CN115864941A

CN115864941A - Linear motor synchronous control circuit, synchronous control method and device

Info

Publication number: CN115864941A
Application number: CN202211591120.4A
Authority: CN
Inventors: 陈毛毛; 徐飞; 司宏伟
Original assignee: Essence Microelectronics Suzhou Co ltd
Current assignee: Essence Microelectronics Suzhou Co ltd
Priority date: 2022-12-12
Filing date: 2022-12-12
Publication date: 2023-03-28

Abstract

The invention discloses a linear motor synchronous control circuit, a synchronous control method and a device, wherein the method is applied to the synchronous control circuit of the first aspect and comprises the following steps: sending a control waveform to each driving structure by using the same communication interface of a processor, so that each driving structure stores the control waveform; sending a start instruction to each driving structure by using the communication interface, so that each driving structure responds to the start instruction to generate a driving current according to the control waveform; outputting the driving current to a corresponding linear motor using each of the driving structures; the driving structures of all linear motors are connected to the same communication interface, and starting instructions are sent to all the driving structures through the same communication interface in the processor; therefore, the problem that the synchronization can not be achieved when different communication interfaces send instructions is avoided; thereby realizing that the precise synchronous control of a plurality of linear motors is difficult.

Description

Linear motor synchronous control circuit, synchronous control method and device

Technical Field

The invention relates to the technical field of electronics, in particular to a linear motor synchronous control circuit, a synchronous control method and a synchronous control device.

Background

A linear motor, also called a linear motor, is a transmission device that can convert electric energy into mechanical energy in the form of "linear motion". The linear motor is widely applied to electronic equipment such as mobile phones, tablet computers and game pads at present, and is mainly responsible for providing a touch feedback function in a man-machine interaction environment. And in some more complex scenarios, multiple linear motors are required to work in concert to provide stereoscopic haptic feedback.

In the prior art, a processor responsible for controlling linear motors needs to be connected to each linear motor through different communication interfaces, and respectively inputs a control waveform to each linear motor, so as to control each linear motor to execute a corresponding work task, thereby achieving the purpose of cooperative work.

However, the prior art has the defects that a certain error is usually generated in time when control waveforms are sent to different linear motors through different communication interfaces of a processor, and accurate synchronous control cannot be realized; the synergistic effect of the respective linear motors is not ideal.

Disclosure of Invention

The invention provides a linear motor synchronous control circuit, a synchronous control method and a synchronous control device, which are used for realizing more accurate synchronous control on a linear motor.

In a first aspect, the present invention provides a linear motor synchronous control circuit, including: at least 2 drive structures;

each driving structure is electrically connected with the same communication interface of the processor; each driving structure is electrically connected with the corresponding linear motor;

the driving structure is used for storing a control waveform and responding to a starting instruction input by the processor through the communication interface so as to generate a driving current according to the control waveform; outputting the driving current to the corresponding linear motor.

Preferably, the driving structure includes: an instruction queue element, a controller and a power amplifier;

the instruction queue element is used for storing control waveforms;

the controller is operable, in response to the start-up instruction, to generate the drive current in accordance with the control waveform;

the power amplifier is used for carrying out power amplification processing on the driving current.

In a second aspect, the present invention provides a linear motor synchronous control method, which is applied to the synchronous control circuit of the first aspect, and includes:

sending a control waveform to each driving structure by using the same communication interface of a processor, so that each driving structure stores the control waveform;

sending a start instruction to each driving structure by using the communication interface, so that each driving structure responds to the start instruction to generate a driving current according to the control waveform;

and outputting the driving current to the corresponding linear motor by using each driving structure.

Preferably, the sending a control waveform to each drive structure by using the communication interface includes:

broadcasting the control waveform using the communication interface such that each of the drive structures receives the control waveform;

or, the control waveform is sent to a communication address corresponding to each driving structure by using the communication interface.

Preferably, the sending, by using the communication interface, the start instruction to each of the driving structures includes:

broadcasting the starting instruction by using the communication interface so as to enable each driving structure to receive the starting instruction;

or, the communication interface is used for sending the starting instruction to the communication address corresponding to each driving structure.

