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
This utility model relates to haptic feedback technology field, particularly to the tactile vibrations of a kind of intelligent terminal
Control system.
Background technology
For many years, the reception passage of vision and two kinds of information of audition is carried out by communication and technical field of media
Sufficient exploration and utilization, although sense of touch has application in the field such as virtual reality and game special, as should
Be used in long-range or indirect manipulation, utilize the vibration simulation of game paddle to shoot, the scene such as blast, but until
In recent years, just start to excavate further the communication channel of sense of touch.
Linear Resonant Actuator is the electromagnetic system that a kind of mass is carried on spring, exist intrinsic or from
So resonant frequency, and typically high-quality-factor system, therefore after the driving signal of telecommunication of input stops,
The concussion response of system will not disappear at once but gradually weaken, and this residual oscillation can continue for some time,
Even vibration next time can be impacted, it is impossible to realize desired vibrating effect.
Utility model content
In view of the above problems, this utility model provides the tactile vibrations control system of a kind of intelligent terminal,
Effectively to suppress or to eliminate the residual oscillation of Linear Resonant Actuator.
For reaching above-mentioned purpose, the technical solution of the utility model is achieved in that
This utility model embodiment provides the tactile vibrations control system of a kind of intelligent terminal, and this sense of touch is shaken
Autocontrol system includes: order maker, wave filter, sense of touch driver and Linear Resonant Actuator；
Order maker generates original directive signal according to input signal, and is sent to by original directive signal
Wave filter；
The wave filter original directive signal filtering to receiving, and be sent to touch by filtered command signal
Feel driver；The amplitude of the initial predetermined number pulse of filtered command signal is more than setting threshold value, and
The phasing back of end predetermined number pulse；
Sense of touch driver generates according to the filtered command signal received and drives signal, and by generation
Signal is driven to be sent to Linear Resonant Actuator；
Linear Resonant Actuator receives described driving signal, and vibrates under the driving driving signal.
The beneficial effects of the utility model are: linear resonant actuator is when driving signal to stop driving
There is also the remaining phenomenon of hangover, this utility model uses open loop control mode to control linear resonance and causes
Dynamic device, by setting up wave filter in opened loop control, utilize that order maker generates by wave filter is original
Command signal is filtered processing so that drive linear resonance to activate at the driving signal by being subsequently generated
During device vibration, quickly start response and braking response, weaken be spaced on time dimension shorter before and after shake
The overlapping degree of dynamic event, improves the discrimination in porpoise event time dimension, it is achieved quickly start
And fast braking, thus ensure to obtain desired vibrating effect.
In a preferred approach, Linear Resonant Actuator multiple can be shaken by this utility model also by arranging
The sensor that dynamic state is monitored or senses, the sign vibration mode correlative that multiple sensors are exported
The transducing signal of reason amount is fused to the feedback unit of feedback signal, and can be according to feedback signal and input letter
Desired signal in number generates the comparator of error signal and controls the thing that Linear Resonant Actuator vibrates in real time
Reason amount, comes more robustly estimate the state of Linear Resonant Actuator and apply by the way of effectively integrating
Control, solve the remaining phenomenon that hangover occurs during Linear Resonant Actuator vibration further.Further, we
Case can reach, by real-time feedback and adjustment, the skill adjusted the vibrational state of actuator in real time
Art effect.
Accompanying drawing explanation
The tactile vibrations control system block diagram of the intelligent terminal that Fig. 1 provides for embodiment one；
The open loop tactile vibrations control system work process schematic diagram that Fig. 2 provides for embodiment one；
The command signal schematic diagram that the non-filtered that Fig. 3 a provides for embodiment one processes；
The Linear Resonant Actuator oscillator displacement diagram that the non-filtered that Fig. 3 b provides for embodiment one processes；
Command signal schematic diagram after the Filtering Processing that Fig. 4 a provides for embodiment one；
Linear Resonant Actuator oscillator displacement diagram after the Filtering Processing that Fig. 4 b provides for embodiment one；
The tactile vibrations control system block diagram of the intelligent terminal that Fig. 5 provides for embodiment two；
A kind of closed loop tactile vibrations control system work process schematic diagram that Fig. 6 provides for embodiment two；
The another kind of closed loop tactile vibrations control system work process schematic diagram that Fig. 7 provides for embodiment two.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing pair
This utility model embodiment is described in further detail.
