CN115483865A - Collision protection method and device for motor oscillator, terminal device and storage medium - Google Patents
Collision protection method and device for motor oscillator, terminal device and storage medium Download PDFInfo
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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 collision protection method, a device, terminal equipment and a computer readable storage medium of a motor oscillator, wherein the method predicts the maximum displacement value of a single-frame oscillator of the oscillator of a linear motor through the terminal equipment provided with the linear motor according to the pre-driving voltage of the linear motor; determining oscillator energy corresponding to the occurrence moment of the single-frame oscillator displacement maximum value; adjusting the pre-driving voltage according to the oscillator energy and the preset maximum allowable energy of the oscillator to obtain an adjusted driving voltage; and driving the linear motor according to the adjusted driving voltage to perform collision protection on the vibrator. By adopting the technical scheme of the invention, the motor vibrator can be ensured not to collide with the motor shell in the voltage driving 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 vibrator are effectively avoided.
Description
Technical Field
The invention belongs to the technical field of linear motors, and particularly relates to a collision protection method and device for a motor oscillator, terminal equipment and a computer readable storage medium.
Background
A Linear motor (LRA) has been widely used in various vibration occasions of consumer electronics, especially games and AR (Augmented Reality)/VR (Virtual Reality) products, due to its advantages of strong vibration sensation, 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 the specific physical characteristics and the control algorithm of the motor are not accurately known, it is difficult to ensure that the vibrator displacement corresponding to the driving voltage is always within the maximum displacement range allowed by the hardware design of the motor, especially in some occasions requiring large vibration sensation, the vibration sensation is generally improved by increasing the amplitude of the driving voltage, but the large voltage amplitude increases the probability that the vibrator displacement exceeds the limit. 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 damage of the motor can be directly caused if the displacement of the vibrator is heavy.
Disclosure of Invention
The invention mainly aims to provide a collision protection method and device for a motor oscillator, a terminal device 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 collision protection method of a motor vibrator, which is applied to a terminal device configured with a linear motor, the collision protection method of the motor vibrator including:
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;
determining oscillator energy corresponding to the occurrence moment of the maximum value of the single-frame oscillator displacement;
adjusting the pre-driving voltage according to the oscillator energy and the preset maximum allowable energy of the oscillator to obtain an adjusted driving voltage;
and driving the linear motor according to the adjusted driving voltage to perform collision protection on 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 single-frame oscillator displacement value of the oscillator from the single-frame oscillator displacement data.
Optionally, the oscillator energy is single-frame oscillator energy, and the step of determining the oscillator energy corresponding to the occurrence time of the maximum single-frame oscillator displacement includes:
in the process of predicting the maximum value of the single-frame oscillator displacement, detecting the occurrence moment of the maximum value of the single-frame oscillator displacement;
and acquiring the single-frame oscillator energy of the oscillator at the appearance moment.
Optionally, the method further comprises:
acquiring a preset maximum allowable displacement of a vibrator of the linear motor;
and determining the preset maximum allowable energy of the vibrator according to the preset maximum allowable displacement and various configuration parameters of the linear motor.
Optionally, the step of adjusting the pre-driving voltage according to the oscillator energy and a preset maximum allowed energy of the oscillator to obtain an adjusted driving voltage includes:
determining a voltage adjustment coefficient according to the oscillator energy and the preset maximum allowable energy 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 smooth 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 smooth-filtered driving voltage.
Further, in order to achieve the above object, the present invention provides a collision protection device for a motor vibrator applied to a terminal device in which a linear motor is disposed, the collision protection device for a 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 energy determining module is used for determining oscillator energy corresponding to the occurrence moment of the maximum value of the single-frame oscillator displacement;
the voltage adjusting module is used for adjusting the pre-driving voltage according to the oscillator energy and the preset maximum allowable energy of the oscillator to obtain the adjusted driving voltage;
and the collision protection module is used for driving the linear motor according to the adjusted driving voltage so as to perform collision protection on the vibrator.