Preferably, the sending the start instruction to the communication address corresponding to each of the driving structures by using the communication interface includes:

sending a starting instruction packet to a communication bus by using the communication interface; and enabling each driving structure to obtain the starting instruction packet from the communication bus 5, and analyzing the starting instruction packet to obtain a starting instruction corresponding to the communication address of the driving structure.

Preferably, the same communication interface of the processor includes:

any one of an I2S interface or a TDM interface in the processor.

In a third aspect, the present invention provides a linear motor synchronous control apparatus, comprising:

the control waveform module is used for sending control waveforms to each driving structure so that each driving structure stores the control waveforms;

the starting instruction module is used for sending a starting instruction to each driving structure so that each driving structure responds to the starting instruction to generate driving current according to the control waveform;

and 5, a drive control module for outputting the drive current to the corresponding linear motor by using each drive structure.

In a fourth aspect, the invention provides a readable medium comprising executable instructions which, when executed by a processor of an electronic device, cause the electronic device to perform the method according to any one of the second aspects. In a fifth aspect, the invention provides an electronic device comprising a processor and instructions stored thereon for performing the method of the invention

When the processor executes the execution instructions stored by the memory, the processor performs the method of any of the second aspects.

The invention provides a linear motor synchronous control circuit, a synchronous control method and a device, wherein the driving structures of all linear 5 motors are connected to the same communication interface; and each drive structure begins executing the control waveform in response to the start instruction; the starting instruction is also sent to each driving structure through the same communication interface in the processor; therefore, the problem that the synchronization can not be achieved when different communication interfaces send instructions is avoided; thereby realizing that the precise synchronous control of a plurality of linear motors is difficult.

Further effects of the above-mentioned unconventional preferred modes will be described below in conjunction with specific embodiments.

Drawings

In order to more clearly illustrate the embodiments or the prior art solutions of the present invention, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a schematic diagram of a control circuit in the prior art;

fig. 2 is a schematic structural diagram of a linear motor synchronous control circuit according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a driving structure in a synchronous control circuit of a linear motor according to an embodiment of the present invention;

fig. 4 is a flowchart illustrating a method for controlling synchronization of a linear motor according to an embodiment of the present invention;

fig. 5 is a schematic flow chart of a linear motor synchronous control apparatus according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail and completely with reference to the following embodiments and accompanying drawings. It is to be understood that the disclosed embodiments are merely exemplary of the invention, and are not intended to be exhaustive or exhaustive. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In some more complex scenarios, multiple linear motors are required to work in concert to provide stereoscopic haptic feedback. In the prior art, the processor responsible for controlling the linear motors needs to connect the individual linear motors through different communication interfaces. Each communication interface respectively inputs control waveforms to the corresponding linear motors, so that each linear motor is controlled to execute corresponding work tasks, and the purpose of cooperative work is achieved.

As shown in fig. 1, the processor is connected to the control circuits of the two linear motors through two communication interfaces. In this configuration, the communication interface 1 transmits a control waveform to the linear motor 1 through the drive 1, and the communication interface 2 transmits a control waveform to the linear motor 2 through the drive 2.

However, under the existing communication mechanism, it is difficult for different communication interfaces to transmit control waveforms completely synchronized in time. That is, when each linear motor receives and executes a control waveform, a certain error is usually generated in time, and accurate synchronous control cannot be realized. And because precise synchronous control cannot be realized, the synergistic effect of each linear motor is not ideal enough, and the optimal tactile feedback experience is difficult to achieve in the cooperative work.

In view of the above, the present invention provides a synchronous control circuit for a linear motor. Referring to fig. 2, a specific embodiment of the synchronous control circuit provided by the present invention is shown. In this embodiment, the synchronous control circuit includes at least 2 driving structures 10.

Specifically, the driving structures 10 correspond to the linear motors 20 one by one, that is, each driving structure 10 is connected to one linear motor 20 for driving the linear motor 20. That is, the number of the driving structures 10 and the linear motors 20 should be equal. In fig. 2, 2 drive structures 10, respectively drive structure 11 and drive structure 12 are shown; and correspondingly also 2 linear motors 20, respectively 21 and 22, are shown.

