. 11 is a functional module schematic diagram of an embodiment of a displacement limiting device of a motor oscillator according to the present invention. As shown in fig. 11, the displacement limiting device of the motor vibrator of the present invention includes:
the displacement prediction module 10 is configured to predict a maximum value of a displacement of a single-frame oscillator of the linear motor according to a pre-driving voltage of the linear motor;
the voltage adjusting module 20 is configured to adjust the pre-driving voltage according to the maximum displacement of the single-frame oscillator and a preset maximum allowable displacement of the oscillator to obtain an adjusted driving voltage;
and a displacement limiting module 30, configured to drive the linear motor according to the adjusted driving voltage to limit the displacement of the oscillator.
Optionally, the displacement prediction module 10 includes:
a voltage acquisition unit for acquiring a pre-drive voltage of the linear motor;
the displacement prediction unit is used for predicting the displacement of the vibrators of the linear motor frame by frame according to the pre-driving voltage to obtain displacement data of the vibrators of each single frame;
and the comparison unit is used for determining the maximum single-frame oscillator displacement value of the oscillator from each single-frame oscillator displacement data.
Optionally, the displacement prediction unit is further configured to determine, according to each configuration parameter of the linear motor, a transfer characteristic between the displacement of the vibrator and a driving voltage of the linear motor; and calculating the displacement of the vibrator of the linear motor according to the transmission characteristic and the single-frame voltage data in the pre-driving voltage to obtain the displacement data of each single-frame vibrator.
Optionally, the comparing unit is further configured to determine an absolute value of displacement of each of the single-frame oscillator displacement data; and sequentially comparing the displacement absolute values to obtain the maximum displacement absolute value, and determining the single-frame oscillator displacement data corresponding to the maximum displacement absolute value as the maximum single-frame oscillator displacement value.
Optionally, the voltage adjusting module 20 includes:
the coefficient calculation unit is used for determining a voltage adjustment coefficient according to the maximum displacement value of the single-frame oscillator and the preset maximum allowable displacement of the oscillator;
and the voltage adjusting unit is used for multiplying the pre-driving voltage frame by the voltage adjusting coefficient to obtain the driving voltage adjusted frame by frame.
Optionally, the displacement limiting module 30 comprises:
the smoothing filtering unit is used for performing smoothing filtering processing on the adjusted driving voltage to obtain a smoothed driving voltage;
and the driving unit is used for amplifying the power of the smooth and filtered driving voltage so as to drive the linear motor.
Optionally, the smoothing filtering unit is further configured to determine a cutoff frequency of a preset low-pass filter according to a frequency sweep characteristic of the linear motor; and performing smooth filtering processing on the adjusted driving voltage through the preset low-pass filter according to the cut-off frequency to obtain the smoothly filtered driving voltage.
The specific embodiment of the displacement limiting device of the motor oscillator of the present invention in operation is substantially the same as the embodiments of the displacement limiting method of the motor oscillator of the present invention, and will not be described herein again.
The present invention also provides a computer storage medium having a displacement limiting program for a motor oscillator stored thereon, wherein the displacement limiting program for a motor oscillator implements the steps of the displacement limiting program method for a motor oscillator according to any one of the above embodiments when executed by a processor.
The specific embodiment of the computer storage medium of the present invention is substantially the same as the embodiments of the displacement limiting program method of the motor oscillator of the present invention, and will not be described herein again.
The present invention further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the method for limiting a displacement of a motor oscillator according to any of the above embodiments of the present invention are implemented, which are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for causing a terminal device (e.g. TWS headset, etc.) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (10)
1. A displacement limiting method of a motor oscillator, which is applied to a terminal device provided with a linear motor, the displacement limiting method of a motor oscillator comprising:
predicting the maximum value of the displacement of the single-frame vibrator of the linear motor according to the pre-driving voltage of the linear motor;
adjusting the pre-driving voltage according to the maximum displacement value of the single-frame oscillator and the preset maximum allowable displacement of the oscillator to obtain an adjusted driving voltage;
and driving the linear motor according to the adjusted driving voltage to limit the displacement of the vibrator.
2. The method of limiting displacement of a motor oscillator of claim 1, wherein the step of predicting a maximum value of displacement of a single-frame oscillator of the linear motor based on the pre-driving voltage of the linear motor comprises:
acquiring a pre-driving voltage of the linear motor;
predicting the displacement of the vibrator of the linear motor frame by frame according to the pre-driving voltage to obtain displacement data of each single-frame vibrator;
and determining the maximum single-frame oscillator displacement value of the oscillator from the single-frame oscillator displacement data.
