CN205485661U - Intelligent terminal's sense of touch vibration control system - Google Patents
Intelligent terminal's sense of touch vibration control system Download PDFInfo
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Abstract
The utility model discloses an intelligent terminal's sense of touch vibration control system, this system generates original command signal including order generater, wave filter, sense of touch driver and linear resonance actuator, order generater according to incoming signal, the wave filter makes the amplitude of the command signal's of post -filter originated predetermined figure pulse be greater than the settlement threshold value to this original command signal filtering, and the looks bit reversal of the predetermined number pulse in end, sense of touch driver basis the command signal of post -filter generates the drive signal of drive actuator vibration. The utility model discloses a wave filter carries out the filtering processing to the original command signal that the order generater generated for when utilizing the vibration of follow -up formation drive signal drive actuator, the sound of something astir that the actuator can be quick should with the braking response, the interval overlapping degree of short preceding rear vibrating incident in the reduction time dimension, discrimination before improving in the rear vibrating event time dimension guarantees to obtain the vibration effect of expectation.
Description
Technical Field
The utility model relates to a tactile feedback technical field, in particular to intelligent terminal's tactile vibration control system.
Background
Over the years, the technical fields of communication and media fully explore and utilize receiving channels of visual and auditory information, and although the sense of touch is applied to the fields of virtual reality, special effects of games and the like, such as remote or indirect control, scenes of simulated shooting, explosion and the like by using vibration of a game handle, the information channel of the sense of touch is not further mined until the recent years.
The linear resonant actuator is an electromagnetic system with a mass block loaded on a spring, has a natural or natural resonant frequency, and is generally a high-quality factor system, so that when an input driving electric signal stops, the oscillation response of the system does not disappear immediately but gradually weakens, the residual vibration lasts for a period of time, even influences the next vibration, and the expected vibration effect cannot be realized.
SUMMERY OF THE UTILITY MODEL
In view of the above, the present invention provides a haptic vibration control system of a smart terminal to effectively suppress or eliminate residual vibration of a linear resonant actuator.
In order to achieve the above purpose, the technical scheme of the utility model is realized like this:
the embodiment of the utility model provides an intelligent terminal's sense of touch vibration control system, this sense of touch vibration control system includes: a command generator, a filter, a haptic driver, and a linear resonant actuator;
the command generator generates an original command signal according to the input signal and sends the original command signal to the filter;
the filter filters the received original command signal and sends the filtered command signal to the haptic driver; the amplitudes of the initial preset number of pulses of the filtered command signal are larger than a set threshold value, and the phases of the last preset number of pulses are reversed;
the haptic driver generates a driving signal according to the received filtered command signal and transmits the generated driving signal to the linear resonant actuator;
the linear resonant actuator receives the driving signal and vibrates under the driving of the driving signal.
The utility model has the advantages that: still can appear the residual phenomenon of trailing to linear resonance actuator when drive signal stops the drive, the utility model discloses an open loop control mode comes control linear resonance actuator, through add the wave filter in open loop control, utilize the wave filter to carry out filtering processing to the original command signal that the command generater generated, make when the drive signal drive linear resonance actuator vibration through follow-up formation, quick start response and braking response, the degree of overlapping of the short fore-and-aft vibration incident in interval on the reduction time dimension, the discrimination on the vibration incident time dimension around improving realizes quick start and quick braking, thereby guarantee to obtain the vibration effect of expectation.
In the preferred scheme, the utility model discloses still through setting up a plurality of sensors that can monitor or respond to linear resonant actuator's vibration state, the sensing signal fusion of the relevant physical quantity of the sign vibration mode of a plurality of sensor outputs is feedback unit for feedback signal, and can come the physical quantity of real-time control linear resonant actuator vibration according to the comparator of the desired signal generation error signal in feedback signal and the input signal, come the state of estimating linear resonant actuator more robustly and exert control through the mode of effective integration, the remaining phenomenon of trailing appears when further solving linear resonant actuator vibration. In addition, the technical effect of real-time adjustment of the vibration state of the actuator can be achieved through real-time feedback and adjustment.
