WO2018041265A1 - 一种获取线性谐振致动器输出量的方法和电路 - Google Patents

一种获取线性谐振致动器输出量的方法和电路 Download PDF

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Publication number
WO2018041265A1
WO2018041265A1 PCT/CN2017/100517 CN2017100517W WO2018041265A1 WO 2018041265 A1 WO2018041265 A1 WO 2018041265A1 CN 2017100517 W CN2017100517 W CN 2017100517W WO 2018041265 A1 WO2018041265 A1 WO 2018041265A1
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Prior art keywords
linear resonant
resonant actuator
circuit
inductor
resistor
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Ceased
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PCT/CN2017/100517
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English (en)
French (fr)
Inventor
冯勇强
吴立德
李波
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Goertek Inc
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Goertek Inc
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Priority to US15/762,100 priority Critical patent/US10432125B2/en
Publication of WO2018041265A1 publication Critical patent/WO2018041265A1/zh
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P23/0022—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/30—Circuit design
    • G06F30/36—Circuit design at the analogue level
    • G06F30/367—Design verification, e.g. using simulation, simulation program with integrated circuit emphasis [SPICE], direct methods or relaxation methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/30—Circuit design
    • G06F30/36—Circuit design at the analogue level
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/032—Reciprocating, oscillating or vibrating motors

Definitions

  • the present invention relates to the field of haptic feedback technology, and in particular, to a method and circuit for obtaining a linear resonant actuator output.
  • Audio and video technologies for people's hearing and vision have been fully developed and applied in the past few decades.
  • the industry has begun to turn its attention to other sensory channels.
  • Force feedback and vibration technology for tactile sensation have begun to be developed.
  • Tactile feedback technology has gradually been applied in consumer electronics, home appliances, and industry. From the early pager vibration prompts to the recent mobile phone and wearable device touch technologies, haptic-related technologies have become an important part of human-computer interaction technology.
  • the component that generates vibration in the haptic feedback system is an actuator (commonly known as a motor), and the vibration of the actuator is transmitted to the device, and then transmitted to the skin of the user's limbs and body to generate a vibrational touch.
  • actuator commonly known as a motor
  • the vibration of the actuator is transmitted to the device, and then transmitted to the skin of the user's limbs and body to generate a vibrational touch.
  • most of the physical actuators are directly used to develop and debug the driving and control algorithms.
  • the prior art method is not only inefficient, but also the performance of the actuator may be worn or even damaged.
  • the present invention provides a method and circuit for obtaining the output of a linear resonant actuator to solve the problem of low efficiency, loss or damage to the actuator performance when the prior art directly utilizes a physical actuator for project development and debugging.
  • the problem is a method and circuit for obtaining the output of a linear resonant actuator to solve the problem of low efficiency, loss or damage to the actuator performance when the prior art directly utilizes a physical actuator for project development and debugging. The problem.
  • an embodiment of the present invention provides a method for obtaining a linear resonant actuator output, the method comprising:
  • a circuit for simulating a linear resonant actuator is established by using a passive electrical device, the passive electrical device including at least a resistor, a capacitor and an inductor;
  • the driving signal of the input source is input to the input end of the circuit, and the electrical signal outputted by the measuring point is collected to obtain the output of the simulated linear resonant actuator.
  • an embodiment of the present invention provides a method for obtaining a linear resonant actuator output, the method comprising:
  • a circuit for simulating a linear resonant actuator is established by using a passive electrical device, the passive electrical device including at least a resistor, a capacitor and an inductor;
  • the output of the simulated linear resonant actuator is calculated from the drive signal and transfer function of the input source.
  • an embodiment of the present invention provides a circuit for acquiring a linear resonant actuator output, the circuit comprising: a first resistor, a first inductor, a capacitor, a second inductor, and a second resistor;
  • the capacitor, the second inductor and the second resistor are connected in parallel to each other to form a parallel resonant circuit.