Sense of touch as the important sensory modality of human body, the advantage that it has a vision and audition can not be substituted:
1, compared to audiovisual organ, human skin is long-pending relatively big, can receive the optional of point as information
Position is a lot, such as positions such as finger tip, palm and arms；
2, when human body audiovisual organ is not convenient to use, time as occupied in audiovisual organ, it is possible to use skin
Stress or vibrations receive information；
3, the communication for information of sense of touch passage is the most hidden, has higher safety.
For the above-mentioned advantage of sense of touch, force feedback based on sense of touch, the technology of vibrational feedback are gradually applied to
Consumer electronics and industrial control field, become the important component part of human-computer interaction interface, extensively see hands
In holding equipment, wearable device, household electrical appliance and industrial control equipment.
The critical function of tactile vibrations system is transmission information, and different vibration modes represent different information, because of
And the frequency of vibration of actuator (actuator) and Oscillation Amplitude can be precisely controlled by requirement.Eccentric
Gyrating mass actuator (Eccentric Rotating Mass motor, ERM) and Linear Resonant Actuator
(Linear Resonant Actuator, LRA) is two kinds of common actuators, and eccentric rotating mass activates
The frequency of vibration of device and Oscillation Amplitude can not independently control and have noise and supervene；And linear resonance
There are not these problems in actuator, and starts shorter than eccentric rotating mass actuator with braking time, because of
This is more widely applied.
Linear Resonant Actuator is the electromagnetic system that a kind of mass is carried on spring, exist intrinsic or from
So resonant frequency, and typically high-quality-factor system.Thus Linear Resonant Actuator is driving signal
Stop there is also when driving the remaining phenomenon of hangover.
There are the remnants of hangover when driving signal to stop driving in this utility model linear resonant actuator
Phenomenon is analyzed obtaining: the remaining phenomenon of this hangover is completely by driving signal to rush with Linear Resonant Actuator
The convolution swashing response determines, thus the present embodiment is by driving signal to process, to reach to change it
With the output after Linear Resonant Actuator impulse response convolution.
Embodiment one:
The tactile vibrations control system block diagram of the intelligent terminal that Fig. 1 provides for the present embodiment, this utility model
Intelligent terminal can be that handheld device, wearable device (such as intelligent watch, Intelligent bracelet), industry control set
Standby.
As it is shown in figure 1, the tactile vibrations control system in Fig. 1 is open-loop control system, including: order
Maker 11, wave filter 12, sense of touch driver 13 and Linear Resonant Actuator 14.
As it is shown in figure 1, the outfan of order maker 11 is connected to the input of wave filter 12, filtering
The outfan of device 12 is connected to the input of sense of touch driver 13, and the outfan of sense of touch driver 13 is even
It is connected to the input of Linear Resonant Actuator 14.
Order maker 11 generates original directive signal according to input signal, and is sent by original directive signal
To wave filter 12.Input signal in the present embodiment can be to include characterizing Linear Resonant Actuator vibration mould
The desired signal of formula and selection instruction, it is also possible to for media stream data, media stream data can be audio stream
The media stream data such as data, video stream data.
As it is shown in figure 1, the order maker 11 in the present embodiment is also connected with vibrating effect storehouse 15, shake
It is corresponding that list of vibration patterns in dynamic effect banks 15 records every kind of vibration mode of linear resonant actuator
Characterize the physical quantity sequence of vibrating effect.
When input signal is to include characterizing the desired signal of Linear Resonant Actuator vibration mode and select instruction
Time, order maker 11 reads the list of vibration patterns in vibrating effect storehouse 15, and according in input signal
Selection instruction from this list of vibration patterns, select corresponding physical quantity sequence, by this physical quantity sequence make
For original directive signal.
When input signal is media stream data, order maker 11 obtains media from this media stream data
The physical signalling characterizing vibrating effect that flow data derives, using this physical signalling as original directive signal.
Wave filter 12, to the original directive signal filtering received, and sends filtered command signal
To sense of touch driver 13；The amplitude of the initial predetermined number pulse of filtered command signal is more than setting
Threshold value, and the phasing back of end predetermined number pulse.The opened loop control scheme that the present embodiment provides is wanted
Command signal after asking filtered device to process has the feature of overdriving and in the end period at initial time period
There is actively braking feature.
