CN116699388A

CN116699388A - Linear motor calibration method and electronic equipment

Info

Publication number: CN116699388A
Application number: CN202211469550.9A
Authority: CN
Inventors: 朱建伟
Original assignee: Honor Device Co Ltd
Current assignee: Honor Device Co Ltd
Priority date: 2022-11-22
Filing date: 2022-11-22
Publication date: 2023-09-05

Abstract

The application provides a linear motor calibration method and electronic equipment, and relates to the technical field of terminals. The problem of the not good linear motor calibration effect is solved. The specific scheme is as follows: after the linear motor is continuously driven to vibrate according to the driving voltage of the first frequency and the maximum vibration amplitude under the driving voltage is reached, first vibration information of the linear motor during first damping vibration is obtained; when the first resonance frequency indicated by the first vibration information does not belong to the first frequency interval, continuously driving the linear motor according to the driving voltage of the second frequency, and obtaining second vibration information of the linear motor in a second damping oscillation period after the maximum vibration amplitude under the driving voltage is reached; detecting a first event under the condition that a second resonance frequency indicated by second vibration information belongs to a second frequency interval, wherein the first event is an event triggering the first equipment to vibrate; the linear motor is driven at a second resonant frequency in response to the first event.

Description

Linear motor calibration method and electronic equipment

Technical Field

The present application relates to the field of terminal technologies, and in particular, to a linear motor calibration method and an electronic device.

Background

Linear motors have been widely used in various electronic devices by virtue of their strong vibration feeling, brittleness, low energy consumption, and the like. After the linear motor is configured in the electronic equipment, the linear motor can be driven to vibrate under the condition that an application scene needing to vibrate (for example, the mobile phone identifies an incoming call), so that the vibration function of the equipment is realized.

Generally, the electronic device adopts the resonant frequency of the linear motor to drive the corresponding linear motor so as to achieve a better vibration effect. However, as the device ages, the resonant frequency of the linear motor may change. After the resonance frequency is changed, if the electronic device continues to drive the vibration effect of the linear motor at the original resonance frequency, the vibration effect becomes poor. That is, the resonant frequency of the linear motor in the electronic device is required to be calibrated.

However, the related art method of calibrating the resonant frequency of the linear motor may deteriorate the calibration effect after the resonant frequency is shifted greatly.

Disclosure of Invention

The embodiment of the application provides a linear motor calibration method and electronic equipment, which are used for solving the problem of poor calibration effect of a linear motor after the linear motor is aged.

In order to achieve the above purpose, the embodiment of the present application adopts the following technical scheme:

In a first aspect, an embodiment of the present application provides a method for calibrating a linear motor, which is applied to a first device including a linear motor, where a first frequency and a second frequency are configured in the first device, the method includes: after driving the linear motor to vibrate for N periods at a first frequency, stopping driving the linear motor, the first frequency being included in the first frequency interval; wherein the linear motor performs a first damped oscillation after stopping driving the linear motor; acquiring first vibration information of the linear motor during first damped oscillation, wherein the first vibration information comprises a peak time point or a zero crossing point corresponding to the vibration amplitude of the linear motor during the first damped oscillation; driving the linear motor according to a second frequency when the first resonance frequency indicated by the first vibration information does not belong to the first frequency interval; stopping driving the linear motor after driving the linear motor to vibrate for N periods at a second frequency, the second frequency being included in a second frequency interval; wherein the linear motor performs a second damped oscillation after stopping driving the linear motor; acquiring second vibration information of the linear motor during second damped oscillation, wherein the second vibration information comprises a peak time point or a zero crossing point corresponding to the vibration amplitude of the linear motor during the second damped oscillation; detecting a first event under the condition that a second resonance frequency indicated by the second vibration information belongs to a second frequency interval, wherein the first event is an event triggering the first equipment to vibrate; the linear motor is driven at a second resonant frequency in response to the first event.

In the above-described embodiment, by configuring a plurality of frequencies for driving the linear motor, for example, the first frequency and the second frequency, the fault tolerance of the calibration resonance frequency is increased. Thus, even if the resonant frequency of the linear motor changes along with the increase of the service time, the electronic equipment can calibrate by adopting different driving frequencies to measure the effective resonant frequency, so that the calibration effect of the linear motor is improved, and the vibration effect in the subsequent use process is ensured.

In some embodiments, the first frequency satisfies a first condition, the first condition comprising any one of: the first frequency is marked with a first mark, and the first mark is a mark preconfigured by a user; the first difference value corresponding to the first frequency is smaller than the second difference value corresponding to the second frequency, the first difference value is an absolute difference between the first frequency and a third resonance frequency, the second difference value is an absolute difference between the second frequency and the third resonance frequency, and the third resonance frequency is a resonance frequency contained in a configuration file of the linear motor; or, the third difference value corresponding to the first frequency is smaller than the fourth difference value corresponding to the second frequency, the third difference value is an absolute difference between the first frequency and a fourth resonance frequency, the fourth difference value is an absolute difference between the second frequency and the fourth resonance frequency, and the fourth resonance frequency is a resonance frequency calibrated after the first device is started up last time.

In the above embodiment, the first frequency may be a driving frequency that is initially determined to be able to measure the effective resonance frequency. In this way, after the linear motor is driven for the first time for the test, the probability of the effective resonant frequency being measured for the first time is increased. Of course, even if the effective resonant frequency is not detected by driving the linear motor for the first time, other frequencies (e.g., the second frequency) can be selected to drive the linear motor, and the test is performed again, thereby improving the possibility of calibrating the current resonant frequency of the linear motor.

In some embodiments, prior to driving the linear motor to vibrate at the first frequency, the method includes: obtaining resonant frequencies calibrated in a plurality of second devices from a first server, wherein the second devices and the first devices have the same device model, and the installed linear motors have the same motor model; clustering the resonant frequencies calibrated by a plurality of second devices to obtain a first cluster and a second cluster; determining the first frequency in the first cluster, and determining the second frequency in the second cluster; the first frequency and the second frequency are configured to the first device.

In the above embodiment, the first frequency and the second frequency used for calibrating the linear motor are determined by the performance of the resonant frequency of the same type of motor in the same type of device, and thus the resonant frequency of the linear motor is more easily calibrated.

In some embodiments, after the second resonance frequency indicated by the second vibration information belongs to a second frequency interval, the method further comprises: and transmitting the second resonance frequency, the equipment model of the first equipment and the motor model of the linear motor to the first server.

In some embodiments, after the second resonance frequency indicated by the second vibration information belongs to a second frequency interval, the method further comprises: updating the second resonant frequency to a first storage location, the first storage location for storing the calibrated resonant frequency; before said driving of said linear motor at said second resonant frequency, said method further comprises: the second resonant frequency is read from the first storage location.

In some embodiments, the method further comprises: determining a first number of times when the second resonant frequency indicated by the second vibration information does not belong to a second frequency interval, wherein the first number of times is the number of times of driving the linear motor after the power-on is performed at this time; detecting the first event if the first number of times is not less than a first value; and under the condition that a fourth resonant frequency is stored in a first storage position, responding to the first event, driving the linear motor according to the fourth resonant frequency, wherein the first storage position is used for storing the calibrated resonant frequency, and the fourth resonant frequency is the resonant frequency calibrated after the last startup.

In the above embodiment, in a special scenario in which the resonant frequency of the linear motor is shifted too much to be calibrated, it is ensured that the linear motor can be driven normally during use of the electronic device.

In some embodiments, the method further comprises: in the case where the fourth resonant frequency is not stored in the first storage location, the linear motor is driven at a third resonant frequency in response to the first event, the third resonant frequency being a resonant frequency contained in a profile of the linear motor.

In some embodiments, the method further comprises: determining a first number of times when the second resonant frequency indicated by the second vibration information does not belong to a second frequency interval, wherein the first number of times is the number of times of driving the linear motor after the power-on is performed at this time; driving the linear motor according to a fourth resonant frequency when the first number is equal to a first value and the fourth resonant frequency is stored in a first storage position, wherein the first storage position is used for storing the calibrated resonant frequency, and the fourth resonant frequency is the resonant frequency calibrated after the last power-on; stopping driving the linear motor after driving the linear motor for N periods at the fourth resonance frequency, the fourth resonance frequency being included in a third frequency interval, wherein the linear motor performs a third damped oscillation after stopping driving the linear motor; acquiring third vibration information of the linear motor during third damped oscillation, wherein the third vibration information comprises a peak time point or a zero crossing point corresponding to the vibration amplitude of the linear motor during the third damped oscillation; updating the fifth resonant frequency to the first storage position when the fifth resonant frequency indicated by the third vibration information belongs to a third frequency interval; detecting the first event; the linear motor is driven at the fifth resonant frequency in response to the first event.