The steps of the control method for monitoring the movement of the wireless earphone are realized when each functional module of the collision protection device of the motor oscillator operates.
In addition, to achieve the above object, the present invention also provides a terminal device, including: the control program of the motion monitoring of the wireless earphone realizes the steps of the control method of the motion monitoring motion 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 collision protection program of a motor vibrator, which when executed by a processor, implements the steps of the collision protection method of a motor vibrator as described above.
According to the collision protection method, device, terminal equipment and computer readable storage medium of the motor oscillator provided by the embodiment of the invention, through the terminal equipment 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, determining oscillator energy corresponding to the occurrence moment of the maximum value of the single-frame oscillator displacement; therefore, the pre-driving voltage is adjusted according to the oscillator energy and the preset maximum allowable energy of the oscillator to obtain the adjusted driving voltage; and finally, driving the linear motor according to the adjusted driving voltage to perform collision protection on 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, and the oscillator energy corresponding to the moment when the maximum displacement of the oscillator occurs in the process of the predicted displacement is determined, so that when the oscillator energy exceeds the maximum energy allowed by the motor hardware, the voltage of the frame is immediately adjusted (linearly scaled) to drive the motor according to the adjusted voltage, and thus, it is ensured that the motor oscillator does not collide with the motor housing in the process of voltage-driven motion, and thus, the problems of motor performance degradation, abnormal vibration sensation, large vibration noise, motor damage and the like caused by the voltage-driven motion are effectively avoided.
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 steps of a first embodiment of a method for protecting a motor oscillator from collision according to the present invention;
fig. 3 is a schematic usage flow chart of a collision protection method for a motor vibrator according to an embodiment of the present invention;
fig. 4 is a schematic block diagram of a hardware driving system according to an embodiment of the method for collision protection of a motor vibrator of the present invention;
fig. 5 is a schematic waveform diagram of a pre-driving voltage according to an embodiment of the method for protecting a motor oscillator from collision according to the present invention;
fig. 6 shows displacement data of each single-frame oscillator according to an embodiment of the method for collision protection of a motor oscillator according to the present invention;
fig. 7 illustrates vibrator energy according to an embodiment of the method for protecting a motor vibrator from impact according to the present invention;
fig. 8 is a voltage adjustment coefficient according to an embodiment of the method for protecting a motor oscillator from collision according to the present invention;
fig. 9 is a diagram illustrating adjusted driving voltages according to an embodiment of a method for protecting a motor vibrator from collision according to the present invention;
fig. 10 shows a smoothed filtered driving voltage according to an embodiment of the method for collision protection of a motor oscillator according to the present invention;
fig. 11 is a diagram illustrating a displacement of a compressed motor vibrator according to an embodiment of a collision protection method for a motor vibrator according to the present invention;
fig. 12 is a functional block diagram of an embodiment of a collision protection apparatus for a motor vibrator 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. Wherein a communication bus 1002 is used to enable connective communication between 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 collision protection program of a 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 collision protection 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;
determining oscillator energy corresponding to the occurrence moment of the single-frame oscillator displacement maximum value;
adjusting the pre-driving voltage according to the oscillator energy and the preset maximum allowable energy of the oscillator to obtain an adjusted driving voltage;
and driving the linear motor according to the adjusted driving voltage to perform collision protection on the vibrator.
Alternatively, the processor 1001 may be further configured to call a collision protection program of the motor oscillator stored in the memory 1005, and perform the following operations:
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.
Optionally, the oscillator energy is a single-frame oscillator energy, and the processor 1001 may be further configured to call a collision protection program of the motor oscillator stored in the memory 1005, and perform the following operations:
in the process of predicting the maximum value of the single-frame oscillator displacement, detecting the occurrence moment of the maximum value of the single-frame oscillator displacement;
and acquiring the single-frame oscillator energy of the oscillator at the appearance moment.