And is different from the structure that the linear motors of the existing control circuit are respectively connected to the communication interfaces; in the present embodiment, all the driving structures 10 are connected to the same communication interface 01 of the processor 00, i.e. all the linear motors 20 are controlled through the same communication interface 01. That is, each driving structure 10 is electrically connected to the same communication interface 01 of the processor 00; and each driving structure 10 is electrically connected to a corresponding linear motor 20. The processor 00 may be a main processor of an electronic device in which the linear motor 20 is mounted. The communication interface 01 may be any I2S interface or TDM interface in the processor 00. In the present embodiment, all the linear motors 20 are controlled by the same communication interface 01, so that the problem that the control waveforms sent by different communication interfaces are difficult to achieve complete synchronization in time is avoided.

In the synchronous control circuit shown in fig. 2, the drive structure 10 is used to store control waveforms. The control waveform may enable the drive configuration 10 to ascertain the voltage value, current value, etc. of the drive current that it should output. In response to a start-up instruction input by processor 00 through communication interface 01, drive structure 10 may generate a drive current according to the control waveform; and then outputs the driving current to the corresponding linear motor 20.

Wherein the control waveform corresponds to the work task that processor 00 requires linear motor 20 to perform. The driving structure 10 needs to generate a driving current according to the content of the control waveform and input the driving current to the linear motor 20 to drive the linear motor 20 to perform the work task. However, in the synchronous control circuit shown in the present embodiment, the drive structure 10 does not generate a drive current from the control waveform immediately after receiving the control waveform, but temporarily stores the control waveform.

The start command is a command for triggering the driving structure 10 to generate the driving current. Each of the driving structures 10 may simultaneously receive the start command through the communication interface 01, and then simultaneously respond to the start command to generate the driving current to drive the linear motor 20. Thereby achieving synchronous control of the linear motor 20.

As shown in fig. 3, the driving structure 10 specifically includes: instruction queue element 101, controller 102, and power amplifier 103. The instruction queue unit 101 may be a FIFO unit (First Input First Output, i.e. a First in First out queue) specifically, and may be used to perform digital signal processing on the control waveform. The controller 102 (CTRL) may be any chip capable of meeting the data processing requirements of the drive architecture 10, and may temporarily store the control waveform using its own memory space, and then respond to a start command to generate a drive current according to the control waveform. The Power Amplifier 103 (PA) is a conventional component in a circuit structure, and is used for performing Power amplification processing on the driving current.

Fig. 4 shows a specific embodiment of a method for controlling synchronization of a linear motor according to the present invention. The method of the embodiment is applied to the synchronous control circuit.

It can be understood that, in the prior art, each linear motor of the control circuit is connected to each communication interface respectively, and the communication processes between the linear motors are independent of each other, so that the control of each linear motor can be directly realized. I.e. any linear motor can execute any control waveform, without affecting each other.

In the synchronous control circuit of the present invention, the linear motors are connected to the same communication interface, sharing a communication bus. I.e. it is not straightforward to control each linear motor individually. Therefore, there is also a need for a method in this embodiment to enable separate control of the individual linear motors such that the individual linear motors can execute the same or different control waveforms simultaneously, thereby providing a complete haptic feedback experience.

In this embodiment, the method specifically includes the following steps:

step 401, using the same communication interface of the processor, sends control waveforms to each driving structure, so that each driving structure stores the control waveforms.

The method in this embodiment is applied to the synchronous control circuit, in which each driving structure in the synchronous control circuit is electrically connected to the same communication interface of the processor. The communication interface may be any I2S interface or TDM interface in the processor.

Specifically, sending control waveforms to each drive structure may be by: the control waveform may be broadcast using the communication interface such that each drive structure receives the control waveform. Alternatively, the control waveform may be transmitted to a communication address corresponding to each drive configuration using the communication interface.