In the above embodiment, the resonant frequency calibrated at the last time is used as the driving frequency to calibrate the linear motor, so as to raise the possibility of calibrating the resonant frequency of the linear motor.

In some embodiments, prior to said driving said linear motor at said second frequency, said method further comprises: and calculating the first resonant frequency according to the difference value between two adjacent peak time points in the first vibration information.

In some embodiments, prior to said driving said linear motor at said first frequency for N cycles of vibration, said method comprises: and driving the linear motor at the first frequency in response to an operation indicating start-up.

In some embodiments, the testing of the resonant frequency of the linear motor according to the first frequency and the testing of the resonant frequency of the linear motor according to the second frequency may be performed in a power-on process after power-on, so as to improve the efficiency of calibrating the linear frequency.

In other embodiments, testing the resonant frequency of the linear motor at the first frequency may be performed during a power-on process after power-on. Testing the resonant frequency of the linear motor at the second frequency may be accomplished after the first event is detected after power-on. In this way, the impact of multiple calibrations on the user's use experience is reduced.

In a second aspect, an electronic device provided by an embodiment of the present application includes one or more processors and a memory; the memory is coupled to the processor, the memory for storing computer program code comprising computer instructions that, when executed by the one or more processors, operate to: stopping driving the linear motor after driving the linear motor to vibrate for N periods at the first frequency, the first frequency being included in a first frequency interval; wherein the linear motor performs a first damped oscillation after stopping driving the linear motor. Acquiring first vibration information of the linear motor during first damped oscillation, wherein the first vibration information comprises a peak time point or a zero crossing point corresponding to the vibration amplitude of the linear motor during the first damped oscillation; driving the linear motor at the second frequency when the first resonance frequency indicated by the first vibration information does not belong to the first frequency interval; stopping driving the linear motor after driving the linear motor to vibrate for N periods at the second frequency, the second frequency being included in a second frequency interval; wherein the linear motor performs a second damped oscillation after stopping driving the linear motor; acquiring second vibration information of the linear motor during second damped oscillation, wherein the second vibration information comprises a peak time point or a zero crossing point corresponding to the vibration amplitude of the linear motor during the second damped oscillation; detecting a first event under the condition that a second resonance frequency indicated by the second vibration information belongs to the second frequency interval, wherein the first event is an event triggering the first equipment to vibrate; the linear motor is driven at the second resonant frequency in response to the first event.

In some embodiments, the first frequency satisfies a first condition, the first condition including any one of: the first frequency is marked with a first mark, and the first mark is a mark preconfigured by a user; the first difference value corresponding to the first frequency is smaller than the second difference value corresponding to the second frequency, the first difference value is an absolute difference between the first frequency and a third resonance frequency, the second difference value is an absolute difference between the second frequency and the third resonance frequency, and the third resonance frequency is a resonance frequency contained in a configuration file of the linear motor; or, the third difference value corresponding to the first frequency is smaller than the fourth difference value corresponding to the second frequency, the third difference value is an absolute difference between the first frequency and a fourth resonance frequency, the fourth difference value is an absolute difference between the second frequency and the fourth resonance frequency, and the fourth resonance frequency is a resonance frequency calibrated after the first device is started up last time.

In some embodiments, the one or more processors are configured to, prior to driving the linear motor to vibrate at the first frequency: obtaining resonant frequencies calibrated in a plurality of second devices from a first server, wherein the second devices and the first devices have the same device model, and the installed linear motors have the same motor model; clustering the resonant frequencies calibrated by a plurality of second devices to obtain a first cluster and a second cluster; determining the first frequency in the first cluster, and determining the second frequency in the second cluster; the first frequency and the second frequency are configured to the first device.

In some embodiments, after the second resonant frequency indicated by the second vibration information belongs to a second frequency interval, the one or more processors are configured to: and transmitting the second resonance frequency, the equipment model of the first equipment and the motor model of the linear motor to the first server.

In some embodiments, the one or more processors are configured to: under the condition that a second resonance frequency indicated by second vibration information does not belong to a second frequency interval, determining a first time number, wherein the first time number is the number of times of driving the linear motor after the power-on is started up; detecting the first event if the first number of times is not less than a first value; and under the condition that a fourth resonant frequency is stored in a first storage position, responding to the first event, driving the linear motor according to the fourth resonant frequency, wherein the first storage position is used for storing the calibrated resonant frequency, and the fourth resonant frequency is the resonant frequency calibrated after the last startup.

In some embodiments, the one or more processors are configured to: in the case where the fourth resonant frequency is not stored in the first storage location, the linear motor is driven at a third resonant frequency in response to the first event, the third resonant frequency being a resonant frequency contained in a profile of the linear motor.

In some embodiments, the one or more processors are configured to: determining a first number of times when the second resonant frequency indicated by the second vibration information does not belong to a second frequency interval, wherein the first number of times is the number of times of driving the linear motor after the power-on is performed at this time; driving the linear motor according to a fourth resonant frequency when the first number is equal to a first value and the fourth resonant frequency is stored in a first storage position, wherein the first storage position is used for storing the calibrated resonant frequency, and the fourth resonant frequency is the resonant frequency calibrated after the last power-on; stopping driving the linear motor after driving the linear motor for N periods at the fourth resonance frequency, the fourth resonance frequency being included in a third frequency interval, wherein the linear motor performs a third damped oscillation after stopping driving the linear motor; acquiring third vibration information of the linear motor during third damped oscillation, wherein the third vibration information comprises a peak time point or a zero crossing point corresponding to the vibration amplitude of the linear motor during the third damped oscillation; updating the fifth resonant frequency to the first storage position when the fifth resonant frequency indicated by the third vibration information belongs to a third frequency interval; detecting the first event; the linear motor is driven at the fifth resonant frequency in response to the first event.

In some embodiments, the one or more processors are configured to, prior to said driving the linear motor at the second frequency: and calculating the first resonant frequency according to the difference value between two adjacent peak time points in the first vibration information.

In some embodiments, the one or more processors are configured to, prior to said driving the linear motor at the first frequency for N cycles of vibration: and driving the linear motor at the first frequency in response to an operation indicating start-up.

In a third aspect, embodiments of the present application provide a computer storage medium comprising computer instructions which, when run on an electronic device, cause the electronic device to perform the method of the first aspect and possible embodiments thereof.

In a fourth aspect, the application provides a computer program product for causing an electronic device to carry out the method of the first aspect and possible embodiments thereof, when the computer program product is run on the electronic device.

It will be appreciated that the electronic device, the computer storage medium and the computer program product provided in the above aspects are all applicable to the corresponding methods provided above, and therefore, the advantages achieved by the electronic device, the computer storage medium and the computer program product may refer to the advantages in the corresponding methods provided above, and are not repeated herein.

Drawings

FIG. 1 is a graph showing an exemplary frequency sweep curve of a linear motor according to an embodiment of the present application;

fig. 2 is a schematic diagram of a software and hardware structure of an electronic device according to an embodiment of the present application;

FIG. 3 is a diagram illustrating an example of electrical connection between a motor driving chip and a linear motor according to an embodiment of the present application;

fig. 4 is an exemplary diagram of a variation in vibration amplitude of a linear motor provided in an embodiment of the present application;

fig. 5 is an exemplary diagram of a motor driving chip driving a linear motor and detecting a back electromotive force of the linear motor in an embodiment of the present application;

FIG. 6A is a graph showing an example of the variation of the vibration amplitude of the linear motor during the test phase according to the embodiment of the present application;

FIG. 6B is a diagram showing a second example of the variation of the vibration amplitude of the linear motor during the test phase according to the embodiment of the present application;

fig. 7 is an exemplary diagram of a reverse electromotive force generated by a linear motor at a test stage in an embodiment of the present application;

FIG. 8 is a signaling diagram of a linear motor calibration method according to an embodiment of the present application;

FIG. 9 is a second signaling diagram of a linear motor calibration method according to an embodiment of the present application;

FIG. 10 is a third signaling diagram illustrating a linear motor calibration method according to an embodiment of the present application;

FIG. 11 is a fourth signaling diagram illustrating a linear motor calibration method according to an embodiment of the present application;

FIG. 12 is a flow chart of a method for calibrating a linear motor according to an embodiment of the present application;

fig. 13 is an exemplary diagram of a chip system according to an embodiment of the present application.

Detailed Description

The terms "first" and "second" are used below for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present embodiment, unless otherwise specified, the meaning of "plurality" is two or more.

A linear motor is a device that can convert electrical potential energy into mechanical energy. Specifically, after the linear motor is externally energized, an electric coil in the linear motor enters an energized state. After the electrical coil is energized, a magnetic field may be generated inside the linear motor. Under the action of the magnetic field, the rotor in the linear motor can do reciprocating motion in a specified direction to drive the linear motor to vibrate in a reciprocating manner. In addition, after the power supply to the linear motor is stopped from the outside, the linear motor can continue damping oscillation in a short time due to motion inertia and space damping until the linear motor is completely stationary.