Drawings
Fig. 1 is a block diagram of a haptic vibration control system of an intelligent terminal according to an embodiment one;
FIG. 2 is a schematic diagram of an operation process of an open-loop haptic vibration control system according to an embodiment;
FIG. 3a is a schematic diagram of a command signal without filtering according to an embodiment;
FIG. 3b is a graph of displacement of an unfiltered linear resonant actuator element according to one embodiment;
FIG. 4a is a schematic diagram of a command signal after filtering according to an embodiment;
FIG. 4b is a diagram of the displacement of the linear resonant actuator after the filtering process according to the first embodiment;
fig. 5 is a block diagram of a haptic vibration control system of the smart terminal according to the second embodiment;
FIG. 6 is a schematic diagram of the operation of a closed-loop haptic vibration control system according to the second embodiment;
fig. 7 is a schematic diagram of another closed-loop haptic vibration control system provided in the second embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
The sense of touch, which is an important sensory modality of the human body, has the advantages of no alternatives to vision and hearing:
1. compared with audio-visual organs, the human skin has larger surface area and can be used as a plurality of optional parts of information receiving points, such as fingertips, palms, arms and the like;
2. when the human audio-visual organ is inconvenient to use, such as the audio-visual organ is occupied, the information can be received by utilizing the stress or vibration of the skin;
3. the information exchange of the touch channel is more concealed, and the safety is higher.
For the above advantages of touch sense, the techniques of force feedback and vibration feedback based on touch sense are gradually applied to the fields of consumer electronics and industrial control, become an important component of a human-computer interaction interface, and are widely found in handheld devices, wearable devices, household appliances and industrial control devices.
An important function of a haptic vibration system is to transmit information, and different vibration modes represent different information, thereby requiring precise control of the vibration frequency and vibration amplitude of an actuator (activator). Eccentric Rotating Mass actuators (ERM) and Linear Resonant Actuators (LRA) are two common actuators, and the vibration frequency and vibration amplitude of the Eccentric Rotating Mass Actuator cannot be independently controlled and noise is generated along with the Actuator; linear resonant actuators do not suffer from these problems and are more widely used because they have shorter start and stop times than eccentric rotating mass actuators.
A linear resonant actuator is an electromagnetic system of mass-loaded springs, with natural or natural resonant frequencies present, and is typically a high quality factor system. The linear resonant actuator also exhibits a residual phenomenon of tailing when the driving signal stops driving.
The utility model discloses to linear resonance actuator the residual phenomenon that appears the tailing when drive signal stops the drive carries out the analysis and obtains: the residual phenomenon of the tail is completely determined by the convolution of the drive signal and the impulse response of the linear resonant actuator, so the embodiment processes the drive signal to change the output after the convolution of the drive signal and the impulse response of the linear resonant actuator.
The first embodiment is as follows:
fig. 1 is the touch vibration control system block diagram of the intelligent terminal that this embodiment provided, the utility model discloses intelligent terminal can be handheld device, wearable equipment (like intelligent wrist-watch, intelligent bracelet), industrial control equipment.
As shown in fig. 1, the haptic vibration control system in fig. 1 is an open-loop control system including: a command generator 11, a filter 12, a haptic driver 13, and a linear resonant actuator 14.
As shown in fig. 1, an output of the command generator 11 is connected to an input of the filter 12, an output of the filter 12 is connected to an input of the haptic driver 13, and an output of the haptic driver 13 is connected to an input of the linear resonant actuator 14.
The command generator 11 generates an original command signal from the input signal and sends the original command signal to the filter 12. The input signal in this embodiment may be a desired signal and a selection instruction including a vibration mode characterizing the linear resonant actuator, or may be media stream data, and the media stream data may be media stream data such as audio stream data and video stream data.
As shown in fig. 1, the command generator 11 in the present embodiment is also connected to a vibration effect library 15, and a vibration pattern list in the vibration effect library 15 records a physical quantity sequence representing a vibration effect corresponding to each vibration pattern of the linear resonant actuator.
When the input signal is a signal including a desired signal characterizing the vibration mode of the linear resonant actuator and a selection instruction, the command generator 11 reads the vibration mode list of the vibration effect library 15 and selects a corresponding physical quantity sequence from the vibration mode list according to the selection instruction in the input signal, and takes the physical quantity sequence as an original command signal.