In the case where the respective linear motors need to execute the same control waveform, the same control waveform may be transmitted into the communication bus by way of broadcasting. And multiple drive structures in the communication bus may receive the control waveform simultaneously. In this case, the same communication address may be used for each drive configuration, or different communication addresses may be used. One-to-many transmission of the same control waveform can be realized by a broadcast communication method.

In the case where the control waveforms to be executed by the respective linear motors may be the same or different, point-to-point communication is required for the respective drive structures. In this case, the communication addresses of the respective driving structures must be different from each other, so that the control waveforms can be transmitted (the same or different) to the communication addresses corresponding to the respective driving structures.

However, since the respective driving structures share one communication bus, point-to-point communication needs to be implemented by: the control waveforms required to be received by each driving structure are uniformly packaged in one control waveform packet, and the communication addresses required to be sent are matched for each control waveform in the control waveform packet. The control waveform packet is then sent to a communication bus using a communication interface. And each driving structure acquires the control waveform packet from the communication bus and analyzes the control waveform packet. Each driving structure can analyze the control waveform corresponding to the communication address of the driving structure from the control waveform packet. The control waveform is the control waveform sent to the drive structure. The present embodiment may implement point-to-point communication of the same or different control waveforms in the manner described above.

In addition, in the present embodiment, the drive structure does not generate the drive current from the control waveform immediately after receiving the control waveform, but temporarily stores the control waveform.

Step 402, sending a start instruction to each driving structure by using the communication interface, so that each driving structure responds to the start instruction to generate a driving current according to the control waveform.

The drive configuration does not begin execution immediately after receiving the control waveform. But rather needs to wait until a start instruction is received and execute in response to the triggering of the start instruction. In this embodiment, the start command is also sent to each driving structure through the same communication interface. Because the command is sent through the same communication interface, the problem that the commands sent by different communication interfaces cannot be synchronized in the prior art does not exist. That is, the driving structures are located on the communication bus of the same communication interface, and the time when the driving structures receive the starting instruction is almost the same. In this embodiment, the time error of the start instruction received by each driving structure is far smaller than the time error between different communication interfaces in the prior art, so that the time error in this embodiment can be ignored in practical application. Therefore, the method in the embodiment solves the problem that the precise synchronous control of a plurality of linear motors is difficult.

Similar to the above step 401, the sending of the start instruction to each drive structure in the present embodiment may be performed by: the start-up command may be broadcast using the communication interface such that each drive structure receives the start-up command. Alternatively, the start command may be transmitted to the communication address corresponding to each drive configuration by using the communication interface.

Generally, the same transmission method as the control waveform can be selected for transmission of the start command. I.e. the start-up command can be sent to the communication bus by means of broadcast. And multiple driver structures in the communication bus may receive the enable command simultaneously. In this case, the synchronization efficiency of the respective driving structures for receiving the start instruction is higher, and the time error is smaller.

Alternatively, point-to-point communication may be performed separately for each drive configuration. The communication addresses of the individual drive structures must then be different from one another. That is, the start instructions that each driver structure needs to receive are encapsulated in one start instruction packet, and the start instruction packet also matches the communication address that needs to be sent to each start instruction. The start-up instruction packet is then sent to the communication bus using the communication interface. And each driving structure acquires the starting instruction packet from the communication bus and analyzes the starting instruction packet. Each driving structure can analyze the starting instruction corresponding to the communication address of the driving structure from the starting instruction packet.

After each driving structure receives the starting instruction, the control waveform saved previously can be called from the FIFO unit in response to the triggering of the starting instruction, and then the driving current is generated according to the control waveform. Since the time when the starting command is received by each driving structure is synchronous, the time for subsequently generating and outputting the driving current is also synchronous. Thereby, synchronous control of the linear motor can be achieved.

And 403, outputting the driving current to the corresponding linear motor by using each driving structure.

After the driving structure generates the driving current, the driving current is only required to be output to the linear motor, so that the linear motor can be driven to operate. This is conventional in the art and need not be described further herein.

According to the technical scheme, the method has the beneficial effects that: the driving structures of all the linear motors are connected to the same communication interface; and each drive structure begins executing control waveforms in response to the start instructions; the starting instruction is also sent to each driving structure through the same communication interface in the processor; therefore, the problem that the synchronization can not be achieved when different communication interfaces send instructions is avoided; thereby realizing that the precise synchronous control of a plurality of linear motors is difficult.