  • One end of the first resistor is a positive input terminal, and one end of the first inductor is a negative input terminal, and the other end of the first resistor and the other end of the first inductor are respectively Connecting both ends of the parallel resonant circuit;
  • the capacitor, the second inductor and the second resistor are connected in series to form a series resonant circuit, one end of the first resistor is a positive input terminal, one end of the first inductor is a negative input terminal, and the other end of the first resistor is connected to the first input end of the coupler
  • the other end of the first inductor is connected to the second input end of the coupler, and the first output end and the second output end of the coupler are respectively connected to two ends of the series resonant circuit;
  • the resistance values of the first and second resistors, the inductance values of the first and second inductors, and the capacitance value are determined by the linear resonant actuator electrical parameters and kinematic parameters.
  • the scheme establishes an analog linear resonant actuator circuit model or a system model by using passive electrical components, and can directly replace the physical actuation by using the scheme during the development and debugging of the project.
  • the solution of the device achieves the effect of improving the working efficiency and avoiding the dependence on the physical actuator; on the other hand, the solution acquires the output of the simulated linear resonant actuator based on the circuit model to collect the electrical signal output from the measuring point, or Based on the circuit model to calculate the transfer function from the input to the measurement point of the circuit, the output of the simulated linear resonant actuator is directly calculated from the transfer function, providing a computer simulation scheme without using an actuator or other electronic device.
  • the output of the actuator during the test is obtained by the algorithm, which avoids the disadvantages of the prior art that the actuator is easily damaged, is easily interfered by the external environment, and has low efficiency.
  • the scheme is based on the working principle of the linear resonant actuator to model it reasonably.
  • the simulation of the actuator working process based on the efficient and simple model can effectively shorten the development cycle of the actuator and control system of the actuator. It can simulate the test effect of tactile vibration, etc.
  • modeling and simulation can also be used in the design phase of linear resonant actuators to simulate and predict the performance before establishing a physical model. In the design and development process of the haptic feedback system, this program has important practical significance.
  • FIG. 1 is a flow chart of a method for acquiring a linear resonant actuator output according to an embodiment of the present invention
  • FIG. 2 is a circuit structural diagram of a first circuit of an analog linear resonant actuator according to another embodiment of the present invention.
  • FIG. 3 is a circuit structural diagram of a second circuit of an analog linear resonant actuator according to another embodiment of the present invention.
  • FIG. 4 is a circuit structural diagram of a first circuit for acquiring a linear resonant actuator output according to another embodiment of the present invention.
  • FIG. 5 is a circuit structural diagram of a second circuit for acquiring a linear resonant actuator output according to another embodiment of the present invention.
  • FIG. 6a is a schematic diagram of a driving signal according to another embodiment of the present invention.
  • FIG. 6b is a schematic diagram of a linear resonant actuator load current outputted by a corresponding measuring point under the excitation of the driving signal of FIG. 6a according to another embodiment of the present invention.
  • FIG. 6c is a schematic diagram of outputting a linear resonant actuator back electromotive voltage according to a driving signal of FIG. 6a according to another embodiment of the present invention
  • FIG. 6d is a schematic diagram of an output of a linear resonant actuator vibrator outputted by a corresponding measuring point under excitation of a driving signal of FIG. 6a according to another embodiment of the present invention
  • FIG. 7 is a flowchart of a method for obtaining a linear resonant actuator output according to another embodiment of the present invention.
  • An actuator in a haptic feedback system is a key part of executing a control command to convert a drive signal into physical vibration.
  • Actuators typically include both eccentric rotating mass actuators (ERM) and linear resonant actuators (LRA), and the patent is described by way of example of a linear resonant actuator.
  • the linear resonant actuator works on the principle that an alternating electrical signal is applied to the conductive coil of the linear resonant actuator to generate an alternating driving force in the magnetic field to drive the movable mass inside the linear resonant actuator. (or simply vibrator) travels back and forth along a straight line.
  • FIG. 1 is a schematic diagram of obtaining linearity according to an embodiment of the present invention.
  • a flowchart of a method for outputting a resonant actuator, as shown in FIG. 1, the method includes:
  • a passive electrical device to establish a circuit for simulating a linear resonant actuator according to electrical and kinematic parameters of the linear resonant actuator, the passive electrical device comprising at least a resistor, a capacitor and an inductor.