3. The method for limiting displacement of a motor oscillator according to claim 2, wherein the step of predicting the displacement of the oscillator of the linear motor frame by frame according to the pre-driving voltage to obtain displacement data of each single-frame oscillator comprises:
determining a transfer characteristic between the displacement of the vibrator and a driving voltage of the linear motor according to each configuration parameter of the linear motor;
and calculating the displacement of the vibrator of the linear motor according to the transfer characteristic and the single-frame voltage data in the pre-driving voltage to obtain the displacement data of each single-frame vibrator.
4. The displacement limiting method of a motor vibrator according to claim 2, wherein the step of determining a maximum value of a single-frame vibrator displacement of the vibrator from each of the single-frame vibrator displacement data includes:
determining the displacement absolute value of each single-frame oscillator displacement data;
and sequentially comparing the displacement absolute values to obtain a maximum displacement absolute value, and determining the single-frame oscillator displacement data corresponding to the maximum displacement absolute value as a single-frame oscillator displacement maximum value.
5. The displacement limiting method of the motor oscillator according to claim 1, wherein the step of adjusting the pre-driving voltage according to the maximum displacement of the single-frame oscillator and the preset maximum allowable displacement of the oscillator to obtain the adjusted driving voltage includes:
determining a voltage adjustment coefficient according to the maximum displacement value of the single-frame oscillator and the preset maximum allowable displacement of the oscillator;
and multiplying the pre-driving voltage frame by the voltage adjusting coefficient to obtain the driving voltage adjusted frame by frame.
6. The method of restricting displacement of a motor oscillator according to claim 1, wherein the step of driving the linear motor in accordance with the adjusted driving voltage includes:
performing smooth filtering processing on the adjusted driving voltage to obtain a smoothly filtered driving voltage;
power amplifying the smooth filtered driving voltage to drive the linear motor.
7. The method of limiting displacement of a motor oscillator according to claim 6, wherein the step of performing smoothing filtering processing on the adjusted driving voltage to obtain a smoothed driving voltage includes:
determining the cut-off frequency of a preset low-pass filter according to the frequency sweeping characteristic of the linear motor;
and performing smooth filtering processing on the adjusted driving voltage through the preset low-pass filter according to the cut-off frequency to obtain the smoothly filtered driving voltage.
8. A displacement limiting device for a motor vibrator, characterized in that the displacement limiting device for a motor vibrator is applied to a terminal device provided with a linear motor, the displacement limiting device for a motor vibrator comprising:
the displacement prediction module is used for predicting the maximum value of the displacement of the single-frame oscillator of the linear motor according to the pre-driving voltage of the linear motor;
the voltage adjusting module is used for adjusting the pre-driving voltage according to the maximum displacement value of the single-frame oscillator and the preset maximum allowable displacement of the oscillator to obtain the adjusted driving voltage;
and the displacement limiting module is used for driving the linear motor according to the adjusted driving voltage so as to limit the displacement of the vibrator.
9. A terminal device, characterized in that the terminal device comprises: a memory, a processor, and a displacement limiting program of a motor vibrator stored on the memory and executable on the processor, the displacement limiting program of the motor vibrator realizing the steps of the displacement limiting method of the motor vibrator according to any one of claims 1 to 7 when executed by the processor.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a displacement limiting program of a motor vibrator, which when executed by a processor, implements the steps of the displacement limiting method of a motor vibrator according to any one of claims 1 to 7.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115622475A (en) * | 2022-11-07 | 2023-01-17 | 歌尔股份有限公司 | Protection method of linear motor, terminal device and computer readable storage medium |
| CN115632592A (en) * | 2022-11-07 | 2023-01-20 | 歌尔股份有限公司 | Displacement control method and device for linear motor oscillator, terminal device and 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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- 2022-07-29 CN CN202210907311.0A patent/CN115242157A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115622475A (en) * | 2022-11-07 | 2023-01-17 | 歌尔股份有限公司 | Protection method of linear motor, terminal device and computer readable storage medium |
| CN115632592A (en) * | 2022-11-07 | 2023-01-20 | 歌尔股份有限公司 | Displacement control method and device for linear motor oscillator, terminal device and 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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