At present, linear motors are widely applied to various electronic devices by virtue of the advantages of strong vibration feeling, crispness, low energy consumption and the like. In some embodiments, in the operation process, if a service scene needing to vibrate is identified, for example, a first event is detected, the electronic device configured with the linear motor may drive the corresponding linear motor to vibrate, so as to drive the electronic device to vibrate together. Thus, the electronic equipment can provide multiple types of vibration services for users in different service scenes.

Taking a mobile phone with a linear motor as an example, when the mobile phone receives an incoming call, the mobile phone can drive the linear motor to vibrate, so as to realize an incoming call reminding service, that is, the received incoming call can be the first event. When the mobile phone receives a message (such as a short message, application information, etc.), the mobile phone can also drive the linear motor to vibrate, so that information reminding service is realized, that is, the received message can also be the first event. When the system time of the mobile phone reaches the preconfigured alarm clock time, the mobile phone can drive the linear motor to vibrate, so that a vibration alarm is realized, namely, the system time reaches a specific time point and can be the first event. When the mobile phone is started or shut down, the linear motor can be driven to vibrate, namely, the starting and shutting down can be the first event.

As can be seen, the linear motor has been an indispensable device in electronic devices because of its very many possible scenarios. In addition, the manner in which the electronic device drives the corresponding linear motor may be: a driving voltage is applied to the linear motor to energize an electric coil in the linear motor and generate a magnetic field. Thus, the linear motor can start vibrating under the action of the magnetic field.

It will be appreciated that the electronics can cause the linear motor to vibrate at different frequencies by applying drive voltages at different frequencies to the linear motor. For convenience of description, the frequency of the driving voltage may be referred to as a driving frequency, and in addition, the application of driving voltages of different frequencies may be referred to as driving the linear motor at different frequencies.

As shown in fig. 1, the vibration amplitude achievable by the linear motor is different at different driving frequencies, wherein the vibration amplitude of the linear motor can be maximized when the driving frequency reaches f 0. In fig. 1, f0 is a resonance frequency, which may be referred to as a natural frequency, of the linear motor, and is an oscillation frequency of the body of the linear motor. At this frequency (f 0), the lowest driving voltage is applied, so that the best vibration effect can be produced, that is, the vibration amplitude reaches the maximum. That is, if the linear motor is driven at the resonance frequency, the vibration amplitude that the linear motor can achieve is maximum. If the linear motor is driven at a driving frequency higher than the resonance frequency or lower than the resonance frequency, the vibration amplitude of the linear motor is small, and in particular, the vibration amplitude of the linear motor is attenuated more rapidly after stopping driving the linear motor.

In this way, in a business scenario requiring vibration, the electronic device generally drives the linear motor according to the resonant frequency of the linear motor, so that the linear motor achieves the best vibration effect. Of course, the resonant frequency of the linear motor is variable.

On the one hand, the resonant frequency of the linear motor is affected by the vibration space. It is understood that the vibration space in which the linear motor is located, when the linear motor is restricted from vibrating at the maximum vibration amplitude, causes a change in the resonant frequency of the linear motor.

For example, the corresponding vibration space changes before and after the linear motor is mounted to the electronic device, and thus the corresponding resonance frequency also changes. That is, the same linear motor, the resonance frequency at the time of the single body vibration and the resonance frequency after the installation into the electronic device are different. Furthermore, the same linear motor, which is installed in different electronic devices, may also differ in the corresponding resonant frequency. In addition, if the size of the internal space of the electronic device mounted with the linear motor is changed, it is possible to change the vibration space of the linear motor. For example, the internal space of the electronic device changes after the electronic device is disassembled, the vibration space of the linear motor may also change, for example, the electronic device is deformed by external force, and the vibration space of the linear motor may also change. After the vibration space of the linear motor is changed, the corresponding resonant frequency is also changed.

On the other hand, the resonant frequency of the linear motor is also affected by the time of use. It will be appreciated that as the time of use increases, problems may occur with aging, deformation, etc. of the internal components of the linear motor (e.g., the springs), which may all result in a change in the resonant frequency of the linear motor.

Thus, the resonant frequency of the linear motor, which may also be referred to as linear motor calibration, needs to be calibrated before the electronic device enables the linear motor. Through the calibration, the current actual resonant frequency of the linear motor is obtained.

In an embodiment of the application, a linear motor calibration method is provided, and the method is applied to an electronic device provided with a linear motor. The electronic device includes a plurality of selectable reference frequencies, and then the electronic device may select at least one reference frequency as a designated frequency (i.e., a designated driving frequency), drive the linear motor according to the designated frequency, calibrate the linear motor, and measure a resonant frequency of the corresponding linear motor. For specific implementation procedures, reference may be made to the following embodiments, which are not described in detail.

For example, the electronic device may be a mobile phone, a tablet computer, a laptop, a handheld computer, a notebook, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook, a personal digital assistant (personal digital assistant, PDA), an augmented reality (augmented reality, AR) \virtual reality (VR) device, or the like, and the embodiment of the present application is not limited in particular form.

The software and hardware configuration of the above-described electronic device will be exemplarily described with reference to fig. 2. The software system of the electronic device may adopt a layered architecture, an event driven architecture, a microkernel architecture, a microservice architecture, or a cloud architecture. In the embodiment of the application, a layered architecture of an Android system is taken as an example, and a software and hardware structure of electronic equipment is illustrated.

The layered architecture divides the software into several layers, each with distinct roles and branches. The layers communicate via interfaces. In some embodiments, an Android system may include an application layer, an application framework layer, an Zhuoyun rows (Android run) and libraries, a hardware abstraction layer (hardware abstraction layer, HAL), and a kernel layer. It should be noted that, the embodiment of the present application is illustrated by an Android system, and in other operating systems, the scheme of the present application can be implemented as long as the functions implemented by each functional module are similar to those implemented by the embodiment of the present application.

The application layer may include a series of application packages, among other things. As shown in fig. 2, the application package may include applications for camera applications, gallery, calendar, talk, map, navigation, WLAN, setup, music, lock screen applications, short messages, etc. Of course, the application layer may also include other application packages, such as a payment application, a shopping application, a banking application, a chat application, or a financial application, which are not limited by the present application.

The application framework layer provides an application programming interface (application programming interface, API) and programming framework for application programs of the application layer. The application framework layer includes a number of predefined functions. For example, an activity manager, a window manager, a content provider, a view system, a resource manager, a notification manager, a vibration service (vibration service), etc., to which embodiments of the present application are not limited in any way. The vibration service is a service for providing vibration-related support.

The system library may include a plurality of functional modules. Such as surface manager (surface manager), media library (media library), openGL ES, SGL, etc.

The surface manager is used to manage the display subsystem and provides a fusion of 2D and 3D layers for multiple applications.

Media libraries support a variety of commonly used audio, video format playback and recording, still image files, and the like. The media library may support a variety of audio video encoding formats, such as: MPEG4, h.264, MP3, AAC, AMR, JPG, PNG, etc.

OpenGL ES is used to implement three-dimensional graphics drawing, image rendering, compositing, and layer processing, among others.

SGL is the drawing engine for 2D drawing.

Android runtime (android run) includes core libraries and virtual machines. android run is responsible for scheduling and management of android systems. The core library consists of two parts: one part is a function which needs to be called by java language, and the other part is a core library of android. The application layer and the application framework layer run in a virtual machine. The virtual machine executes java files of the application program layer and the application program framework layer as binary files. The virtual machine is used for executing the functions of object life cycle management, stack management, thread management, security and exception management, garbage collection and the like.

The HAL layer is used for packaging a Linux kernel driver, providing an interface upwards and shielding implementation details of bottom hardware.

Vibrations HAL (vibrator HAL), cameras HAL (camera HAL), etc. may be included in the HAL layer.

Wherein the vibration HAL may include a type judgment module or the like. The type judging module can obtain the default resonant frequency corresponding to the installed linear motor by reading the configuration file of the motor. In some embodiments, the default resonant frequency may be a resonant frequency of the linear motor in a single state, and in other embodiments, the default resonant frequency may also be a resonant frequency of the linear motor after the linear motor is assembled to the electronic device. The default resonant frequency mentioned in the subsequent embodiments may refer to the resonant frequency recorded in the configuration file of the linear motor, or may be the resonant frequency measured and saved for the first time after the linear motor is assembled into the electronic device.

The kernel layer is a layer between hardware and software. The inner core layer at least comprises a display driver, an audio driver, a camera driver, a vibration driver and the like. Wherein vibration driving is a program that allows high-level computer software to interact with hardware, i.e., a set of programs that drive the linear motor into operation.

The hardware layer includes a memory, a motor driving chip, a motor, and the like. The motor driving chip is used for simulating driving voltage for the linear motor so as to drive the linear motor to vibrate. The linear motor is used for vibrating to bring vibration feeling to a user.