It should be noted that Fig. 1 median filter 12 is preferably as the rearmounted module of order maker 11,
It is arranged between order maker 11 and sense of touch driver, with preferably order maker 11 is generated
Original directive is filtered；Certainly, in actual applications, the wave filter 12 of the present embodiment can also be made
It is connected to the defeated of order maker for the preposition module of order maker 11, the i.e. outfan of wave filter 12
Entering end, input signal is filtered by wave filter 12, makes order maker 11 according to filtered input
The command signal that signal generates has, at initial time period, the feature of overdriving and has actively in the end period
Braking feature.
The parameter of the present embodiment median filter is determined by the impulse response of Linear Resonant Actuator, preferably filters
The time-domain signal of ripple device is impulse signal.As it is shown in figure 1, the tactile vibrations control system in the present embodiment
Being additionally provided with the parameter storage 16 being connected with wave filter 12, in this parameter storage 16, at least storage has
Calculate damped harmonic oscillation cycle and the intrinsic parameter of damping ratio of Linear Resonant Actuator, such that it is able to utilize meter
The damped harmonic oscillation cycle obtained and damping ratio are to calculate impulse moment and the impulse of each impulse of impulse signal
Amplitude.
When designing wave filter 12, can be according to the resonant frequency of Linear Resonant Actuator 14 and damping ratio
It is calculated the damped harmonic oscillation cycle of Linear Resonant Actuator 14, as according to formulaCalculate
The damped harmonic oscillation cycle T of this Linear Resonant Actuatord, further according to damped harmonic oscillation cycle TdDetermine impulse signal
The impulse moment of each impulse；And it is calculated each punching according to the damping ratio of Linear Resonant Actuator 14
The impulse amplitude swashed, as according to formulaCalculate the impulse amplitude of impulse；Wherein, fnFor line
The resonant frequency of property resonant actuator, ζ is the damping ratio of Linear Resonant Actuator.
Assume that the impulse in the present embodiment includes two impulses, then include impulse moment and the punching of two impulses
The constraints swashing amplitude satisfied is: t1=0, A1+A2=1, t1And t2It is respectively first impulse and second
The impulse moment of individual impulse, A1And A2It is respectively first impulse and the impulse amplitude of second impulse.
If the resonant frequency of Linear Resonant Actuator is fn=175Hz, damping ratio is ζ=0.028, then according to upper
The damped harmonic oscillation computation of Period formula stating Linear Resonant Actuator can calculate its damped harmonic oscillation cycle
Td=5.8ms, then the impulse moment t of first impulse1=0, impulse amplitudeThe
The impulse moment of two impulsesImpulse amplitude A2=1-A1=0.478.
Sense of touch driver 13 generates according to the filtered command signal received and drives signal, and will generate
Driving signal be sent to Linear Resonant Actuator 14.
Linear Resonant Actuator 14 receives and drives signal, and vibrates under the driving driving signal.
Certainly, the tactile vibrations control system in the present embodiment also includes control command maker 11, filtering
Device 12, haptic controller 13, Linear Resonant Actuator 14, vibrating effect storehouse 15 and parameter storage 16
Between signal transmission micro-control unit, using this micro-control unit as tactile vibrations control system central authorities control
Device processed.
The work process of the present embodiment tactile vibrations control system is as shown in Figure 2:
Micro-control unit in intelligent terminal generates according to some trigger event (as user presses touch screen)
Input signal, makes order maker 11 instruct from vibrating effect storehouse 15 according to the selection in this input signal
Digitized physical quantity sequence corresponding to the desired vibration mode of middle selection as original directive signal, or
The simulated physical signalling derived according to the media stream data in this input signal is believed as original directive
Number, numeral or the original directive signal of simulation that order maker 11 is generated are sent to wave filter 12
It is filtered processing；Command signal after Filtering Processing is sent to sense of touch driver 13 by wave filter 12,
Signal is driven accordingly according to the generation of this filtered command signal, this driving signal by sense of touch driver 13
Can be to drive electric current or driving voltage；Linear Resonant Actuator 14 is driving driving of electric current or driving voltage
Vibrate under Dong so that this intelligent terminal's forced vibration, the portion that user contacts with this intelligent terminal afterwards
Position can produce vibration sense of touch.