  • the linear resonant actuator is an electromagnetic mechanical system, and since the linear resonant actuator includes a conductive coil, the linear resonant actuator itself has a resistance property and an inductance property, and
  • the resonating portion of the linear resonant actuator is a mechanical structure composed of a mass and a spring, and thus can be described by a resistance-inductor-capacitor resonant circuit (ie, an RLC resonant circuit).
  • S120 Select a measurement point in the circuit according to an output required by the linear resonant actuator.
  • the required output includes the combined force of the vibrator, the velocity of the vibrator, the acceleration of the vibrator, the displacement of the vibrator, the load current of the linear resonant actuator, and the counter electromotive voltage.
  • the designer can select one or more of the outputs according to actual needs.
  • a measurement point that measures data for each output can correspond to a device in a circuit or circuit, such as by a current signal flowing through the line, a current signal flowing through the device, or a voltage applied across the device. Signals and so on get the output.
  • the resulting output can aid in the development of linear resonant actuator control algorithms, as well as in the design and development of assisted haptic effects.
  • the driving signal can be selected as needed, for example, a short-time pulse signal, a square wave of one or more cycles, a sine wave, a pulse width modulation (PWM) signal, or the like can be selected.
  • PWM pulse width modulation
  • the electrical signals output by the measuring points can be collected by the following methods:
  • a current sensor or a voltage sensor is connected to each measuring point of the circuit, and an electrical signal output by the current sensor or the voltage sensor is collected, and the corresponding output of the linear resonant driver is calculated according to the electrical signal outputted by each measuring point.
  • the method in FIG. 1 simulates a linear resonant actuator by establishing a circuit model, and uses a passive electronic component resistor, capacitor, and inductor to form a circuit, thereby simulating the properties of the linear resonant actuator at the circuit level, and can be based on simplicity.
  • the circuit model simulates the working process of the linear resonant actuator, thereby effectively shortening the development cycle of the actuator drive and control system; and predicting the linear resonant actuator based on the circuit model during the design phase of the linear resonant actuator Performance.
  • step S110 in FIG. 1 may be specifically: selecting a first resistance and a first inductance according to electrical parameters of the conductive coil of the linear resonant actuator; and conducting coils according to the linear resonant actuator The electrical parameters and the kinematic parameters of the vibrator, and the capacitance, the second resistance, and the second inductance are selected.
  • One of the current schemes is to build a circuit that simulates a linear resonant actuator:
  • first resistor and a first inductor in series and a capacitor, a second inductor and a second resistor in parallel to establish a first circuit simulating the linear resonant actuator, wherein one end of the first resistor is connected to the positive terminal of the input source, One end of an inductor is connected to the negative terminal of the input source, and the capacitor, the second inductor and the second resistor are connected in parallel to each other to form a parallel resonant circuit. Both ends of the parallel resonant circuit are respectively connected in series at the other end of the first resistor and the other end of the first inductor. between.
  • the circuit structure of the first circuit connected by the implementation scheme can be referred to FIG. 2.
  • the resistor Rs and the inductor Ls in FIG. 2 are the first resistor and the first inductor in the implementation, and the linearity is simulated by the resistor Rs and the inductor Ls.
  • the conductive coil of the resonant actuator; the resistor Rp, the inductor Lp and the capacitor Cp in FIG. 2 are in turn the second resistor, the second inductor and the capacitor in the implementation, and are composed of a resistor Rp, an inductor Lp and a capacitor Cp connected in parallel with each other.
  • the parallel resonant circuit simulates the oscillator of a linear resonant actuator.
  • first resistor and the first inductor Connecting the first resistor and the first inductor in series, and connecting the capacitor, the second inductor and the second resistor in series to establish a second circuit of the analog linear resonant actuator, wherein one end of the first resistor is connected to the positive terminal of the input source, first One end of the inductor is connected to the negative end of the input source, the other end of the first resistor is connected to the first input end of the coupler, and the other end of the first inductor is connected to the second input end of the coupler, the capacitor, the second inductor and the second resistor
  • the series resonant circuit is formed in series with each other, and two ends of the series resonant circuit are respectively connected in series between the first output end and the second output end of the coupler.