That is, a business scenario in which vibration is required is identified at an electronic device (first device) (e.g., a scenario in which an application installed in the electronic device is triggered to vibrate by business logic), a vibration HAL of the HAL layer may be invoked by a vibration service in the application framework layer. The vibration HAL is driven by the vibration of the inner core layer, and instructs the motor driving chip to drive the linear motor to vibrate.

In some embodiments, as shown in fig. 3, in the electronic device, the motor driving chip is electrically connected to the linear motor. The motor driving chip can simulate an alternating signal (alternating voltage) with any frequency through a pulse width modulation (pulse width modulation, PWM) technology and supply the alternating signal to a corresponding linear motor through a differential transmission mode, namely, the motor driving chip can apply driving voltages with different frequencies to the linear motor. At any frequency of driving voltage, the electric coil of the linear motor can be electrified and generate corresponding magnetic field. Of course, the driving voltages of different frequencies, the magnetic fields generated are different. The vibration frequency and the vibration amplitude of the linear motor are also different under different magnetic fields, i.e. the vibration effect is different.

It can be understood that the linear motor can achieve the best vibration effect when the frequency corresponding to the driving voltage simulated by the motor driving chip is equal to the resonant frequency of the linear motor. That is, the vibration drive needs to instruct the motor drive chip to drive the linear motor in accordance with the resonant frequency of the linear motor. In addition, since the resonant frequency of the linear motor may vary, the vibration drive needs to acquire the actual resonant frequency of the linear motor, that is, the resonant frequency obtained by calibration of the linear motor, before the vibration service is actually provided.

In some embodiments, calibration of the linear motor may be set during a power-on phase of the electronic device. Of course, the calibration of the linear motor may also be set at other time phases, such as during driving of the linear motor vibrations triggered by the traffic scenario. In summary, the embodiment of the present application is not limited in particular, and for the purpose of describing aspects, in the subsequent embodiments, mainly the calibration of the linear motor triggered in the start-up stage is taken as an example, and in combination with the accompanying drawings, details of implementation of the method for calibrating the linear motor provided in the embodiment of the present application are described.

In some embodiments, the linear motor calibration described above includes a drive phase and a test phase.

The driving stage refers to a process that during the starting-up of the electronic device, the system service instructs the motor driving chip to apply a driving voltage with a specified frequency (i.e., a specified driving frequency) to the linear motor through vibration driving, so as to drive the linear motor to vibrate according to the specified frequency.

In the driving phase, the vibration frequency of the linear motor is equal to the specified frequency. It will be appreciated that the frequency of vibration of the linear motor is different, as is the maximum amplitude of vibration achievable. In addition, at the end of the driving phase, the larger the vibration amplitude of the linear motor, the more accurate the resonant frequency can be measured in the subsequent testing phase, and the specific principle is described in the subsequent embodiment and is not described in detail herein.

As shown in fig. 4, in the vibration process, the maximum vibration amplitude in a single vibration period is small just at the start of vibration of the linear motor, and the vibration amplitude in the single vibration period is gradually increased with the increase of the vibration time until the maximum vibration amplitude at the current driving frequency is reached.

It can be seen that, in the driving stage, the maximum vibration amplitude that can be achieved by the linear motor is affected by the driving duration in some scenarios, where the driving duration may be the time length for the motor driving chip to drive the linear motor, that is, the time length of the driving stage.

In some embodiments, the vibration drive may control the drive duration, ensuring that the linear motor is able to reach a maximum vibration amplitude corresponding to the current drive voltage during the drive phase. For example, the driving time of the motor driving chip is required to reach a preset time period while the motor driving chip is instructed to drive the linear motor according to the driving voltage of the designated frequency. The preset time period may be an empirical value. For another example, the motor driving chip is instructed to drive the linear motor to vibrate for N periods at a specified frequency (the driving frequency is the specified frequency), where N may be an empirical value and N may be a positive integer.

Of course, the maximum amplitude of vibration achievable during the drive phase is also affected by the frequency of vibration of the linear motor. It can be appreciated that the closer the vibration frequency of the linear motor is to the resonance frequency of the linear motor, the larger the maximum vibration amplitude of the linear motor in the driving period.

Obviously, the closer the designated frequency employed in the drive phase is to the resonant frequency of the linear motor, the greater the likelihood of subsequently measuring the exact resonant frequency. In some embodiments, the specified frequency may be a frequency value (i.e., a reference frequency) pre-configured within the electronic device.

In the embodiment of the application, the electronic equipment can be configured with a plurality of reference frequencies. In this way, the vibration drive in the electronic device can instruct the motor drive chip to drive the linear motor according to the selected reference frequency.

Several ways in which the corresponding multiple reference frequencies of the electronic device may be obtained are described below.

Mode one: the plurality of reference frequencies can be obtained according to frequency big data statistics. Wherein, the frequency big data includes: after the linear motor of the same model is mounted to the device (second device) of the same device model, the corresponding resonant frequency is set. That is, the frequency big data may indicate the resonant frequency distribution of the same type of motor on the same type of device. It will be appreciated that even with the same type of linear motor, there may be differences in the resonant frequency of the individual (before being mounted to the electronic device). The actual resonant frequency may also vary after the same type of motor is assembled into the same type of electronic device.

The frequency big data described above may be from a test of a device vendor, for example. It will be appreciated that before all the devices are shipped, the device manufacturer will test the resonant frequency corresponding to the device on which the linear motor is mounted, and the test mode is not particularly limited. The data measured before shipment (i.e., the resonant frequency) is then correlated with the device model and motor model of the device under test and uploaded to the device server (first server). After many batches of equipment are tested, frequency big data for different equipment models and different motor models can be formed in the equipment server.

In this way, the electronic device can acquire a large number of resonance frequencies 1 (i.e., frequency-large data) directly from the device server, the resonance frequencies 1 being resonance frequencies measured from the same type of device having the same type of motor.

Also illustratively, the above-described frequency big data may come from self-test of the device. It will be appreciated that the calibration of the linear motor may be performed every time the device is turned on after the device is shipped, and the calibration of the linear motor may be performed in the manner described in the following embodiments of the present application, or may be performed in the manner of the related art, which is not specifically limited in the present application. After the device measures the accurate resonant frequency, the resonant frequency can be correlated with the motor model and the device model of the tested device, and the device server can be uploaded. After a large number of devices upload the measured resonant frequency, the motor model and the device model to the device server, the device server can obtain frequency big data corresponding to different device models and different motor models.

Thus, the electronic device can download the corresponding resonance frequency 1 from the device server as corresponding frequency big data.

In some embodiments, after obtaining the corresponding frequency big data, the electronic device may cluster a large number of resonant frequencies 1 according to the numerical value of the frequency to obtain a plurality of clusters, and the clustering process may refer to related technologies and will not be described herein. The electronic device then determines a reference frequency from each cluster. For example, an average value of the resonant frequency 1 included in each cluster is calculated in turn, and the average value is used as the reference frequency corresponding to the cluster. For another example, a center value of the resonant frequency 1 in the cluster is used as a reference frequency corresponding to the cluster. For another example, the resonance frequency 1 with the largest number in the cluster is used as the reference frequency corresponding to the cluster. Thus, a plurality of clusters are obtained, and how many reference frequencies are obtained. For example, a plurality of clusters includes a first cluster and a second cluster, a first frequency is determined from the first cluster as one reference frequency, and a second frequency is determined from the second cluster as another reference frequency.

In other embodiments, after obtaining the corresponding frequency big data, the electronic device may determine a maximum value, a minimum value, and a center value of the plurality of resonant frequencies 1 according to the magnitude of the frequency, and then use the maximum value, the minimum value, and the center value as three reference frequencies.

Mode two: the plurality of reference frequencies may be empirical values. That is, the reference frequency configured in the first device in the same series may be obtained as the reference frequency of the electronic device. Wherein the peer devices may be the same device type and user location. The first type of equipment can be other types of equipment with the same weight and volume as the electronic equipment and the same motor type, and in addition, the release time of the first type of equipment is earlier than that of the electronic equipment, and a set of effective reference frequency is arranged in the first type of equipment.

Mode three: the plurality of reference frequencies may be calculated. Illustratively, a plurality of reference frequencies configured in the second class of devices are first acquired. The second type of device may be a device in which a motor of the same type as the electronic device is mounted. Then, the weight of the second type of device is obtained, wherein the weight of the second type of device can be read from the corresponding device information. And then, converting each reference frequency corresponding to the second type of equipment into one reference frequency corresponding to the electronic equipment according to the weight difference between the second type of equipment and the electronic equipment. Wherein, the conversion relation between the weight difference and the reference frequency can be obtained through testing. For example, the frequency difference corresponding to different weight differences can be determined by the reference frequencies corresponding to the devices with different weights, and then, the mapping relation between the weight difference and the frequency difference is established. Thus, in the case of determining the weight difference 1 between the device 1 and the device 2, if it is determined by the mapping relationship that the frequency difference corresponding to the weight difference 1 is-1 Hz, when the reference frequencies corresponding to the device 1 are 230Hz, 234Hz, and 238Hz, respectively, it can be determined that the reference frequencies of the device 2 are: 229Hz, 233Hz and 237Hz.