Wherein, Fig. 3 a and Fig. 3 b is respectively command signal schematic diagram and the linear resonance that non-filtered processes
Actuator oscillator displacement diagram, Fig. 4 a and Fig. 4 b are respectively the command signal schematic diagram of Filtering Processing with linear
Resonant actuator oscillator displacement diagram；Comparison diagram 3a and Fig. 4 a, it can be seen that the order letter after Filtering Processing
Number have, in the impulse moment of first pulse, the feature of overdriving, i.e. the amplitude of signal suddenly increases,
The impulse moment of later pulse has the phase place of actively braking feature, i.e. signal and inverts；Comparison diagram
3b and Fig. 4 b, it can be seen that after processing after filtering, Linear Resonant Actuator has that startup is fast, braking is fast
Vibrating effect, and can suppress well hangover remaining phenomenon.
The tactile vibrations control system of the present embodiment uses open loop control mode to control linear resonance and activates
Device, by setting up wave filter in opened loop control, utilizes the original life that order maker is generated by wave filter
Signal is made to be filtered processing to drive Linear Resonant Actuator at the driving signal by being subsequently generated
During vibration, have and quickly start response and braking response, weaken be spaced on time dimension shorter before and after
The overlapping degree of vibration event, improves the discrimination in porpoise event time dimension, it is achieved quickly open
Move and fast braking, thus ensure to obtain desired vibrating effect.
Embodiment two:
The remnants of hangover occur when driving signal to stop driving to solve Linear Resonant Actuator further
Phenomenon, the present embodiment by arrange multiple the vibrational state of Linear Resonant Actuator can be monitored or
The sensor of sensing, the transducing signal of the sign vibration mode related physical quantity exported by sensor is as instead
Feedback signal controls the physical quantity of Linear Resonant Actuator vibration in real time, comes more by the way of effectively integrating
Add and robustly estimate the state of actuator and apply to control, reach to solve Linear Resonant Actuator further and shake
The remaining phenomenon of hangover occurs time dynamic.
The tactile vibrations control system block diagram of the intelligent terminal that Fig. 5 provides for the present embodiment, as it is shown in figure 5,
By sensing module 55, feedback unit 56 and comparator 57 at tactile vibrations set-up of control system, make figure
Order maker 51, wave filter 52, sense of touch driver 53, Linear Resonant Actuator 54 in 5, sensing
Module 55, feedback unit 56 and comparator 57 constitute the tactile vibrations control system of closed loop control.
As it is shown in figure 5, the outfan of order maker 51 is connected to the input of wave filter 52, filtering
The outfan of device 52 is connected to the input of sense of touch driver 53, and the outfan of sense of touch driver 53 connects
To the input of Linear Resonant Actuator 54, the outfan of Linear Resonant Actuator 54 is connected to sense mould
The input of group 55, the outfan of sensing module 55 is connected to the input of feedback unit 56, feedback
The outfan of unit 56 is connected to the first input end of comparator 57, and the second input of comparator 57 connects
Accessing desired signal, the outfan of comparator 57 is connected to the input of order maker 51.
Order maker 51, generates original directive signal according to input signal, and occurs according to comparator 57
Error signal adjust its generate original directive signal, original directive signal is sent to wave filter 52.
Wherein, the wave filter 52 in the present embodiment, sense of touch driver 53, Linear Resonant Actuator 54 concrete
Working method sees the wave filter 12 in embodiment one, sense of touch driver 13, Linear Resonant Actuator 14
Associated description, does not repeats them here.
Sensing module 55 includes that multiple sensors, every kind of sensor sense Linear Resonant Actuator 54 in real time
State, when sensing that Linear Resonant Actuator 54 vibrates, generate corresponding transducing signal.