When the input signal is media stream data, the command generator 11 obtains a physical signal representing a vibration effect derived from the media stream data, and takes the physical signal as an original command signal.
A filter 12 for filtering the received original command signal and transmitting the filtered command signal to the haptic driver 13; the amplitude of the first predetermined number of pulses of the filtered command signal is greater than a set threshold and the phase of the last predetermined number of pulses is reversed. The open-loop control scheme provided by this embodiment requires that the filtered command signal have an overdrive feature during the initial period and an active braking feature during the final period.
It should be noted that the filter 12 in fig. 1 is preferably arranged as a post-module of the command generator 11 between the command generator 11 and the haptic driver to better filter the original command generated by the command generator 11; of course, in practical applications, the filter 12 of this embodiment may also be used as a pre-module of the command generator 11, that is, the output terminal of the filter 12 is connected to the input terminal of the command generator, and the filter 12 filters the input signal, so that the command signal generated by the command generator 11 according to the filtered input signal has the overdrive feature in the initial period and the active braking feature in the final period.
The parameters of the filter in this embodiment are determined by the impulse response of the linear resonant actuator, preferably the time domain signal of the filter is an impulse signal. As shown in fig. 1, the haptic vibration control system in the present embodiment is further provided with a parameter memory 16 connected to the filter 12, and the parameter memory 16 stores therein at least intrinsic parameters for calculating the damping resonance period and the damping ratio of the linear resonant actuator, so that the impulse timing and the impulse amplitude of each impulse of the impulse signal can be calculated using the calculated damping resonance period and the damping ratio.
In designing the filter 12, the damped resonant period of the linear resonant actuator 14 can be calculated from the resonant frequency and the damping ratio of the linear resonant actuator 14, e.g., according to a formulaCalculating a damped resonant period T of the linear resonant actuatordAccording to the damped resonance period TdDetermining the impulse time of each impulse of the impulse signal; and calculating the impulse amplitude of each impulse according to the damping ratio of the linear resonant actuator 14, e.g. according to a formulaCalculating the impulse amplitude of the impulse; wherein f isnζ is the damping ratio of the linear resonant actuator, which is the resonant frequency of the linear resonant actuator.
Assuming that the impulse in this embodiment includes two impulses, the constraint conditions that the impulse time and the impulse amplitude including the two impulses satisfy are as follows: t is t1＝0，A1+A2＝1，t1And t2Impulse times, A, of a first impulse and a second impulse, respectively1And A2The impulse amplitudes of the first impulse and the second impulse, respectively.
If the resonant frequency of the linear resonant actuator is fnWhen 175Hz and ζ are set as damping ratios 0.028, the damping resonance period T of the linear resonance actuator can be calculated according to the above calculation formula of the damping resonance periodd5.8ms, the impulse time t of the first impulse1Impulse amplitude of 0 Impulse time of the second impulseImpulse amplitude a2＝1-A1＝0.478。
The haptic driver 13 generates a driving signal according to the received filtered command signal and transmits the generated driving signal to the linear resonant actuator 14.
The linear resonant actuator 14 receives the driving signal and vibrates under the driving of the driving signal.
Of course, the haptic vibration control system in the present embodiment further includes a micro control unit for signal transmission among the control command generator 11, the filter 12, the haptic controller 13, the linear resonant actuator 14, the vibration effect library 15, and the parameter memory 16, and the micro control unit serves as a central controller of the haptic vibration control system.
The working process of the tactile vibration control system of the embodiment is shown in fig. 2:
a micro control unit in the intelligent terminal generates an input signal according to some trigger events (such as a user pressing a touch screen), so that the command generator 11 selects a digitized physical quantity sequence corresponding to a desired vibration mode from the vibration effect library 15 as an original command signal according to a selection instruction in the input signal, or an analog physical signal derived according to media stream data in the input signal as an original command signal, and the command generator 11 sends the generated digital or analog original command signal to the filter 12 for filtering; the filter 12 sends the filtered command signal to the haptic driver 13, and the haptic driver 13 generates a corresponding driving signal according to the filtered command signal, where the driving signal may be a driving current or a driving voltage; the linear resonant actuator 14 is driven by a driving current or a driving voltage to vibrate, so that the intelligent terminal is forced to vibrate, and then the part of the user contacting with the intelligent terminal generates vibration touch.