Through the three modes, a plurality of reference frequencies can be obtained, and the reference frequencies are different. In this way, even if the resonance frequency of the linear motor varies in the electronic apparatus, there is a greater possibility that at least one frequency value close to the resonance frequency among the plurality of reference frequencies exists.

In addition, in the first mode, the frequency big data in the device server may be updated all the time, and the electronic device may update the corresponding reference frequency according to the updated big data. Since the self-measured reference frequency of the sold equipment with the same type (ageing and other problems) is updated into the frequency big data, the new reference frequency obtained based on the frequency big data is more likely to be close to the actual resonant frequency of the linear motor in the electronic equipment.

In some embodiments, the electronic device may determine the reference frequency corresponding to the electronic device in any of the above manners. In other embodiments, the electronic device may be combined in a variety of ways to determine the reference frequency corresponding to the electronic device. For example, the electronic device is a product just released, and then the reference frequency configured in the electronic device can be obtained in a second mode and a third mode. For another example, after the electronic device has been released for a period of time, frequency big data corresponding to the device model and the motor model of the electronic device has been built in the device server, and then the electronic device may determine a new reference frequency according to the frequency big data.

In summary, in embodiments of the present application, multiple reference frequencies may be maintained within an electronic device. In the case where a plurality of reference frequencies are included in the electronic apparatus, vibration driving in the electronic apparatus may select a designated frequency used in the driving stage from the plurality of reference frequencies and transmit it to the motor driving chip.

Thus, the driving phase of the linear motor calibration starts, as shown in fig. 5, in which the motor driving chip can drive the linear motor at the received specified frequency, that is, the motor driving chip can simulate and output the driving voltage at the specified frequency.

After the time for the motor driving chip to drive the linear motor reaches a preset period, or after the motor driving chip to drive the linear motor to vibrate for N periods, the driving of the linear motor is stopped, for example, the motor driving chip stops the analog driving voltage. Thus, the driving phase of the linear motor calibration is ended and the test phase is entered.

In the test phase, the linear motor is not immediately stationary, but continues to oscillate with damping as shown in fig. 4. During the damping oscillation of the linear motor, the linear motor may generate a back electromotive force, and the principle thereof may refer to the related art and will not be described herein. The magnitude of the back electromotive force is affected by the vibration amplitude of the linear motor, and is specifically expressed as that the larger the amplitude is, the larger the back electromotive force is. The smaller the amplitude, the smaller the back electromotive force.

In the test stage, as shown in fig. 5, the motor driving chip may also be used as an analog-to-digital converter (ADC) to detect the back electromotive force generated by the linear motor, and the detected change trend of the back electromotive force may be used to determine the change trend of the vibration amplitude of the linear motor. In other possible embodiments, it may also be that other devices in the electronic apparatus detect the back electromotive force generated by the linear motor, and determine the trend of the vibration amplitude of the linear motor according to the detected trend of the back electromotive force.

In some embodiments, the motor driving chip may determine vibration information indicating a trend of a vibration amplitude variation of the linear motor, such as a peak time point, a zero crossing point, etc., of the vibration amplitude, according to the detected counter electromotive force.

The peak time point is a time point when the amplitude of vibration reaches a peak (including a peak and a trough) during damped oscillation of the linear motor. Of course, at the point in time when the amplitude of vibration reaches the peak value, the back electromotive force generated by the linear motor also reaches the corresponding peak value.

As shown in fig. 6A, fig. 6A is a trend of the vibration amplitude of the linear motor on the time axis, and it can be understood that the trend of the vibration amplitude of the linear motor is the same as the trend of the generated counter electromotive force. That is, as shown in fig. 6A, at the time point t1, the vibration amplitude of the linear motor reaches a peak, which means that the back electromotive force generated by the linear motor also reaches a peak, so that, at the time of detecting the back electromotive force, the peak of the back electromotive force can be detected at the time point t 1.

In addition, as shown in fig. 6A, at time point t2, a peak of the back electromotive force can also be detected. In short, the time point t1 and the time point t2 are peak time points, and a plurality of peak time points may occur during the continuous vibration of the linear motor. For example, the time point t3 and the time point t4 in fig. 6A are both peak time points.

For example, the motor driving chip may take the turning time point as the peak time point when recognizing that the value of the back electromotive force is changed from "from large to small" to "from small to large". Also illustratively, the motor driving chip may take the turning time point as the peak time point when it recognizes that the value of the reverse electromotive force is changed from "from small to large" to "from large to small".

As an implementation manner, when the motor driving chip detects the back electromotive force of the linear motor, the motor driving chip in the electronic device may simply determine according to the detected back electromotive force, for example, the detected i-th back electromotive force is 1V, the detected i+1th back electromotive force is 1.2V, and the detected i+2th back electromotive force is 1V, and then it may be determined that the time point when the detected i+1th back electromotive force is the peak time point 1. For another example, when the j-th back electromotive force is detected to be-0.8V, the j+1th back electromotive force is detected to be-1V, and the j+2th back electromotive force is detected to be-0.8V, it can be determined that the point in time when the j+1th back electromotive force is detected is also the peak point in time 2.

In addition, the zero crossing point is a point in time at which the vibration amplitude changes from a positive value to a negative value and from a negative value to a positive value during ringing. Wherein at the zero crossing point, the vibration amplitude of the linear motor is 0. That is, at the zero crossing point, the detected back electromotive force is also zero.

For example, in the case where the motor driving chip detects that the reverse electromotive force is 0, if it is determined that the non-zero electromotive force is detected before the detection time point and the non-zero electromotive force is also detected after the detection time point, it is determined that the detection time point is a zero crossing point. For example, the time point t5, the time point t6, the time point t7, and the time point t8 in fig. 6B may each be a zero crossing point.

In some embodiments, the motor drive chip may send the vibration information (e.g., the determined peak time point and zero crossing point) to the vibration drive. It will be appreciated that during damped oscillation, the vibration frequency of the linear motor is the resonant frequency of the linear motor. In some embodiments, the vibration drive may calculate the vibration frequency of the linear motor as the corresponding resonance frequency through the vibration information.

Illustratively, the vibration drive may calculate the resonant frequency of the current linear motor in at least two ways:

In the first way, peak method calculation is adopted.

In some embodiments, the vibration drive may obtain a peak point in time of the linear motor during damped oscillation from the vibration information. Then, the time difference between each peak time point and the next adjacent peak time point is calculated in turn as the time length of the corresponding half vibration period (short half period length) of the linear motor. For example, the obtained peak time points are sequentially from small to large: time t1, time t2, time t3 and time t4, then the resulting half-cycle duration includes: t1= (time point T2-time point T1), t2= (time point T3-time point T2), and t3= (time point T4-time point T3).

After obtaining a plurality of half-period durations, the resonant frequency is calculated using the following equation 1:

wherein f0 denotes the calculated resonant frequency, n denotes the calculated number of half-cycle durations, is a positive integer, T _i Representing the ith "half-cycle duration".

In the second mode, zero-crossing method is adopted for calculation.

In some embodiments, the vibration drive may obtain zero crossings of the linear motor during damped oscillations from the vibration information. The vibration drive may sequentially calculate the time difference between each zero crossing point and the adjacent next zero crossing point as the half period length of the linear motor. For example, the zero crossing points obtained are from small to large in sequence: time t5, time t6, time t7 and time t8, then the resulting half-cycle duration includes: t1= (time point T6-time point T5), t2= (time point T7-time point T6), and t3= (time point T8-time point T7).

Thus, after a number of half-cycle durations are obtained, the resonant frequency of the linear motor can also be calculated according to equation 1 above.

In the actual calibration process, if the specified frequency is more different from the current resonant frequency of the linear motor, the more difficult it is for the motor drive chip to detect a sufficient and valid peak time point (or zero crossing point).

It will be appreciated that the maximum vibration amplitude of the linear motor is small after the motor driving chip drives the linear motor at a specified frequency that differs significantly from the resonant frequency. Thus, after the linear motor enters the damped oscillation period, the vibration amplitude of the linear motor is quickly attenuated under the action of space damping, and the back electromotive force of the linear motor is also quickly attenuated along with the attenuation of the vibration amplitude. After the attenuation is lower than the detection precision of the motor driving chip, the motor driving chip cannot determine the accurate peak time point.