  • the circuit structure of the second circuit connected by the implementation scheme can be referred to FIG. 3.
  • the resistor Rs and the inductor Ls in FIG. 3 are the first resistor and the first inductor in the implementation, and the linearity is simulated by the resistor Rs and the inductor Ls.
  • the conductive coil of the resonant actuator; the resistor Rr, the inductor Lr and the capacitor Cr in FIG. 3 are in turn the second resistor, the second inductor and the capacitor in the embodiment, and are composed of a resistor Rr, an inductor Lr and a capacitor Cr connected in series with each other.
  • the series resonant circuit simulates the oscillator of a linear resonant actuator.
  • the series resistor Rs and the inductor Ls are coupled to the series resistor Rr, the inductor Lr and the capacitor Cr via a voltage coupler T.
  • the vibrator Due to the vibration of the linear resonant actuator vibrator, the vibrator is subjected to three kinds of forces, which are calculated by multiplying the product of the vibrator acceleration and the vibrator mass, and the product of the friction coefficient and the vibrator velocity. Obtain the obstruction force and the elastic force calculated from the product of the vibrator elastic coefficient and the vibrator displacement. The resultant force of these three forces is the vibrator resultant force.
  • the vibration process of the vibrator can be simulated by the RLC resonant circuit connected in parallel in the circuit, since the total current of the RLC resonant circuit is the current flowing through the resistor Rp and the current of the inductor Lp, respectively. with The sum of the currents of the capacitor Cp. Then, in the design process, the combined force of the vibrator and the total current of the RLC resonant circuit can be established.
  • the vibrator acceleration the vibrator speed and the vibrator displacement formed during the vibrator vibration, the vibrator speed is used as the reference value, and the vibrator speed is differentiated.
  • the operation can obtain the oscillator acceleration, and the oscillator displacement can be obtained by integrating the oscillator speed.
  • the current flowing through the resistor Rp can be obtained by dividing the voltage applied to the resistor Rp.
  • the current value flowing through the inductor Lp can be obtained by integrating the voltage applied to the inductor Lp, and the current flowing through the capacitor Cp can be obtained by performing a differential operation on the voltage applied to the capacitor Cp, and the current value flowing through the capacitor Cp can be obtained by analysis.
  • the oscillator acceleration involved in the differential operation is associated with the current flowing through the capacitor Cp in the RLC resonant circuit
  • the oscillator displacement involving the integral operation is associated with the current flowing through the inductor Lp in the RLC resonant circuit, and the integral operation is not involved and the differential is not involved.
  • the oscillator speed of the operation is established with the current flowing through the resistor Rp in the RLC resonant circuit Should the relationship.
  • the parameters of each passive electrical device can be determined by the following method:
  • the resistance value and the inductance value of the linear resonant actuator conductive coil are respectively set to a first resistance value (ie, resistance Rs) and a first inductance value (ie, inductance Ls); according to the resistance value and inductance of the linear resonant actuator conductive coil
  • the value and the linear resonant actuator operating current, the operating voltage, and the resonant frequency and frequency bandwidth of the linear resonant actuator vibrator are calculated to obtain a second resistance value, a capacitance value, and a second inductance value.
  • the resistance value and inductance value of the conductive coil of the linear resonant actuator and the operating current I of the linear resonant actuator, the operating voltage V, and the resonance of the linear resonant actuator vibrator can be used.
  • the frequency ⁇ 0 is calculated to obtain a second resistance value (ie, the resistance Rp);
  • the capacitance value (ie, the capacitance Cp) is calculated according to the second resistance value and the frequency bandwidth B 0 of the linear resonant actuator vibrator; and the capacitance value and the linear resonance are caused.
  • the resonant frequency ⁇ 0 of the vibrator is calculated to obtain a second inductance value (ie, inductance Lp).
  • a second inductance value ie, inductance Lp
  • the resistance value and the inductance value of the conductive coil of the linear resonant actuator and the linear resonant actuator operating current I, the operating voltage V, and the resonance of the linear resonant actuator vibrator can be used.