Sensing module 55 includes that counter electromotive force sensor circuit, counter electromotive force sensor circuit are arranged on linear resonance
On actuator 54, when Linear Resonant Actuator vibrates, this counter electromotive force sensor circuit generates counter electromotive force
Signal；
And/or, sensing module 55 is included in intelligent terminal the position being separated with Linear Resonant Actuator 54
The motion sensor installed, when Linear Resonant Actuator vibrates, this motion sensor generates corresponding
Motion-sensing signal；
And/or, sensing module 55 includes the motion sensor being arranged on Linear Resonant Actuator 54,
During the vibration of described Linear Resonant Actuator, this motion sensor generates corresponding motion-sensing signal；
Wherein, motion sensor refers to sense in real time the important physical amount of Linear Resonant Actuator, motion
Sensor can be sensor based on devices such as piezoelectricity, ultrasonic, infrared, electric capacity, shakes as sensed
Dynamic acceleration, vibration velocity, vibration displacement or the related sensor of frequency of vibration.Preferably, motion passes
Sensor include acceleration transducer, laser-Doppler vibration measurement instrument, mike and the one of gyroscope or
Multiple.
The multichannel transducing signal that sensing module 55 generates is merged by feedback unit 56, obtains for estimating line
The feedback signal of property resonant actuator vibration mode, and feedback signal is sent to comparator 57.
Comparator 57 compares feedback signal and characterizes Linear Resonant Actuator vibration mode in input signal
Desired signal, generates error signal according to comparative result, and error signal is sent to order maker 51.
Order maker in the present embodiment can arrange PID (proportional integral derivative,
PID) control unit adjusts the original directive signal of generation.The most every half the most humorous
Original directive signal is adjusted according to error signal, as adjusted original directive signal in actuator vibration of the shaking cycle
The waveform parameters such as the corresponding amplitude of waveform, duration or cycle.
The tactile vibrations control system of the present embodiment uses close-loop control mode to control linear resonance and activates
Device, by arranging the multiple sensor that can sense Linear Resonant Actuator vibrational state in closed loop control,
When Linear Resonant Actuator vibrates, by arrange multiple can be to the vibrational state of Linear Resonant Actuator
The sensor being monitored or sense, the sign vibration mode related physical quantity that multiple sensors are exported
Transducing signal controls the physical quantity of Linear Resonant Actuator vibration in real time as feedback signal, by effectively
The mode integrated more robustly is estimated the state of actuator and applies to control, and reaches to solve further line
Property resonant actuator vibration time occur hangover remaining phenomenon.Further, the present embodiment can be by real-time
Feedback and adjustment, reach the technique effect adjusted the vibrational state of Linear Resonant Actuator in real time.
Additionally, compared to the processing mode of single use back-emf signal, the present embodiment is above-mentioned arrange many
The technical scheme planting sensor can solve the problem that when the signal to noise ratio of this back-emf signal is relatively low, it was predicted that goes out
Vibration physical variable relative is unreliable, the problem of the feedback regulation low precision occurred.
In an implementation of the present embodiment, feedback unit 56 includes: acquisition module and weighting block；
Wherein,
Acquisition module receives the multichannel transducing signal that sensing module 55 sends, and obtains every road transducing signal respectively
Physical quantity observed value, and different types of physical quantity observed value is converted to same type under same referential
Physical quantity observed value；
Weighting block calculates the weight coefficient of the physical quantity observed value of every road transducing signal, and Bing Jiangge road senses
The physical quantity observed value of signal is sued for peace according to respective weight coefficient, obtains for estimating Linear Resonant Actuator
The physical quantity estimated value of vibration mode, generates feedback signal according to physical quantity estimated value and is sent to comparator
57；
Then comparator 57 is by this physics in the physical quantity estimated value of described feedback signal and described desired signal
The expected value of amount compares, and generates error signal according to comparative result.
As it is shown in figure 5, this tactile vibrations control system also includes the parameter storage being connected with feedback unit 56
Device 58, for the intrinsic parameter of the Linear Resonant Actuator that storage is extrapolated according to physical quantity estimated value, should
Intrinsic parameter includes some the most gradual performance parameters of Linear Resonant Actuator, as linear resonance activates
The parameters such as resonant frequency that device internal friction is relevant to spring strength, magnetic density, can be by setting
Put corresponding change threshold, carry out in good time this performance parameter of renewal.As when the physical quantity according to feedback signal
The Linear Resonant Actuator internal friction that estimated value is extrapolated compared in parameter storage this parameter work as
Front value meets change threshold, then with the Linear Resonant Actuator internal friction undated parameter storage extrapolated
This parameter in device, it is simple to understand and grasp the performance of Linear Resonant Actuator.