For example, the detection accuracy of the motor driving chip is 0.2V, and as shown in fig. 7, since the maximum vibration amplitude of the linear motor is smaller in the driving stage, the linear motor vibrates to the second vibration period, and the corresponding maximum absolute value of the back electromotive force may be attenuated to be lower than 0.2V. That is, after the time point t12, the back electromotive forces detected by the motor driving chips are all 0. Obviously, after the time points t9 and t10 are determined to be peak time points and t11 is zero crossing point, other peak time points and zero crossing points cannot be obtained. In this way, the vibration drive can obtain fewer effective peak time points (or zero crossings).

It will be appreciated that in the test phase, the more accurate the peak time points (or zero crossings) are obtained, the more accurate the calculated resonant frequency. If the exact peak time points (or zero crossing points) are less than 3, then the effective resonant frequency cannot be calculated, e.g., the resonant frequency cannot be calculated, or the calculated resonant frequency is distorted.

In the embodiment of the application, a plurality of reference frequencies are configured in the electronic equipment. In the case of linear motor calibration using a reference frequency, no effective test results are obtained, for example, the resonant frequency is not calculated by the vibration drive, or the distorted resonant frequency is calculated. The vibration drive may select the next reference frequency as the designated frequency and resume calibration of the linear motor. Of course, the recalibration also includes the drive phase and the test phase mentioned in the previous embodiments until the effective resonance frequency is determined.

It can be seen that the electronics may present a variety of calibration scenarios when actually performing linear motor calibration. For example, the resonant frequency is obtained through one calibration, for example, the resonant frequency can be obtained through multiple calibrations, for example, the resonant frequency is not obtained through multiple calibrations.

The following describes a process of implementing the above-mentioned linear motor calibration method by using an electronic device configured with three reference frequencies as an example, and combining different linear motor calibration scenarios. The three configured reference frequencies are, for example, a reference frequency a, a reference frequency b and a reference frequency c, where the reference frequency a is smaller than the reference frequency b, and the reference frequency b is smaller than the reference frequency c.

During the startup of the electronic equipment, the system service triggers the calibration of the linear motor according to the startup flow. As shown in fig. 8, the above method may include the steps of:

s101, the system service receives an instruction for indicating startup.

In some embodiments, the instruction indicating power-on may be triggered by a user. For example, when a user clicks a power key of the electronic device, the generation of an instruction indicating power-on may be triggered. In other embodiments, the instruction for instructing to start may be automatically generated when the system time reaches a specified time point, for example, an automatic start time (i.e., a specified time point) is preconfigured, the automatic start time is reached when the system time reaches the automatic start time, and the electronic device is in a power-off state, so that the electronic device may automatically generate the instruction for instructing to start.

S102, the system service sends an instruction for indicating calibration to the vibration drive.

In some embodiments, the system service initiates the boot flow after receiving an instruction indicating boot. The starting-up process is provided with a link for calibrating the linear motor. Thus, after the start-up procedure enters the linear motor calibration link, the system service may send an instruction to instruct the vibration drive to initiate calibration of the linear motor via the vibration service.

S103, the vibration drive determines the reference frequency b as the specified frequency.

In some embodiments, the vibration drive may select one of the reference frequency a, the reference frequency b, and the reference frequency c as the designated frequency in response to an instruction indicating the calibration.

In some embodiments, the vibration drive may select a reference frequency that is closest to the default resonant frequency. For example, the reference frequency b is a frequency value having the smallest difference from the default resonant frequency of the linear motor, and then the reference frequency b may be determined as the designated frequency.

S104, the vibration driving instruction motor driving chip drives the linear motor according to the reference frequency b.

S105, the motor driving chip drives the linear motor according to the reference frequency b.

S106, vibrating the linear motor.

In some embodiments, the motor driving chip may simulate a driving voltage according to the reference frequency b and apply the driving voltage to the linear motor to drive the linear motor to vibrate according to the reference frequency b, and details of implementation may refer to the driving stage mentioned in the foregoing embodiments, which is not described herein.

S107, the motor driving chip stops starting the linear motor after driving the linear motor to vibrate for N periods.

S108, the motor driving chip detects the back electromotive force generated by the linear motor.

S109, the motor driving chip determines vibration information 1 according to the detected back electromotive force.

The vibration information 1 may include a peak time point and a zero-crossing point determined according to a trend of the reverse electromotive force.

S110, the motor driving chip transmits vibration information 1 to the vibration driving.

S111, the vibration drive calculates the resonance frequency a from the vibration information 1.

In some embodiments, the process of calculating the resonant frequency a according to the vibration information 1 by vibration driving may refer to the description in the foregoing embodiments, and will not be described herein.

S112, when the resonance frequency a is valid, the vibration drive uses the resonance frequency a as a calibration frequency and stores it.

In some embodiments, each reference frequency corresponds to an effective interval, where the effective interval is a frequency interval for evaluating whether the measured resonant frequency is distorted, and the effective interval is a frequency interval including the reference frequency.

If the resonant frequency a belongs to the corresponding effective interval, indicating that the resonant frequency a is undistorted, the measured resonant frequency a may be determined to be effective. If the resonant frequency a does not belong to the corresponding valid interval, indicating that the measured resonant frequency a is distorted, it can be determined that the measured resonant frequency a is invalid.

For example, the center frequency of the effective interval may be a corresponding reference frequency, and the interval length of the effective interval is a preset value. For example, the reference frequency b is 235Hz, and the effective interval length is 5Hz, and the effective interval corresponding to the reference frequency b is 230Hz to 240Hz. Thus, after driving the linear motor at the reference frequency b, if the measured resonant frequency belongs to 230Hz to 240Hz, it is determined that the measured resonant frequency is undistorted and belongs to an effective resonant frequency. If the measured resonant frequency does not fall within the range of 230Hz to 240Hz, then it is determined that the measured resonant frequency is distorted and falls within the range of the invalid resonant frequency.

In the case where it is determined that the resonance frequency a is valid, the vibration drive may store the resonance frequency a as a calibration frequency in a designated storage location. Thus, during operation of the electronic device, if a traffic scenario requiring vibration is detected, the electronic device may find the stored calibration frequency by vibration driving, and then instruct the motor driving chip to determine the linear motor according to the calibration frequency. That is, after the calibration frequency is stored in the designated storage location, the completion of the calibration of the linear motor at this time of startup is instructed.

The above is a scenario of completing the calibration of the linear motor once, and the following describes a scenario of completing the calibration of the linear motor by dividing into a plurality of times after the electronic device is turned on with reference to fig. 9 and 10.

In some embodiments, as shown in fig. 9, after steps S101 to S111, if it is determined that the resonant frequency a is a distorted resonant frequency, the method may further include:

s201, when the resonance frequency a is invalid, the vibration drive determines the reference frequency a as a specified frequency.

In some embodiments, in the event that resonant frequency a is invalid, it is indicated that the linear motor calibration based on reference frequency b has failed. In this scenario, it is necessary to reselect one between the reference frequency a and the reference frequency c as the designated frequency. In some embodiments, the frequency with the smallest difference from the default resonant frequency may still be selected among the reference frequency a and the reference frequency c. If the difference between the reference frequency a and the default resonant frequency is smaller than the difference between the reference frequency c and the default resonant frequency, the reference frequency a may be taken as the designated frequency. Next, description will be continued taking the selected reference frequency a as an example of the designated frequency.

In other embodiments, if the resonant frequency a is not detected in S111, a new designated frequency may be determined among the reference frequencies a and c, and then the flow proceeds to S202.

S202, the vibration driving instruction motor driving chip drives the linear motor according to the reference frequency a.

S203, the motor driving chip drives the linear motor according to the reference frequency a.

S204, vibrating the linear motor.

S205, the motor driving chip stops starting the linear motor after driving the linear motor to vibrate for N periods.

S206, the motor driving chip detects the back electromotive force generated by the linear motor.

S207, the motor driving chip determines vibration information 2 according to the detected back electromotive force.

S208, the motor driving chip transmits vibration information 2 to the vibration drive.

S209, the vibration drive calculates the resonance frequency b from the vibration information 2.

S210, when the resonance frequency b is valid, the vibration drive uses the resonance frequency b as a calibration frequency and stores the same.

In some embodiments, steps S202 to S210 are a process of driving the linear motor according to the reference frequency a and calculating the resonant frequency of the linear motor, and details thereof are referred to S104 to S112, which are not described herein.

In some embodiments, as shown in fig. 10, in the case where the resonant frequency a and the resonant frequency b are both invalid, after steps S101 to S111 and steps S201 to S209, the above method may further include:

s301, when the resonance frequency b is invalid, the vibration drive determines the reference frequency c as a specified frequency.

In some embodiments, in the case where the resonance frequency a and the resonance frequency b are invalid, or in the case where the resonance frequency is not calculated based on the reference frequency a and the reference frequency b, it may be indicated that the linear motor calibration based on the reference frequency a and the reference frequency b has failed. In this scenario, if only reference frequency c remains but is not yet involved in the test, then reference frequency c is selected as the designated frequency.