Wherein, fig. 3a and fig. 3b are respectively a command signal schematic diagram without filter processing and a linear resonant actuator oscillator displacement diagram, and fig. 4a and fig. 4b are respectively a command signal schematic diagram with filter processing and a linear resonant actuator oscillator displacement diagram; comparing fig. 3a and fig. 4a, it can be seen that the command signal after filtering has an overdrive feature at the impulse time of the first pulse, i.e. the amplitude of the signal increases abruptly, and has an active braking feature at the impulse time of the last pulse, i.e. the phase of the signal is inverted; comparing fig. 3b and fig. 4b, it can be seen that after the filtering process, the linear resonant actuator has the vibration effect of fast start and fast brake, and can well suppress the residual phenomenon of tailing.
The haptic vibration control system of this embodiment adopts the open-loop control mode to control linear resonant actuator, through add the wave filter in open-loop control, utilize the wave filter to carry out filtering process to the original command signal that the command generator generated, make when the drive signal drive linear resonant actuator vibration through follow-up formation, have quick start response and braking response, the degree of overlapping of the short fore-and-aft vibration incident in interval on the weakening time dimension, improve the degree of distinction on the fore-and-aft vibration incident time dimension, realize quick start and quick braking, thereby guarantee to obtain the expected vibration effect.
Example two:
in order to further solve the residual phenomenon of the tailing of the linear resonant actuator when the driving signal stops driving, the embodiment controls the physical quantity of the vibration of the linear resonant actuator in real time by arranging a plurality of sensors capable of monitoring or sensing the vibration state of the linear resonant actuator and taking the sensing signal which is output by the sensors and represents the physical quantity related to the vibration mode as a feedback signal, estimates the state of the actuator more robustly and applies control through an effective integration mode, and further solves the residual phenomenon of the tailing when the linear resonant actuator vibrates.
Fig. 5 is a block diagram of a haptic vibration control system of an intelligent terminal according to this embodiment, and as shown in fig. 5, the command generator 51, the filter 52, the haptic driver 53, the linear resonant actuator 54, the sensing module 55, the feedback unit 56, and the comparator 57 in fig. 5 form a haptic vibration control system of closed-loop control by providing the sensing module 55, the feedback unit 56, and the comparator 57 in the haptic vibration control system.
As shown in fig. 5, an output terminal of the command generator 51 is connected to an input terminal of the filter 52, an output terminal of the filter 52 is connected to an input terminal of the haptic driver 53, an output terminal of the haptic driver 53 is connected to an input terminal of the linear resonant actuator 54, an output terminal of the linear resonant actuator 54 is connected to an input terminal of the sensing module 55, an output terminal of the sensing module 55 is connected to an input terminal of the feedback unit 56, an output terminal of the feedback unit 56 is connected to a first input terminal of the comparator 57, a second input terminal of the comparator 57 is connected to the desired signal, and an output terminal of the comparator 57 is connected to an input terminal.
The command generator 51 generates an original command signal from the input signal, adjusts the generated original command signal according to the error signal generated by the comparator 57, and transmits the original command signal to the filter 52. In this embodiment, the specific working modes of the filter 52, the haptic driver 53 and the linear resonant actuator 54 in the first embodiment refer to the related descriptions of the filter 12, the haptic driver 13 and the linear resonant actuator 14 in the first embodiment, which are not described herein again.
The sensing module 55 includes a plurality of sensors, each of which senses a state of the linearly resonant actuator 54 in real time and generates a corresponding sensing signal when a vibration of the linearly resonant actuator 54 is sensed.