Alternatively, the processor 1001 may be further configured to call a collision protection program of the motor oscillator stored in the memory 1005, and perform the following operations:
acquiring a preset maximum allowable displacement of a vibrator of the linear motor;
and determining the preset maximum allowable energy of the vibrator according to the preset maximum allowable displacement and various configuration parameters of the linear motor.
Alternatively, the processor 1001 may be further configured to call a collision protection program of the motor vibrator stored in the memory 1005, and perform the following operations:
determining a voltage adjustment coefficient according to the oscillator energy and the preset maximum allowable energy 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 collision protection 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 collision protection method for the motor vibrator of the present invention are provided. In each embodiment of the collision protection method of a motor vibrator of the present invention, the collision protection method of a 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 collision protection method for a motor vibrator according to a first embodiment of the present invention. It should be noted that although a logical sequence is shown in the flow chart, in some cases, the collision protection method of the motor vibrator of the present invention may of course perform the steps shown or described in a different sequence than here.
In a first embodiment of the collision protection method of a motor vibrator of the present invention, the collision protection method of a motor vibrator of 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 that is 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 pre-driving voltage for the linear motor for a single frame or multiple frames.
Furthermore, it should be understood that the terminal device may obtain the driving voltage for the linear motor in other different ways in other possible embodiments based on different design requirements of practical applications. For example, the design developer may also perform a series of operations 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:
to determine the transmission between the displacement of the vibrator of the linear motor and the drive voltage of the linear motorThe properties are gradually changed.
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-drive voltage for the linear motor is obtained, the terminal device can successively input the single-frame pre-drive 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 drive 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 vibrator displacement x of the corresponding linear motor by using a displacement prediction module which is constructed in advance 1 (t) Single frame vibrator Displacement data x 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 values of the displacement data of the single-frame oscillators;
and S1032, 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.
In this embodiment, when determining the maximum single-frame oscillator displacement value from the displacement data of each single-frame oscillator by using a sequential comparison method, the terminal device first determines the displacement absolute value of each single-frame oscillator, then compares the two displacement absolute values sequentially in order to obtain the maximum displacement absolute value of each displacement absolute value, 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 (n) when the maximum value of the displacement of the single-frame transducer of the linear motor is determined, first, displacement data x of each single-frame transducer 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, in a sequential comparison manner, compare | x |, first 1 (1) I and I x 1 (2) Taking the larger value as x 1max And then comparing x 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, determining oscillator energy corresponding to the occurrence moment of the maximum value of the single-frame oscillator displacement;
in this embodiment, the time of occurrence of the maximum single-frame oscillator displacement is the predicted time of occurrence of the maximum single-frame oscillator displacement in the process of predicting the single-frame oscillator displacement data of the oscillator of the linear motor by the terminal device.
Furthermore, the oscillator energy corresponding to the occurrence time of the maximum single-frame oscillator displacement is as follows: and the single-frame oscillator energy of the oscillator of the linear motor at the appearance moment predicted by the terminal equipment.
In this embodiment, the terminal device also predicts the energy of the single-frame oscillator of the oscillator synchronously in the process of predicting the single-frame oscillator displacement data of the oscillator of the linear motor, so as to determine the predicted time when the maximum value of the displacement of the single-frame oscillator occurs as the time when the maximum value of the displacement of the single-frame oscillator occurs, and determine the energy of the single-frame oscillator of the oscillator at the time of occurrence.
Further, in a possible embodiment, the step of the terminal device performing energy prediction on the vibrator of the linear motor may include:
step A, predicting single-frame oscillator displacement data and oscillator speed of an oscillator of the linear motor according to a pre-driving voltage of the linear motor;
in this embodiment, the terminal device predicts the displacement data and the oscillator speed of the oscillator of the linear motor for each single frame by using the pre-drive voltage for the single frame of the linear motor.
Further, in this embodiment, step a may include:
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 carrying out derivation on displacement data of each single-frame oscillator to obtain each oscillator speed.