Fig. 5 shows an embodiment of a linear motor synchronous control device according to the present invention. The apparatus of this embodiment is a physical apparatus for performing the method described in fig. 4. The technical solution is essentially the same as that in the above embodiment, and the corresponding description in the above embodiment is also applicable to this embodiment. The device in this embodiment includes:

a control waveform module 501, configured to send a control waveform to each driving structure, so that each driving structure stores the control waveform.

A start instruction module 502, configured to send a start instruction to each driving structure, so that each driving structure responds to the start instruction to generate a driving current according to the control waveform.

A driving control module 503, configured to output the driving current to the corresponding linear motor by using each of the driving structures.

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. On the hardware level, the electronic device comprises a processor, and optionally an internal bus, a network interface and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.

The processor, the network interface, and the memory may be connected to each other by an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 6, but that does not indicate only one bus or one type of bus.

And the memory is used for storing the execution instruction. In particular, a computer program that can be executed by executing instructions. The memory may include both memory and non-volatile storage and provides execution instructions and data to the processor.

In a possible implementation manner, the processor reads corresponding execution instructions from the nonvolatile memory to the memory and then runs the corresponding execution instructions, and corresponding execution instructions can also be obtained from other equipment so as to form the linear motor synchronous control device on a logic level. The processor executes the execution instructions stored in the memory, so that the linear motor synchronous control method provided by any embodiment of the invention is realized through the executed execution instructions.

The method executed by the linear motor synchronous control device according to the embodiment of the present invention shown in fig. 5 can be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.

An embodiment of the present invention further provides a readable storage medium, where the readable storage medium stores an execution instruction, and when the stored execution instruction is executed by a processor of an electronic device, the electronic device can be caused to execute the linear motor synchronization control method provided in any embodiment of the present invention, and is specifically configured to execute the method shown in fig. 4.

The electronic device described in the foregoing embodiments may be a computer.

It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.

The embodiments of the present invention are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises that element.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A linear motor synchronous control circuit, comprising: at least 2 drive structures;

the driving structure is used for storing a control waveform and responding to a starting instruction input by the processor through the communication interface so as to generate a driving current according to the control waveform; and outputting the driving current to the corresponding linear motor.

2. The synchronous control circuit of claim 1, wherein the drive structure comprises: an instruction queue element, a controller, and a power amplifier;

the controller is used for storing the control waveform and responding to the starting instruction so as to generate the driving current according to the control waveform;

the instruction queue element is used for carrying out digital signal processing on the control waveform;

3. A synchronous control method for a linear motor, which is applied to the synchronous control circuit of claim 1 or 2, comprising:

4. The method of claim 3, wherein said sending control waveforms to each drive structure using said communication interface comprises:

5. The method of claim 3, wherein said sending, using said communication interface, an activation command to each of said drive structures comprises:

6. The method of claim 5, wherein the sending the activation command to the communication address corresponding to each of the driving structures by using the communication interface comprises:

sending a starting command packet to a communication bus by using the communication interface; and enabling each driving structure to acquire the starting instruction packet from the communication bus and analyze the starting instruction packet to obtain a starting instruction corresponding to the communication address of the driving structure.

7. The method of any of claims 3 to 6, wherein the same communication interface of the processors comprises:

any one of an I2S interface or a TDM interface in the processor.

8. A linear motor synchronous control device, comprising:

the starting instruction module is used for sending a starting instruction to each driving structure so that each driving structure responds to the starting instruction to generate a driving current according to the control waveform;

and the drive control module is used for outputting the drive current to the corresponding linear motor by utilizing each drive structure.

9. A computer-readable storage medium storing a computer program for executing the linear motor synchronous control method according to any one of claims 3 to 7.

10. An electronic device, the electronic device comprising:

a processor;

a memory for storing the processor-executable instructions;

the processor is used for reading the executable instructions from the memory and executing the instructions to realize the linear motor synchronous control method of any one of the claims 3 to 7.