The sensing module 55 includes a back emf sensing circuit disposed on the linear resonant actuator 54 that generates a back emf signal when the linear resonant actuator vibrates;
and/or, the sensing module 55 includes a motion sensor disposed in a position separated from the linear resonant actuator 54 in the smart terminal, and when the linear resonant actuator vibrates, the motion sensor generates a corresponding motion sensing signal;
and/or, the sensing module 55 includes a motion sensor disposed on the linear resonant actuator 54, which generates a corresponding motion sensing signal when the linear resonant actuator vibrates;
The motion sensor refers to an important physical quantity capable of sensing the linear resonant actuator in real time, and the motion sensor may be a sensor based on piezoelectric, ultrasonic, infrared, capacitance and other devices, such as a related sensor capable of sensing vibration acceleration, vibration speed, vibration displacement or vibration frequency. Preferably, the motion sensor comprises one or more of an acceleration sensor, a laser doppler vibrometer, a microphone and a gyroscope.
The feedback unit 56 fuses the multiple sensing signals generated by the sensing module 55 to obtain a feedback signal for estimating the vibration mode of the linear resonant actuator, and sends the feedback signal to the comparator 57.
The comparator 57 compares the feedback signal with an expected signal of the input signal, which is characteristic of the vibration mode of the linear resonant actuator, generates an error signal according to the comparison result, and transmits the error signal to the command generator 51.
The command generator in this embodiment may set a PID (proportional integral derivative) control unit to adjust the generated original command signal. The original command signal is preferably adjusted according to the error signal every half of the vibration period of the linear resonant actuator, such as adjusting the amplitude, duration or period of the waveform corresponding to the original command signal.
The haptic vibration control system of the embodiment controls the linear resonant actuator in a closed-loop control mode, a plurality of sensors capable of sensing the vibration state of the linear resonant actuator are arranged in the closed-loop control mode, when the linear resonant actuator vibrates, the plurality of sensors capable of monitoring or sensing the vibration state of the linear resonant actuator are arranged, sensing signals output by the plurality of sensors and representing vibration mode related physical quantities are used as feedback signals to control the physical quantities of the linear resonant actuator to vibrate in real time, the state of the actuator is estimated more robustly and control is exerted in an effective integration mode, and the residual phenomenon of trailing when the linear resonant actuator vibrates is further solved. In addition, the embodiment can achieve the technical effect of adjusting the vibration state of the linear resonance actuator in real time through real-time feedback and adjustment.
In addition, compared with a processing mode of singly using a back electromotive force signal, the technical scheme of the embodiment with the multiple sensors can solve the problems that when the signal-to-noise ratio of the back electromotive force signal is low, the predicted vibration-related physical variable is unreliable, and the feedback adjustment precision is poor.
In one implementation of this embodiment, the feedback unit 56 includes: the device comprises an acquisition module and a weighting module; wherein,
the acquisition module receives multiple paths of sensing signals sent by the sensing module 55, respectively acquires physical quantity observed values of each path of sensing signal, and converts different types of physical quantity observed values into the same type of physical quantity observed values in the same reference system;
the weighting module calculates a weighting coefficient of the physical quantity observed value of each path of sensing signal, sums the physical quantity observed values of each path of sensing signal according to the respective weighting coefficients to obtain a physical quantity estimated value for estimating the vibration mode of the linear resonant actuator, generates a feedback signal according to the physical quantity estimated value, and sends the feedback signal to the comparator 57;
the comparator 57 compares the estimated value of the physical quantity of the feedback signal with the expected value of the physical quantity in the expected signal and generates an error signal according to the comparison result.
As shown in fig. 5, the haptic vibration control system further includes a parameter memory 58 connected to the feedback unit 56 for storing intrinsic parameters of the linear resonant actuator calculated according to the estimated value of the physical quantity, wherein the intrinsic parameters include some long-term slowly-varying performance parameters of the linear resonant actuator, such as internal friction of the linear resonant actuator, resonant frequency related to the strength of the spring, magnetic current density, etc., and the performance parameters can be updated timely by setting corresponding variation thresholds. If the linear resonant actuator internal friction force estimated from the physical quantity estimated value of the feedback signal satisfies a change threshold compared with the current value of the parameter in the parameter memory, the parameter in the parameter memory is updated with the estimated linear resonant actuator internal friction force, facilitating understanding and grasping of the performance of the linear resonant actuator.
For convenience of explaining specific working modes of the obtaining module and the weighting module in this embodiment, generation of the feedback signal and the error signal is described in detail by taking a BEMF sensing circuit capable of outputting a BEMF signal (Back Electro-Motive Force) and an acceleration sensor capable of outputting an acceleration signal as examples.