In this embodiment, after the terminal device obtains the pre-driving voltage of the linear motor through the above process, the single-frame pre-driving voltage is first used to predict the displacement of the oscillator, so as to predict, frame by frame, the displacement data of each single-frame oscillator of the linear motor, and then, a derivation calculation is performed based on the predicted displacement data of each single-frame oscillator to obtain the oscillator speed corresponding to each single-frame oscillator displacement data.
In this embodiment, the terminal device may specifically predict the displacement data of the single-frame oscillator under the action of the single-frame pre-driving voltage based on the transfer characteristic between the displacement of the oscillator of the linear motor and the driving voltage of the linear motor. Namely: the terminal equipment determines the transfer characteristic between the displacement of the vibrator and the driving voltage of the linear motor according to each configuration parameter of the linear motor; and then 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.
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 uses a single-frame pre-driving voltage to perform displacement prediction on the motor oscillator, first, the displacement of the oscillator of the linear motor and the transfer characteristic between the displacement and the driving voltage of the linear motor are 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.
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-drive voltage for the linear motor is obtained, the terminal device can successively input the single-frame pre-drive 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 drive 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)。
In this embodiment, the terminal device targets the predicted vibrator displacement x of the linear motor 1 (t) according to formula v 1 (t)＝dx 1 (t)/dt vs. the oscillatorDisplacement x 1 And (t) carrying out derivation to obtain the oscillator speed corresponding to each single-frame oscillator displacement data.
And B, determining the single-frame oscillator energy of the oscillator according to the single-frame oscillator displacement data and the oscillator speed.
In this embodiment, after predicting the displacement data and the oscillator speed of each single-frame oscillator of the linear motor, the terminal device further performs energy conversion calculation by using the displacement data and the oscillator speed of the single-frame oscillator to determine the single-frame oscillator energy of the oscillator.
In this embodiment, when performing energy conversion calculation to determine the energy of a single-frame oscillator of an oscillator of a linear motor, a terminal device first combines displacement data and an oscillator speed of each single-frame oscillator, which have been obtained through prediction, and configuration parameters of the linear motor, which have been obtained in advance, to calculate and determine energy values of each oscillator of the oscillator.
Illustratively, as shown in fig. 3, after displacement prediction and velocity prediction are performed to obtain displacement data and velocity data of each single-frame transducer of the linear motor, respectively, the terminal device further starts energy prediction and energy peak prediction for the transducer. That is, the terminal device uses the predicted displacement data x of the single-frame oscillator 1 (t) and corresponding transducer velocity v 1 (t) calculating the kinetic energy E of the motor vibrator by combining the previously acquired vibrator mass m and the spring stiffness coefficient k of the linear motor v (t)＝0.5mv 1 (t) 2 And elastic potential energy E k (t)＝0.5kx 1 (t) 2 And for the calculated kinetic energy E v (t) and elastic potential energy E k (t) summing to obtain oscillator energy value E of oscillator corresponding to each single-frame oscillator displacement data 1 (t)＝E v (t)+E k (t)。
Further, in a possible embodiment, in the step S20, determining the oscillator energy corresponding to the occurrence time of the maximum value of the single-frame oscillator displacement may include:
step S201, in the process of predicting the maximum value of the single-frame oscillator displacement, detecting the occurrence time of the maximum value of the single-frame oscillator displacement;
and step S202, acquiring the single-frame oscillator energy of the oscillator at the appearance moment.
In the present embodiment, the terminal device continuously detects the time corresponding to each predicted single-frame oscillator displacement data of the oscillator of the linear motor in the process of predicting the single-frame oscillator displacement data of the oscillator, and when the maximum single-frame oscillator displacement of the oscillator is predicted, the time corresponding to the maximum single-frame oscillator displacement is determined as the appearance time of the maximum single-frame oscillator displacement immediately. Alternatively, the appearance time may be set as a peak time of the displacement of the oscillator of the linear motor in the entire prediction process.
And then, the terminal equipment further determines the single-frame oscillator energy corresponding to the displacement peak moment in each single-frame oscillator energy obtained in the synchronous oscillator energy prediction process.