In some embodiments, in S209, in the case where the resonance frequency b is not calculated, the reference frequency c may be selected as the specified frequency, and then the flow proceeds to S302.

S302, the vibration driving instruction motor driving chip drives the linear motor according to the reference frequency c.

S303, the motor driving chip drives the linear motor according to the reference frequency c.

S304, the linear motor vibrates.

S305, the motor driving chip stops starting the linear motor after driving the linear motor to vibrate for N periods.

S306, the motor driving chip detects the back electromotive force generated by the linear motor.

S307, the motor driving chip determines vibration information 3 based on the detected back electromotive force.

S308, the motor driving chip transmits vibration information 3 to the vibration drive.

S309, the vibration drive calculates the resonance frequency c from the vibration information 3.

S310, when the resonance frequency c is valid, the vibration drive uses the resonance frequency c as a calibration frequency and stores it.

In some embodiments, steps S302 to S310 are a process of driving the linear motor according to the reference frequency c and calculating the resonant frequency of the linear motor, and reference may be made to S104 to S112 for details thereof, which are not described herein.

In addition, in the process of calibrating the linear motor by the electronic device, a scene that the effective resonant frequency cannot be measured based on all the reference frequencies may also occur. In this scenario, as shown in fig. 11, the method further includes:

s401, when the calculated resonant frequency is invalid, vibration driving determines that the calibration times after the current startup have reached the designated times.

In some embodiments, the specified number of times may be a total number of configured reference frequencies in the electronic device, for example, in a case where the electronic device is configured with reference frequency 1, reference frequency 2, and reference frequency 3, the specified number of times has a value of 3.

S402, the vibration drive accesses the designated storage position.

In some embodiments, the specified storage location is a storage space for storing the calibration frequency. If the resonant frequency is not detected at the current power-on, the calibration frequency stored in the designated storage location may be the resonant frequency detected at the previous power-on. Of course, the designated storage locations may also be empty.

S403, when the calibration frequency is included in the designated storage location, continuing to use the calibration frequency.

That is, the resonant frequency obtained by calibration in the previous startup process is used as the result of the startup calibration. The resonant frequency can be used to drive the linear motor if a traffic scenario requiring vibration is identified during operation of the electronic device.

In other possible embodiments, when the calibration frequency is contained in the designated storage location, the calibration frequency may also be used as the designated frequency, again for the linear motor. For example, the effective resonant frequency measured at the last power-on time (for example, referred to as a fourth resonant frequency) is stored in the designated storage location, then the fourth resonant frequency may be used as the designated frequency, the linear motor is driven for N vibration periods, and then the driving is stopped, so that the linear motor again enters into damped oscillation, during which the third vibration information corresponding to the linear motor can be collected, and if the resonant frequency obtained according to the third vibration information (for example, referred to as a fifth resonant frequency) belongs to the effective interval (that is, the third frequency interval) corresponding to the fourth resonant frequency, the fifth resonant frequency is determined to be effective, and the fifth resonant frequency can be updated to the designated storage location.

S404, when the designated storage position does not contain the calibration frequency, the default resonance frequency is used as the calibration frequency.

In addition, in the above embodiment, each time the reference frequency as the specified frequency is selected, the selection is made on the basis of the principle of approaching the default resonance frequency, and in other embodiments, the specified frequency used for each calibration may be selected in other manners.

As one implementation, the vibration drive may sequentially select the reference frequencies as the specified frequencies in order of magnitude, from small to large, or from large to small of the reference frequencies. Then, the vibration driving instructs the motor driving chip to drive the linear motor by using the selected designated frequency, and the resonant frequency of the linear motor is calibrated, and the calibration process can refer to the foregoing embodiment, which is not described herein. If a valid test result is obtained, i.e. the actual resonant frequency of the linear motor is calibrated, the test is stopped. If a valid test result is not obtained, the next reference frequency is selected, the linear motor is driven again, and the resonant frequency of the linear motor is recalibrated until a valid resonant frequency is obtained.

As one implementation, the vibration driving may arrange the reference frequencies from small to large according to the magnitude of the reference frequency, and then drive the linear motor to calibrate by traversing the reference frequencies from the middle to the two sides with the reference frequency traversed each time as a specified frequency. For example, a reference frequency (e.g., referred to as reference frequency 1) arranged at the intermediate position is taken as the designated frequency for first driving the linear motor. Similarly, if a valid test result can be calibrated after the first drive of the linear motor, the test is stopped. If the first drive linear motor does not calibrate a valid test result, then the next last reference frequency corresponding to reference frequency 1 (e.g., referred to as reference frequency 2) is taken as the designated frequency. In this way, the electronics can re-drive the linear motor at the new designated frequency and perform a second linear motor calibration. If the effective resonant frequency is still not obtained after the linear motor is driven for the second time, the next adjacent reference frequency (such as reference frequency 3) corresponding to the reference frequency 1 is taken as the designated frequency, and the test is circulated until the effective resonant frequency is obtained.

In other possible embodiments, the vibration drive may also randomly select a frequency value from the reference frequencies as the specified frequency, and then drive the linear motor for testing, again according to the selected specified frequency. In the test process, if a valid result is not obtained, the designated frequency is selected again from the reference frequencies, and the test is performed again. The manner of reselecting the designated frequency may still be random, but it is necessary to ensure that the designated frequency selected each time is different.

In addition, in some embodiments, each time the linear motor calibration is performed at power-on, the first reference frequency selected as the designated frequency (e.g., referred to as the first frequency) may be the reference frequency that satisfies the first condition. Wherein the first condition includes any one of:

(1) Is marked with a first marker that is configurable by a user when operating the electronic device to indicate that the first frequency has been previously set to a default reference frequency. In this way, when calibration is performed, the default reference frequency is adopted for calibration, and if the effective resonant frequency is not calibrated, other reference frequencies are selected for calibration.

(2) Closest to the historical calibration frequency. That is, the absolute difference (e.g., the third difference) between the first frequency and the historical calibration frequency is less than the absolute difference (fourth difference) between the other reference frequencies (e.g., the second frequency) and the historical calibration frequency. The historical calibration frequency may be an effective resonant frequency (e.g., a fourth resonant frequency) calibrated after the last power-on. It will be appreciated that each time the linear motor is calibrated, the effective resonant frequency is calibrated and stored in a designated storage location (e.g., referred to as a first storage location). That is, each time an effective resonant frequency is newly obtained, the electronic device will update it to the first storage location instead of the effective resonant frequency that was calibrated the previous time.

(3) Closest to the default resonant frequency (third resonant frequency). That is, the absolute difference (e.g., first difference) between the first frequency and the default resonant frequency is less than the absolute difference (e.g., second difference) between the other reference frequencies (e.g., second frequencies) and the default resonant frequency.

In addition, the effective interval corresponding to the first frequency mentioned above may be referred to as a first frequency interval, and the effective interval corresponding to the second frequency may be referred to as a second frequency interval. The first frequency interval includes a first frequency, for example, the first frequency is a center frequency of the first frequency interval. The second frequency interval includes a second frequency, for example, the second frequency is a center frequency of the second frequency interval.

After driving the linear motor at the first frequency for N cycles of vibration, the driving of the linear motor is stopped. Thus, the linear motor enters into the first damped oscillation, and the first vibration information of the linear motor is acquired during the first damped oscillation of the linear motor. For example, when the first frequency is the reference frequency b in the foregoing example, the first vibration information is the vibration information 1 in the foregoing example. If the first resonance frequency, which the first vibration information can calculate, does not belong to the first frequency interval of the first frequency, it is determined that the first resonance frequency is distorted. In this case, after driving the linear motor at the second frequency for N cycles of vibration, the driving of the linear motor is stopped. Thus, the linear motor enters into the second damped oscillation, and the second vibration information of the linear motor is acquired during the second damped oscillation of the linear motor. For example, when the second frequency is the reference frequency a in the foregoing example, the second vibration information is the vibration information 2 in the foregoing example. If the second resonance frequency, which the second vibration information can calculate, belongs to the second frequency interval of the second frequency, the second resonance frequency is determined to be valid, which may be stored with the first storage location. Thus, the electronic device, during operation, detects the first event and may drive the linear motor at the second resonant frequency.