Because the linear resonance actuator can generate the BEMF signal when vibrating, a voltage signal crossing two stages of the linear resonance actuator or a current signal flowing through the linear resonance actuator can be obtained by arranging a corresponding sensing circuit, and the required BEMF signal can be obtained by removing a direct-current component caused by impedance of the linear resonance actuator in the voltage signal or the current signal. The BEMF signal contains both the vibration state information of the linear resonant actuator, such as velocity, acceleration, etc., and some physical parameter information of the linear resonant actuator itself, such as a motor factor.
In the present embodiment, taking the physical quantity of acceleration as an example, first, since the counter electromotive force sensing circuit is provided in the linear resonance actuator 54, the observed acceleration value S1 extracted from the BEMF signal is the acceleration of the transducer of the linear resonance actuator 54 itself, and if the acceleration sensor is provided in the linear resonance actuator 54, the acceleration signal output from the acceleration sensor is also the acceleration of the transducer of the linear resonance actuator 54 itself, and the observed acceleration value S2 is obtained directly from the acceleration signal.
Then, calculating the weighting coefficients of the two paths of acceleration observed values, wherein the weighting coefficients can be calculated by adopting the signal-to-noise ratio or the variance of the acceleration observed values; when the weighting coefficient is calculated through the variance, the variance of each acceleration observation value is obtained through statistical processing of each acceleration observation value, the reciprocal sum of the variances of the two acceleration observation values is calculated, and the ratio of the reciprocal sum of the variance of each acceleration observation value to the reciprocal sum of the variances is the weighting coefficient; when the weighting coefficients are calculated through the signal-to-noise ratios, the signal-to-noise ratio of each acceleration observed value is calculated, and the signal-to-noise ratios of the two acceleration observed values are normalized to obtain the respective weighting coefficients.
Then, calculating an acceleration estimation Value EV (EV) for estimating the vibration mode of the linear resonant actuator at each time according to a weighted summation manner, wherein EV (t) is α S1(t) + β S2 (t); where α + β is 1, S1(t) is an observed acceleration value extracted from the BEMF signal at time t, α is a weighting coefficient of S1(t), S2(t) is an observed acceleration value collected by the accelerator sensor at time t, and β is a weighting coefficient of S2 (t).
Finally, the difference between the estimated acceleration value EV and the expected acceleration value DV (DesiredValue, DV) in the input signal at each time is compared, for example, by subtracting the estimated acceleration value EV (t) at time t and the expected acceleration value DV (t) at time t to generate an error signal err (t), that is, err (t) EV (t) -DV (t).
Note that, if the acceleration sensor in the present embodiment is provided at a position apart from the linear resonant actuator 54 in the smart terminal, the acceleration signal output from the accelerator sensor is the acceleration of the smart terminal, and the acceleration signal output from the accelerator sensor needs to be converted into the vibrator acceleration of the linear resonant actuator 54, and the acceleration can be converted by the mass ratio between the smart terminal and the vibrator.
It should be further noted that, if the observed physical quantity value extracted from the BEMF signal is a velocity observed value, two different types of observed physical quantity values need to be converted into the same type of observed physical quantity value, for example, the observed velocity value extracted from the BEMF signal is converted into an observed acceleration value, or the observed acceleration value output by the acceleration sensor is converted into a velocity observed value.
In another implementation of this embodiment, a filter is further provided in the haptic vibration control system, and the filter is designed according to the related description in the first embodiment.
As shown in fig. 6, fig. 6 is a schematic diagram illustrating the operation of a closed-loop haptic vibration control system, and the filter 62 in fig. 6 forms a part of the closed-loop haptic vibration control system, and is connected between the command generator 61 and the haptic controller 63 for filtering the original command signal so that the command signal processed by the filter has an overdrive characteristic in the initial period and an active braking characteristic in the final period.
Referring to fig. 7, which shows another schematic diagram of the operation of the closed-loop haptic vibration control system, fig. 7 shows a filter 72 having an output connected to an input of a command generator 71 for filtering an input signal and transmitting the filtered input signal to the command generator 71, such that the command generator 71 generates a command signal having an overdrive characteristic during an initial period and an active braking characteristic during a final period.