Illustratively, as shown in fig. 3, the terminal device predicts the maximum value x of the displacement of the single-frame vibrator of the linear motor 1max And updating the maximum value x of the displacement of the single-frame oscillator 1max The corresponding time (serial number) is taken as the maximum value x of the displacement of the single-frame oscillator 1max I.e. the displacement peak time t 1max (number k) 1max ). Then, the terminal device further detects the time t of the displacement peak 1max (number k) 1max ) Corresponding single frame oscillator energy E 1 (t 1max ) Or E 1 (k 1max ) As the energy E of the peak moment of displacement 1xmax 。
Step S30, adjusting the pre-driving voltage according to the oscillator energy and the preset maximum allowable energy of the oscillator to obtain an adjusted driving voltage;
in this embodiment, after predicting the single-frame oscillator energy at the occurrence time of the maximum single-frame oscillator displacement value of the oscillator of the linear motor through the above process, the terminal device further adjusts the obtained pre-drive voltage for the linear motor based on the single-frame oscillator energy and the preset maximum allowable energy of the oscillator in each configuration parameter of the linear motor obtained in advance, thereby obtaining the drive voltage for driving the linear motor after adjustment.
It should be noted that, in this embodiment, the preset maximum allowable energy may specifically be the maximum energy that the linear motor configured in the terminal device allows the vibrator to perform on a hardware level.
Further, in a possible embodiment, the method for protecting a motor oscillator from collision of the present invention may further include:
acquiring a preset maximum allowable displacement of a vibrator of the linear motor;
and determining the preset maximum allowable energy of the vibrator according to the preset maximum allowable displacement and various configuration parameters of the linear motor.
In this embodiment, after determining the maximum value of the oscillator energy of the oscillator of the linear motor, or after obtaining each configuration parameter of the linear motor from the input signal configured and generated by the design developer, the terminal device may further calculate and determine the preset maximum allowable energy of the oscillator based on the preset maximum allowable displacement of the oscillator of the linear motor in each configuration parameter and the spring stiffness coefficient in each configuration parameter.
For example, as shown in fig. 3, after the energy peak detection is performed, the terminal device may start to further perform maximum energy calculation for the vibrator of the linear motor to obtain the maximum allowed energy of the vibrator. That is, the terminal device uses the maximum displacement x allowed by the vibrator among the configuration parameters of the linear motor hmax And calculating the maximum energy E allowed by the vibrator according to the spring stiffness coefficient k in the configuration parameters of the linear motor hmax ＝0.5kx hmax 2 And applying the maximum energy E hmax As a preset maximum allowed energy of the vibrator.
Further, in a possible embodiment, the step S30 may include:
step S301, determining a voltage adjustment coefficient according to the oscillator energy and the preset maximum allowable energy of the oscillator;
step S302, multiplying the pre-driving voltage frame by the voltage adjustment coefficient to obtain a driving voltage adjusted frame by frame.
In this embodiment, when the terminal device adjusts the pre-driving voltage according to the oscillator energy of the oscillator of the linear motor at the occurrence time of the maximum displacement of the oscillator in a single frame and the preset maximum allowable energy of the oscillator, the terminal device first calculates to determine the voltage adjustment coefficient according to the oscillator energy and the preset maximum allowable energy. 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 performs the driving voltage adjustment for the pre-driving voltage, the oscillator of the linear motor is first used at the peak displacement time t 1max Corresponding displacement peak moment energy E 1xmax And a preset maximum allowable energy E of the vibrator of the linear motor hmax Calculating a voltage adjustment coefficient k u The specific calculation formula is as follows:
then, the terminal device, for the pre-driving voltage for the linear motor obtained from the broadband signal configured and generated and input by the design developer, according to a calculation formula: u. of 2 (t)＝k u u 1 (t) applying a single frame pre-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 has energy E at the peak time according to the above displacement 1xmax And a preset maximum allowable energy E of the vibrator 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 step S40, driving the linear motor according to the adjusted driving voltage to perform collision protection on the vibrator.