As shown in fig. 12, the process of calibrating the linear motor when the electronic device is powered on may be as follows: after the electronic equipment is started, the linear motor is driven according to a default reference frequency. The linear motor vibrates for N cycles under drive. After that, the driving of the linear motor is stopped. Corresponding vibration information (e.g., peak time point or zero crossing point) is determined according to the back electromotive force generated by the linear motor. Based on the vibration information, a resonance frequency is calculated. And when the calculated resonant frequency is effective, storing the calculated resonant frequency as the calibration frequency obtained in the starting up process, and starting the calibration frequency. When the calculated resonant frequency is invalid, the driving times (i.e., the first time number) of the linear motor after the current start-up are obtained. It is determined whether the number of times the linear motor is driven after the start-up reaches a specified number of times (first value). If the specified number of times is not reached, the next reference frequency is selected, the linear motor is re-driven, and the corresponding resonant frequency is repeatedly calculated. If the specified number of times is reached, it is found whether a historical calibration frequency, i.e. a resonant frequency measured at a previous power-on, has been stored in the electronic device. When the historical calibration frequency is stored, the historical calibration frequency is continued. When the historical calibration frequency is not stored, the default resonant frequency is used as the resonant frequency obtained by the calibration.

In addition, the above embodiments take the calibration configuration of the linear motor as an example at the start-up stage. In other embodiments, calibration of the linear motor may also be incorporated into each stage of use of the electronic device. For example, when the motor is started, a reference frequency is selected for calibrating the linear motor, and if a valid resonant frequency is obtained, the resonant frequency is used as a calibration frequency and stored in a designated storage position. Thus, when the subsequent electronic equipment needs to vibrate, the subsequent electronic equipment can vibrate according to the calibration frequency directly. If the effective resonant frequency is not obtained, then when the next time the electronic device detects a service scene requiring vibration, the linear motor is calibrated by using another reference frequency until all the reference frequencies participate in the over calibration, or the effective resonant frequency is measured.

The embodiment of the application also provides electronic equipment, which can comprise: a memory and one or more processors. The memory is coupled to the processor. The memory is for storing computer program code, the computer program code comprising computer instructions. The computer instructions, when executed by a processor, cause the electronic device to perform the various steps of the embodiments described above. Of course, the electronic device includes, but is not limited to, the memory and the one or more processors described above.

The embodiment of the application also provides a chip system which can be applied to the terminal equipment in the embodiment. As shown in fig. 13, the system-on-chip includes at least one processor 2201 and at least one interface circuit 2202. The processor 2201 may be a processor in an electronic device as described above. The processor 2201 and the interface circuit 2202 may be interconnected by wires. The processor 2201 may receive and execute computer instructions from the memory of the electronic device described above through the interface circuit 2202. The computer instructions, when executed by the processor 2201, may cause the electronic device to perform the various steps described in the embodiments above. Of course, the system-on-chip may also include other discrete devices, which are not particularly limited in accordance with embodiments of the present application.

In some embodiments, it will be clearly understood by those skilled in the art from the foregoing description of the embodiments, for convenience and brevity of description, only the division of the above functional modules is illustrated, and in practical application, the above functional allocation may be implemented by different functional modules, that is, the internal structure of the apparatus is divided into different functional modules to implement all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.

The functional units in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the embodiments of the present application may be essentially or a part contributing to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: flash memory, removable hard disk, read-only memory, random access memory, magnetic or optical disk, and the like.

The foregoing is merely a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited to this, and any changes or substitutions within the technical scope disclosed in the embodiment of the present application should be covered in the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiments of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of calibrating a linear motor, for use with a first device including a linear motor, the first device having a first frequency and a second frequency disposed therein, the method comprising:

stopping driving the linear motor after driving the linear motor to vibrate for N periods at the first frequency, the first frequency being included in a first frequency interval; wherein the linear motor performs a first damped oscillation after stopping driving the linear motor;

acquiring first vibration information of the linear motor during first damped oscillation, wherein the first vibration information comprises a peak time point or a zero crossing point corresponding to the vibration amplitude of the linear motor during the first damped oscillation;

driving the linear motor at the second frequency when the first resonance frequency indicated by the first vibration information does not belong to the first frequency interval;

Stopping driving the linear motor after driving the linear motor to vibrate for N periods at the second frequency, the second frequency being included in a second frequency interval; wherein the linear motor performs a second damped oscillation after stopping driving the linear motor;

acquiring second vibration information of the linear motor during second damped oscillation, wherein the second vibration information comprises a peak time point or a zero crossing point corresponding to the vibration amplitude of the linear motor during the second damped oscillation;

detecting a first event under the condition that a second resonance frequency indicated by the second vibration information belongs to the second frequency interval, wherein the first event is an event triggering the first equipment to vibrate;

the linear motor is driven at the second resonant frequency in response to the first event.

2. The method of claim 1, wherein the first frequency satisfies a first condition, the first condition comprising any one of:

the first frequency is marked with a first mark, and the first mark is a mark preconfigured by a user;

the first difference value corresponding to the first frequency is smaller than the second difference value corresponding to the second frequency, the first difference value is an absolute difference between the first frequency and a third resonance frequency, the second difference value is an absolute difference between the second frequency and the third resonance frequency, and the third resonance frequency is a resonance frequency contained in a configuration file of the linear motor;

Or, the third difference value corresponding to the first frequency is smaller than the fourth difference value corresponding to the second frequency, the third difference value is an absolute difference between the first frequency and a fourth resonance frequency, the fourth difference value is an absolute difference between the second frequency and the fourth resonance frequency, and the fourth resonance frequency is a resonance frequency calibrated after the first device is started up last time.

3. A method according to claim 1 or 2, characterized in that before driving the linear motor into vibration at the first frequency, the method comprises:

obtaining resonant frequencies calibrated in a plurality of second devices from a first server, wherein the second devices and the first devices have the same device model, and the installed linear motors have the same motor model;

clustering the resonant frequencies calibrated by a plurality of second devices to obtain a first cluster and a second cluster;

determining the first frequency in the first cluster, and determining the second frequency in the second cluster;

the first frequency and the second frequency are configured to the first device.

4. A method according to claim 3, wherein after the second resonance frequency indicated by the second vibration information belongs to a second frequency interval, the method further comprises:

And transmitting the second resonance frequency, the equipment model of the first equipment and the motor model of the linear motor to the first server.

5. The method according to any one of claims 1-4, wherein after the second resonance frequency indicated by the second vibration information belongs to a second frequency interval, the method further comprises:

updating the second resonant frequency to a first storage location, the first storage location for storing the calibrated resonant frequency;

before said driving of said linear motor at said second resonant frequency, said method further comprises: the second resonant frequency is read from the first storage location.

6. A method according to any one of claims 1-3, characterized in that the method further comprises:

determining a first number of times when the second resonant frequency indicated by the second vibration information does not belong to a second frequency interval, wherein the first number of times is the number of times of driving the linear motor after the power-on is performed at this time;

detecting the first event if the first number of times is not less than a first value;

and under the condition that a fourth resonant frequency is stored in a first storage position, responding to the first event, driving the linear motor according to the fourth resonant frequency, wherein the first storage position is used for storing the calibrated resonant frequency, and the fourth resonant frequency is the resonant frequency calibrated after the last startup.

7. The method of claim 6, wherein the method further comprises:

in the case where the fourth resonant frequency is not stored in the first storage location, the linear motor is driven at a third resonant frequency in response to the first event, the third resonant frequency being a resonant frequency contained in a profile of the linear motor.

8. A method according to any one of claims 1-3, characterized in that the method further comprises:

driving the linear motor according to a fourth resonant frequency when the first number is equal to a first value and the fourth resonant frequency is stored in a first storage position, wherein the first storage position is used for storing the calibrated resonant frequency, and the fourth resonant frequency is the resonant frequency calibrated after the last power-on;

stopping driving the linear motor after driving the linear motor for N periods at the fourth resonance frequency, the fourth resonance frequency being included in a third frequency interval, wherein the linear motor performs a third damped oscillation after stopping driving the linear motor;

Acquiring third vibration information of the linear motor during third damped oscillation, wherein the third vibration information comprises a peak time point or a zero crossing point corresponding to the vibration amplitude of the linear motor during the third damped oscillation;

updating the fifth resonant frequency to the first storage position when the fifth resonant frequency indicated by the third vibration information belongs to a third frequency interval;

detecting the first event;

the linear motor is driven at the fifth resonant frequency in response to the first event.

9. The method of claim 1, wherein prior to said driving said linear motor at said second frequency, said method further comprises:

and calculating the first resonant frequency according to the difference value between two adjacent peak time points in the first vibration information.

10. The method of claim 1, wherein prior to said driving said linear motor at said first frequency for N cycles of vibration, said method comprises:

and driving the linear motor at the first frequency in response to an operation indicating start-up.

11. An electronic device comprising one or more processors and memory; the memory being coupled to a processor, the memory being for storing computer program code comprising computer instructions which, when executed by one or more processors, are for performing the method of any of claims 1-10.

12. A computer storage medium comprising computer instructions which, when run on an electronic device, cause the electronic device to perform the method of any of claims 1-10.

13. A computer program product, characterized in that the computer program product comprises a computer program which, when run on a computer, causes the computer to perform the method according to any of claims 1-10.