It should be noted that specific operation modes of the haptic controllers 63 and 73, the linear resonant actuators 64 and 74, the sensor modules 65 and 75, the feedback units 66 and 76, and the comparators 67 and 77 in fig. 6 and 7 refer to the related description in this embodiment, and are not described herein again.
Referring to fig. 6 and 7, the operation of the haptic vibration control system is as follows: the intelligent terminal comprises a sensing module (fig. 6 and 7 exemplarily show a sensing module with a BEMF sensing circuit and an acceleration sensor) of various sensors for sensing the state of the linear resonant actuator in real time, when the linear resonant actuator is vibrated, the sensing module sends a sensing signal sensed by each sensor to a feedback unit for fusion processing of the sensing signal, a feedback signal for estimating the vibration mode of the linear resonant actuator is obtained, and a comparator generates a corresponding error signal by comparing the feedback signal with an expected signal, so that a command controller adjusts an original command signal generated by the command controller according to the error signal.
In conclusion, still can appear the residual phenomenon of trailing to linear resonance actuator when drive signal stops the drive, the utility model discloses an open loop control mode comes control linear resonance actuator, through add the wave filter in open loop control, utilize the wave filter to carry out filtering process to the original command signal that the command generator generated, make when the drive signal drive linear resonance actuator vibration through follow-up formation, quick start response and braking response, the degree of overlapping of the short front and back vibration incident in interval on the reduction time dimension, improve the discrimination on the front and back vibration incident time dimension, realize quick start and quick braking, thereby guarantee to obtain the expected vibration effect. In the preferred scheme, the utility model discloses still through setting up a plurality of sensors that can monitor or respond to linear resonant actuator's vibration state, the sensing signal fusion of the relevant physical quantity of the sign vibration mode of a plurality of sensor outputs is feedback unit for feedback signal, and can come the physical quantity of real-time control linear resonant actuator vibration according to the comparator of the desired signal generation error signal in feedback signal and the input signal, come the state of estimating linear resonant actuator more robustly and exert control through the mode of effective integration, the remaining phenomenon of trailing appears when further solving linear resonant actuator vibration. In addition, the technical effect of real-time adjustment of the vibration state of the actuator can be achieved through real-time feedback and adjustment.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (9)
1. A haptic vibration control system of an intelligent terminal, comprising: a command generator, a filter, a haptic driver, and a linear resonant actuator;
the command generator generates an original command signal according to an input signal and sends the original command signal to the filter;
the filter filters the received original command signal and sends the filtered command signal to the haptic driver; the amplitudes of the initial preset number of pulses of the filtered command signal are larger than a set threshold value, and the phases of the last preset number of pulses are reversed;
the haptic driver generating a driving signal according to the received filtered command signal and transmitting the generated driving signal to the linear resonant actuator;
the linear resonant actuator receives the driving signal and vibrates under the driving of the driving signal.
2. A haptic vibration control system as recited in claim 1 wherein the time domain signal of said filter is an impulse signal.
3. A haptic vibration control system as recited in claim 1 or 2 further comprising: the device comprises a sensing module, a feedback unit and a comparator;
The sensing module comprises a plurality of sensors, each sensor senses the state of the linear resonant actuator in real time and generates a corresponding sensing signal when sensing the vibration of the linear resonant actuator;
the feedback unit fuses the multiple paths of sensing signals generated by the sensing module to obtain a feedback signal for estimating the vibration mode of the linear resonance actuator, and sends the feedback signal to the comparator;
the comparator compares the feedback signal with an expected signal which is characteristic of the vibration mode of the linear resonance actuator in the input signal, generates an error signal according to the comparison result, and sends the error signal to the command generator;
the command generator receives the error signal and adjusts the original command signal it generates in accordance with the error signal.