In this embodiment, after the terminal device adjusts the pre-driving voltage to obtain the adjusted driving voltage, the terminal device further drives the linear motor disposed therein according to the adjusted driving voltage to generate vibration feedback for the driving motor, thereby performing collision protection on the vibrator of the linear motor.
Further, as a possible embodiment, the step S40 of "driving the linear motor according to the adjusted driving voltage" may include:
step S401, 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 S401 may include:
step S4011, determining a cutoff frequency of a preset low-pass filter according to the sweep frequency characteristic of the linear motor;
step S4012, performing smoothing filtering processing on the adjusted driving voltage through the preset low-pass filter according to the cut-off frequency to obtain a smoothed and filtered driving voltage.
In this embodiment, before performing smoothing filtering processing on the adjusted driving voltage, the terminal device may first determine a cutoff frequency of a preset low-pass filter according to a frequency sweep characteristic of the configured linear motor, so as to perform smoothing filtering processing on the driving voltage adjusted by the low-pass filter according to the cutoff frequency subsequently, so as to obtain the smoothed and filtered driving voltage.
It should be noted that, in this embodiment, the sweep frequency characteristic of the linear motor may be specifically designed by the terminal device receiving the design in advanceThe sender configures the input signal to obtain. 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 may also synchronously configure a bandwidth signal of a frequency domain response characteristic of an acceleration amplitude under a unit driving voltage, that is, [ f [ [ f ] aL ,f aH ]And inputting the bandwidth signal into the terminal equipment, so that the terminal equipment can obtain the sweep frequency characteristic of the linear motor while obtaining the pre-driving voltage.
Illustratively, in the present embodiment, the terminal device determines the cutoff frequency f of the low-pass filter LP The upper limit frequency f of the bandwidth of the motor sweep frequency characteristic is generally designed 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 S402, amplifying the power of 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 which 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 collision protection method for a motor oscillator according to 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 in 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 equipment synchronously predicts the single-frame oscillator energy of the oscillator in the process of predicting the single-frame oscillator displacement data of the oscillator of the linear motor, so that the predicted moment when the maximum value of the single-frame oscillator displacement appears is determined as the moment when the maximum value of the single-frame oscillator displacement appears, and the single-frame oscillator energy of the oscillator at the appearance moment is determined. Then, the terminal device further adjusts the obtained pre-driving voltage for the linear motor based on the single-frame oscillator energy and the pre-set maximum allowable energy of the oscillator in each configuration parameter of the linear motor, which is obtained in advance, so as to obtain the driving voltage for driving the linear motor after adjustment. Finally, the terminal device drives the linear motor configured for itself according to the adjusted driving voltage to drive the motor to generate vibration feedback, so as to perform collision protection on 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, and the oscillator energy corresponding to the moment when the maximum displacement of the oscillator occurs in the process of the predicted displacement is determined, so that when the oscillator energy exceeds the maximum energy allowed by the motor hardware, the voltage of the frame is immediately adjusted (linearly scaled) to drive the motor according to the adjusted voltage, and thus, it is ensured that the motor oscillator does not collide with the motor housing in the process of voltage-driven motion, and thus, the problems of motor performance degradation, abnormal vibration sensation, large vibration noise, motor damage and the like caused by the voltage-driven motion are effectively avoided.
Further, based on the above-described first embodiment of the collision protection method for a motor vibrator of the present invention, a second embodiment of the collision protection method for a motor vibrator of the present invention is proposed.
In this embodiment, when the method for protecting a motor oscillator from collision 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 obtained by carrying out a series of operation processing on a sound effect 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 arithmetic processing 2 may be implemented by a specific arithmetic processing module to perform all the processing of the formula calculation in the above-described first embodiment from step S10 to step S30 on the input signal to obtain the 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 impact protection method for a motor vibrator of the present invention is proposed based on the first embodiment and/or the second embodiment of the impact protection method for a motor vibrator of the present invention described above.