The specific works mode of the present embodiment acquisition module and weighting block for convenience of description, with can be defeated
Go out BEMF signal (Back Electro-Motive Force, counter electromotive force) BEMF sensor circuit and
As a example by can exporting the acceleration transducer of acceleration signal, describe feedback signal and error signal in detail
Generate.
Owing to Linear Resonant Actuator can produce BEMF signal vibration when, corresponding by arranging
Sensing circuit can obtain across the voltage signal of Linear Resonant Actuator two-stage or flow through Linear Resonant Actuator
Current signal, remove the direct current that in this voltage signal or current signal, Linear Resonant Actuator impedance causes
Component can be obtained by required BEMF signal.BEMF signal had both comprised shaking of Linear Resonant Actuator
Dynamic status information, such as the information such as speed, acceleration, also comprises some things of Linear Resonant Actuator itself
Reason parameter information, such as the motor factor.
The present embodiment is as a example by acceleration physical quantity, firstly, since counter electromotive force sensor circuit is arranged online
On property resonant actuator 54, thus it is the most humorous for extracting acceleration observed value S1 from BEMF signal
Shake the acceleration of self oscillator of actuator 54, if acceleration transducer is arranged on Linear Resonant Actuator 54
On, then the acceleration signal of acceleration transducer output is also this self oscillator of Linear Resonant Actuator 54
Acceleration, then directly obtain corresponding acceleration observed value S2 from this acceleration signal.
Then, calculate the weight coefficient of this two-way acceleration observed value, acceleration observed value can be used
Signal to noise ratio or variance calculate weight coefficient；When calculating weight coefficient by variance, every road acceleration is seen
Examine value to carry out statistical disposition and obtain the variance of every road acceleration observed value, calculate two-way acceleration observed value
Variance reciprocal and, reciprocal and the described variance inverse of every road acceleration observed value variance and ratio be it
Weight coefficient；When by signal-to-noise ratio computation weight coefficient, calculate the signal to noise ratio of every road acceleration observed value,
And the signal to noise ratio of two-way acceleration observed value is normalized i.e. can get respective weight coefficient.
Then, calculate for estimating that each moment of Linear Resonant Actuator is vibrated according to the mode of weighted sum
Acceleration estimation value EV (Estimate Value, EV) of pattern, EV (t)=α S1 (t)+β S2 (t)；Its
In, alpha+beta=1, S1 (t) is the acceleration observed value that t extracts from BEMF signal, and α is
The weight coefficient of S1 (t), S2 (t) is the acceleration observed value that t accelerator sensor collects, and β is
The weight coefficient of S2 (t).
Finally, the acceleration expected value DV (Desired in acceleration estimation value EV and input signal is compared
Value, DV) difference in each moment, as by during to acceleration estimation value EV (t) of t and t
Acceleration expected value DV (t) carved does difference and generates error signal Err (t), i.e. Err (t)=EV (t)-DV (t).
If it should be noted that the acceleration transducer in the present embodiment is arranged in intelligent terminal with linear
The position that resonant actuator 54 is separated, then the acceleration signal of this accelerator sensor output is that intelligence is whole
The acceleration of end, needs the acceleration signal by accelerator sensor exports to be converted to Linear Resonant Actuator
The oscillator acceleration of 54, can be by the conversion of intelligent terminal Yu the mass ratio degree of being accelerated of oscillator.
Need further exist for explanation, if the physical quantity that the present embodiment extracts from BEMF signal is observed
Value is speed observer value, in addition it is also necessary to two different types of physical quantity observed values are converted to same type
Physical quantity observed value, as the speed observer value extracted in BEMF signal is converted to acceleration observed value,
Or the acceleration observed value that acceleration transducer exports is converted to speed observer value.
In another implementation of the present embodiment, above-mentioned tactile vibrations control system is also provided with filtering
Device, the parameter designing mode of this wave filter sees the associated description in embodiment one.
As shown in Figure 6, Fig. 6 shows a kind of closed loop tactile vibrations control system work process schematic diagram,
Wave filter 62 in Fig. 6 constitutes a part for closed loop tactile vibrations control system, and it is connected to order and generates
Between device 61 and haptic controller 63, it is used for original directive signal filtering, after making filter process
Command signal has, at initial time period, the feature of overdriving and has actively braking feature in the end period.