4. A haptic vibration control system as recited in claim 3 wherein said feedback unit comprises: the device comprises an acquisition module and a weighting module;
the acquisition module receives the multiple paths of sensing signals sent by the sensing module, respectively acquires the physical quantity observed value of each path of sensing signal, and converts the physical quantity observed values of different types into the physical quantity observed values of the same type under the same reference system;
The weighting module calculates a weighting coefficient of a physical quantity observation value of each path of sensing signal, sums the physical quantity observation values of each path of sensing signal according to the respective weighting coefficients to obtain a physical quantity estimation value for estimating the vibration mode of the linear resonance actuator, generates a feedback signal according to the physical quantity estimation value and sends the feedback signal to the comparator;
the comparator compares the estimated value of the physical quantity of the feedback signal with the expected value of the physical quantity in the expected signal, and generates an error signal according to the comparison result.
5. A haptic vibration control system as recited in claim 3 wherein said sensing module includes a back emf sensing circuit disposed on said linear resonant actuator, said back emf sensing circuit generating a back emf signal when said linear resonant actuator vibrates;
and/or the sensing module comprises a motion sensor which is arranged in a position separated from the linear resonant actuator in the intelligent terminal, and generates a corresponding motion sensing signal when the linear resonant actuator vibrates;
and/or the sensing module comprises a motion sensor arranged on the linear resonant actuator, and the motion sensor generates a corresponding motion sensing signal when the linear resonant actuator vibrates;
Wherein, the motion sensor at least comprises one or more of an acceleration sensor, a laser Doppler vibration tester, a microphone and a gyroscope.
6. A haptic vibration control system as recited in claim 1 further comprising a vibration effect library, a vibration pattern list of which is recorded with a sequence of physical quantities characterizing a vibration effect for each vibration pattern.
7. A haptic vibration control system as recited in claim 3 further comprising a parameter memory;
the parameter memory stores intrinsic parameters of the linear resonant actuator estimated from the estimated values of the physical variables of the feedback signals.
8. A haptic vibration control system as recited in claim 7 further comprising a micro control unit;
and the micro control unit controls the signal transmission among all the devices of the tactile vibration control system.
9. A haptic vibration control system as recited in claim 7 wherein said smart terminal includes a handheld device, a wearable device and an industrial control device, said wearable device including a smart bracelet and a smart watch.
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| CN201521138783.6U CN205485661U (en) | 2015-12-31 | 2015-12-31 | Intelligent terminal's sense of touch vibration control system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105630021A (en) * | 2015-12-31 | 2016-06-01 | 歌尔声学股份有限公司 | Touch sense vibration control system and method of intelligent terminal |
| CN106849781A (en) * | 2017-03-31 | 2017-06-13 | 珠海市魅族科技有限公司 | A kind of motor drive circuit, method and electronic equipment |
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| WO2017113651A1 (en) * | 2015-12-31 | 2017-07-06 | 歌尔股份有限公司 | Tactile vibration control system and method for smart terminal |
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| US10034077B2 (en) | 2015-12-29 | 2018-07-24 | Goertek Inc. | Earphone control method, earphone control system and earphone |
| CN105630021A (en) * | 2015-12-31 | 2016-06-01 | 歌尔声学股份有限公司 | Touch sense vibration control system and method of intelligent terminal |
| WO2017113652A1 (en) * | 2015-12-31 | 2017-07-06 | 歌尔股份有限公司 | Tactile vibration control system and method for smart terminal |
| WO2017113651A1 (en) * | 2015-12-31 | 2017-07-06 | 歌尔股份有限公司 | Tactile vibration control system and method for smart terminal |
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| US10122310B2 (en) | 2015-12-31 | 2018-11-06 | Goertek Inc. | Tactile vibration control system and method for smart terminal |
| CN107783692A (en) * | 2016-08-31 | 2018-03-09 | 苹果公司 | Electronic equipment and its operating method |
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| CN106877783A (en) * | 2017-03-31 | 2017-06-20 | 珠海市魅族科技有限公司 | A kind of motor drive circuit, method and electronic equipment |
| WO2022104876A1 (en) * | 2020-11-17 | 2022-05-27 | 瑞声声学科技(深圳)有限公司 | Haptic optimization method, device and apparatus, and medium |
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Address after: 261031 Dongfang Road, Weifang high tech Industrial Development Zone, Shandong, China, No. 268 Patentee after: Goertek Inc. Address before: 261031 Dongfang Road, Weifang high tech Industrial Development Zone, Shandong, China, No. 268 Patentee before: Goertek Inc. |
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