In the present embodiment, the relevant waveforms involved in the impact protection method for the motor vibrator of the present invention are shown in fig. 5 to 10, where 1FS represents the rated amplitude (i.e., the set maximum amplitude) represented by the number 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 =1.54s and t =1.72s, 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 vibrator displacement compression needs to be performed;
fig. 7 is a waveform of the oscillator energy calculated and determined based on the predicted oscillator displacement in the process of predicting the oscillator energy of the oscillator of the linear motor by the terminal device. As can be seen from fig. 7, the predicted energy E during t =1.54s and t =1.72s 1 Exceeding 1FS multiple times, i.e. exceeding the maximum energy E of the vibrator allowed by the motor hmax Compression is required. In addition, the predicted displacement x shown in FIG. 6 is used 1 In contrast, E 1 Time ratio x beyond 1FS 1 The advance indicates that the prediction of the maximum displacement by the maximum energy has a certain time advance;
fig. 8 is a specific diagram of the voltage adjustment coefficient for adjusting the pre-driving voltage involved in the process of step S20. As can be seen from fig. 8, during the periods t =1.54s and t =1.72s, the voltage adjustment coefficient appears to be less than 1 for many times, which indicates that the terminal device recognizes that the vibrator is about to collide and effectively operates after comprehensively predicting the displacement and energy information of the vibrator;
fig. 9 is a waveform of the driving voltage adjusted for the pre-driving voltage according to the process of step S20. As shown in fig. 9 and 5, u is compared with the waveform of the pre-driving voltage 2 At a predicted displacement x 1 And predicting energy E 1 The amplitude of the period exceeding 1FS is significantly reduced, thereby preventing drivingThe rear vibrators collide;
fig. 10 is a waveform of the driving voltage after the smoothing processing is performed on the adjusted driving voltage in the process of step S40. Compared with the driving voltage shown in fig. 9, the terminal device performs smoothing operation on the adjusted driving voltage through the low-pass filter, specifically, the problem of voltage waveform jumping caused by jumping of a voltage adjustment coefficient is smoothed, the whole voltage waveform avoids jumping points and burrs, and generation of vibration noise is avoided;
fig. 10 shows the displacement of the compressed motor oscillator obtained by amplifying the drive voltage after smoothing and filtering in the process of step S40 and driving the linear motor. Compared with the displacement of the vibrator predicted based on the pre-driving voltage shown in fig. 6, the amplitude during t =1.54s and t =1.72s is effectively limited within 1FS, which shows that the collision protection method of the motor vibrator of the present invention plays an effective role.
In addition, the embodiment of the invention also provides a collision protection device of the motor oscillator, and the collision protection 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 collision protection apparatus for a motor oscillator according to the present invention. As shown in fig. 11, the collision protection device for a motor vibrator according to the present invention includes:
the displacement prediction module 10 is configured to predict a maximum value of a single-frame oscillator displacement of an oscillator of the linear motor according to a pre-driving voltage of the linear motor;
the energy determining module 20 is configured to determine oscillator energy corresponding to an occurrence time of the maximum single-frame oscillator displacement;
the voltage adjusting module 30 is configured to adjust the pre-driving voltage according to the oscillator energy and a preset maximum allowable energy of the oscillator to obtain an adjusted driving voltage;
and the collision protection module 40 is used for driving the linear motor according to the adjusted driving voltage so as to perform collision protection on the oscillator.
Optionally, the displacement prediction module 10 includes:
a voltage acquisition unit for acquiring a pre-driving voltage of the linear motor;
the displacement prediction unit is used for 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 the comparison unit is used for determining the maximum single-frame oscillator displacement value of the oscillator from the single-frame oscillator displacement data.
Optionally, the element energy is an element energy of a single frame, and the energy determining module 20 includes:
the detection unit is used for detecting the occurrence time of the maximum displacement value of the single-frame oscillator in the process of predicting the maximum displacement value of the single-frame oscillator;
and the energy acquisition unit is used for acquiring the single-frame oscillator energy of the oscillator at the occurrence moment.