As it is shown in fig. 7, Fig. 7 shows another closed loop tactile vibrations control system work process schematic diagram,
The outfan of the wave filter 72 in Fig. 7 is connected to the input of order maker 71, for input letter
Number filtering, and is sent to order maker 71 by filtered input signal, makes order maker 71 raw
The command signal become has, at initial time period, the feature of overdriving and has actively braking spy in the end period
Point.
It should be noted that the haptic controller 63,73 in Fig. 6 and Fig. 7, Linear Resonant Actuator 64,
74, sensor module 65,75, feedback unit 66,76, the specific works mode of comparator 67,77
See the associated description in the present embodiment, do not repeat them here.
With reference to shown in Fig. 6 and Fig. 7, the work process of this tactile vibrations control system is as follows: intelligent terminal
Include that the sensing module of multiple sensors (illustrates in Fig. 6 and Fig. 7 and has BEMF faradism
The sensing module of road and acceleration transducer) the real-time state sensing Linear Resonant Actuator, the most humorous
Shake actuator vibration device time, sensing module the transducing signal of every kind of sensor sensing is sent to feedback unit
Carry out the fusion treatment of transducing signal, obtain the feedback letter for estimating Linear Resonant Actuator vibration mode
Number, comparator generates corresponding error signal by comparing feedback signal and desired signal so that order control
Device processed adjusts its original directive signal generated according to this error signal.
In sum, linear resonant actuator there is also hangover when driving signal to stop and driving
Remaining phenomenon, this utility model uses open loop control mode to control Linear Resonant Actuator, by opening
Ring sets up wave filter in controlling, and the original directive signal utilizing wave filter to generate order maker is filtered
Ripple processes so that when the driving signal by being subsequently generated drives Linear Resonant Actuator vibration, quickly
Startup response and braking response, weaken be spaced on time dimension shorter before and after the overlapping journey of vibration event
Degree, improves the discrimination in porpoise event time dimension, it is achieved quickly start and fast braking, from
And ensure to obtain desired vibrating effect.In a preferred approach, this utility model is also by arranging multiple energy
Enough sensors that the vibrational state of Linear Resonant Actuator is monitored or is sensed, by defeated for multiple sensors
The transducing signal of the sign vibration mode related physical quantity gone out is fused to the feedback unit of feedback signal, and energy
Enough comparators according to the desired signal generation error signal in feedback signal and input signal control in real time
The physical quantity of Linear Resonant Actuator vibration, comes more robustly to estimate linearly by the way of effectively integrating
The state of resonant actuator also applies to control, and solves hangover occur during Linear Resonant Actuator vibration further
Remaining phenomenon.Further, this programme can reach to shake actuator by real-time feedback and adjustment
The technique effect that dynamic state adjusts in real time.
The foregoing is only preferred embodiment of the present utility model, be not intended to limit this utility model
Protection domain.All made within spirit of the present utility model and principle any amendment, equivalent,
Improve, be all contained in protection domain of the present utility model.
Claims (9)
1. the tactile vibrations control system of an intelligent terminal, it is characterised in that described tactile vibrations controls
System includes: order maker, wave filter, sense of touch driver and Linear Resonant Actuator；
Described order maker generates original directive signal according to input signal, and described original directive is believed
Number it is sent to described wave filter；
The described original directive signal filtering to receiving of the described wave filter, and by filtered command signal
It is sent to described sense of touch driver；The amplitude of the initial predetermined number pulse of filtered command signal is more than
Set threshold value, and the phasing back of end predetermined number pulse；
Described sense of touch driver generates according to the filtered command signal received and drives signal, and will be raw
The driving signal become is sent to described Linear Resonant Actuator；
Described Linear Resonant Actuator receives described driving signal, and shakes under the driving of described driving signal
Dynamic.
Tactile vibrations control system the most according to claim 1, it is characterised in that described wave filter
Time-domain signal be impulse signal.
Tactile vibrations control system the most according to claim 1 and 2, it is characterised in that described tactile
Feel that vibration control system also includes: sensing module, feedback unit and comparator；
Described sensing module includes that multiple sensors, every kind of sensor sense described linear resonance in real time and activate
The state of device, when sensing that described Linear Resonant Actuator vibrates, generates corresponding transducing signal；
The multichannel transducing signal that described sensing module is generated by described feedback unit merges, and obtains for estimating
The feedback signal of described Linear Resonant Actuator vibration mode, and described feedback signal is sent to described ratio
Relatively device；
The more described feedback signal of described comparator and described input signal characterize the actuating of described linear resonance
The desired signal of device vibration mode, generates error signal according to comparative result, and described error signal is sent out
Give described order maker；
Described order maker receives described error signal, and adjusts what it generated according to described error signal
Original directive signal.