Optionally, the displacement compression apparatus for a motor oscillator of the present invention further includes:
the maximum energy calculation module is used for acquiring the preset maximum allowable displacement of the vibrator of the linear motor; and determining the preset maximum allowable energy of the vibrator according to the preset maximum allowable displacement and various configuration parameters of the linear motor.
Optionally, the voltage adjusting module 30 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 collision protection module 40 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 smooth-filtered driving voltage.
The specific embodiments of the motor oscillator collision protection apparatus in operation of the present invention are substantially the same as the embodiments of the motor oscillator collision protection method of the present invention, and are not described herein again.
The present invention also provides a computer storage medium having a collision protection program for a motor oscillator stored thereon, where the collision protection program for the motor oscillator is executed by a processor to implement the steps of the collision protection program method for the motor oscillator according to any one of the above embodiments.
The specific embodiment of the computer storage medium of the present invention is substantially the same as the embodiments of the collision protection program method for a 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 collision protection method for a motor oscillator according to any of the above embodiments 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 merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for causing a terminal device (which may be a TWS headset or the like) 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 not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A collision protection method of a motor vibrator, characterized in that the collision protection method of a motor vibrator is applied to a terminal device provided with a linear motor, and the collision protection method of a motor vibrator comprises:
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;
determining oscillator energy corresponding to the occurrence moment of the single-frame oscillator displacement maximum value;
adjusting the pre-driving voltage according to the oscillator energy and the preset maximum allowable energy of the oscillator to obtain an adjusted driving voltage;
and driving the linear motor according to the adjusted driving voltage to perform collision protection on the vibrator.
2. The method for collision protection of a motor vibrator according to claim 1, wherein the step of predicting a maximum value of a displacement of a single frame vibrator of the linear motor based on 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 single-frame oscillator displacement value of the oscillator from the single-frame oscillator displacement data.
3. The method for protecting a motor oscillator from collision according to claim 1, wherein the oscillator energy is a single-frame oscillator energy, and the step of determining the oscillator energy corresponding to the occurrence time of the maximum value of the single-frame oscillator displacement includes:
in the process of predicting the maximum value of the single-frame oscillator displacement, detecting the occurrence moment of the maximum value of the single-frame oscillator displacement;
and acquiring the single-frame oscillator energy of the oscillator at the appearance moment.
4. The method for collision protection of a motor vibrator of claim 1, wherein the method further comprises:
acquiring a preset maximum allowable displacement of a vibrator of the linear motor;
and determining the preset maximum allowable energy of the vibrator according to the preset maximum allowable displacement and various configuration parameters of the linear motor.
5. The method for protecting a motor oscillator against collision according to any one of claims 1 to 4, wherein the step of adjusting the pre-driving voltage according to the oscillator energy and the preset maximum allowable energy of the oscillator to obtain the adjusted driving voltage includes:
determining a voltage adjustment coefficient according to the oscillator energy and the preset maximum allowable energy 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 for protecting a motor oscillator from a collision 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 for protecting a motor oscillator from collision of claim 6, wherein the step of performing smoothing filtering 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 collision protection device of a motor vibrator, characterized in that the collision protection device of a motor vibrator is applied to a terminal device equipped with a linear motor, the collision protection device of a motor vibrator comprising:
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 energy determining module is used for determining oscillator energy corresponding to the occurrence moment of the maximum value of the single-frame oscillator displacement;
the voltage adjusting module is used for adjusting the pre-driving voltage according to the oscillator energy and the preset maximum allowable energy of the oscillator to obtain the adjusted driving voltage;
and the collision protection module is used for driving the linear motor according to the adjusted driving voltage so as to perform collision protection on the vibrator.
9. A terminal device, characterized in that the terminal device comprises: a memory, a processor and a collision protection program of a motor vibrator stored on the memory and operable on the processor, the collision protection program of the motor vibrator realizing the steps of the collision protection method of a 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 collision protection program for a motor vibrator, which when executed by a processor implements the steps of the collision protection method for a motor vibrator according to any one of claims 1 to 7.
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