Tactile vibrations control system the most according to claim 3, it is characterised in that described feedback
Unit includes: acquisition module and weighting block；
Described acquisition module receives the multichannel transducing signal that described sensing module sends, and obtains every road respectively and passes
The physical quantity observed value of sense signal, and different types of physical quantity observed value is converted under same referential
Physical quantity observed value with type；
Described weighting block calculates the weight coefficient of the physical quantity observed value of every road transducing signal, Bing Jiangge road
The physical quantity observed value of transducing signal is sued for peace according to respective weight coefficient, obtains for estimating described the most humorous
The physical quantity estimated value of actuator vibration of shaking pattern, generates feedback signal according to described physical quantity estimated value and sends out
Give described comparator；
Described comparator is by this physical quantity in the physical quantity estimated value of described feedback signal and described desired signal
Expected value compare, according to comparative result generate error signal.
Tactile vibrations control system the most according to claim 3, it is characterised in that described sensing mould
Group includes that counter electromotive force sensor circuit, described counter electromotive force sensor circuit are arranged on described linear resonance and activate
On device, when described Linear Resonant Actuator vibrates, this counter electromotive force sensor circuit generates counter electromotive force letter
Number；
And/or, described sensing module includes described dividing mutually with described Linear Resonant Actuator in intelligent terminal
From position arrange motion sensor, when described Linear Resonant Actuator vibrates, this motion sensor
Generate corresponding motion-sensing signal；
And/or, described sensing module includes the motion sensor being arranged on described Linear Resonant Actuator,
When described Linear Resonant Actuator vibrates, this motion sensor generates corresponding motion-sensing signal；
Wherein, described motion sensor at least include acceleration transducer, laser-Doppler vibration measurement instrument,
Mike and gyroscope one or more.
Tactile vibrations control system the most according to claim 1, it is characterised in that described sense of touch is shaken
Autocontrol system also includes that vibrating effect storehouse, the list of vibration patterns record in described vibrating effect storehouse have every kind
The physical quantity sequence characterizing vibrating effect that vibration mode is corresponding.
Tactile vibrations control system the most according to claim 3, it is characterised in that described sense of touch is shaken
Autocontrol system also includes parameter storage；
Described in the storage of described parameter storage is extrapolated according to the physical descriptor estimated value of described feedback signal
The intrinsic parameter of Linear Resonant Actuator.
Tactile vibrations control system the most according to claim 7, it is characterised in that described sense of touch is shaken
Autocontrol system also includes micro-control unit；
Described in described micro-control unit controls, the signal between each device of tactile vibrations control system transmits.
Tactile vibrations control system the most according to claim 7, it is characterised in that described intelligence is eventually
End includes handheld device, wearable device and industrial control equipment, described wearable device bag Intelligent bracelet and intelligence
Can wrist-watch.
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| Application Number | Priority Date | Filing Date | Title |
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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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| CN201521138783.6U CN205485661U (en) | 2015-12-31 | 2015-12-31 | Intelligent terminal's sense of touch vibration control system |
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| CN205485661U true CN205485661U (en) | 2016-08-17 |
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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 |
| 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 |
| 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 |
| CN107783692A (en) * | 2016-08-31 | 2018-03-09 | 苹果公司 | Electronic equipment and its operating method |
| US10034077B2 (en) | 2015-12-29 | 2018-07-24 | Goertek Inc. | Earphone control method, earphone control system and earphone |
| 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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- 2015-12-31 CN CN201521138783.6U patent/CN205485661U/en not_active Withdrawn - After Issue
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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| 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 |
| 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 |
| CN105630021B (en) * | 2015-12-31 | 2018-07-31 | 歌尔股份有限公司 | A kind of the tactile vibrations control system and method for intelligent terminal |
| US10109163B2 (en) | 2015-12-31 | 2018-10-23 | Goertek Inc. | Tactile vibration control system and method for smart terminal |
| 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 |
| 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 |
| 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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