  • the frequency ⁇ 0 is calculated to obtain a second resistance value (ie, the resistance Rr); and the second inductance value (ie, the inductance Lr) is calculated according to the second resistance value and the frequency bandwidth B 0 of the linear resonant actuator vibrator; according to the second inductance value and
  • the resonant frequency ⁇ 0 of the linear resonant actuator vibrator is calculated to obtain a capacitance value (ie, capacitance Cr).
  • the present invention preferably uses the above operational parameters to calculate the parameter values of the passive electrical components in the first circuit or the second circuit.
  • the supplier of the linear resonant actuator provides the electromagnetic parameter Km of the actuator, the mass of the actuator vibrator, the elastic coefficient of the vibrator, the friction coefficient of the vibrator, etc., it may also be based on the mechanical equation of the vibrator and the first circuit or the second Corresponding relationship between electrical equations in the circuit, using the linear resonant actuator electromagnetic parameter Km and the linear resonant actuator vibrator mass, the vibrator elastic coefficient, the vibrator friction coefficient to calculate the second resistance value, the capacitance value and the second Inductance value.
  • the first resistance value (resistance Rs) and the first inductance value (inductance Ls) of the conductive coil for simulating the linear resonant actuator in FIG. 2 are used to simulate linear resonance actuation in FIG.
  • the first resistance value (resistance Rs) of the conductive coil of the device is the same as the first inductance value (inductance Ls), but the second resistance value (resistance Rp) for simulating the resonant motion of the linear resonant actuator vibrator in FIG.
  • the second inductance value (inductance Lp) and the capacitance value (capacitance Cp) are the second resistance value (resistance Rr), the second inductance value (inductance Lr), and the capacitance value used to simulate the resonant motion of the linear resonant actuator vibrator in FIG. (capacitance Cr) is not the same.
  • the present invention details the method for selecting the measuring point in step S120 of FIG. 1 by another embodiment.
  • the method for selecting the measuring point is as follows:
  • the circuit of the analog linear resonant actuator is the first circuit
  • one end of the first resistor or one end of the first inductor is selected as a measuring point of the resultant force of the linear resonant actuator vibrator
  • the second resistor is connected to the end of the first inductor as Measuring point of the oscillator speed of the linear resonant actuator; selecting one end of the second inductor connected to the first inductor as a measuring point of the displacement of the oscillator of the linear resonant actuator; selecting one end of the capacitor connected to the first inductor as the acceleration of the oscillator of the linear resonant actuator Measuring point; the capacitor is selected as the measuring point of the back-electromotive voltage of the linear resonant actuator.
  • the voltage sensor is connected at both ends of the capacitor Cp, and the output voltage of the voltage sensor can simulate the resultant force of the linear resonant actuator vibrator.
  • One or more of the above measurement points may be selected as needed.
  • one end of the second resistor or one end of the second inductor or one end of the capacitor is selected as a measuring point of the resultant force of the linear resonant actuator vibrator; the second resistor is selected as the linear resonance
  • the input end of the coupler is selected as the linear resonant actuation
  • the measuring point of the back electromotive voltage when measuring, the voltage sensor is connected to the two input ends of the coupler, and the voltage sensor output voltage can simulate the resultant force of the linear resonant actuator vibrator.
  • One or more of the above measurement points may be selected as needed.
  • the present invention details the method for obtaining the output of the linear resonance actuator in step S130 of FIG. 1 by another embodiment, and the acquisition method is as follows:
  • a current sensor or a voltage sensor is connected to each measurement point of the circuit of the analog linear resonant actuator, and an electrical signal output by the current sensor or the voltage sensor is collected, and the linear resonant driver is calculated according to the electrical signal outputted from each measuring point. Output.
  • the output of the linear resonant driver is obtained by the following calculation method:
  • the conversion coefficient G LRA of the electrical signal outputted by the measuring point corresponding to the resultant force of the linear resonant actuator vibrator f is calculated according to the electromagnetic parameter Km; according to the electromagnetic parameter Km and the second The resistance value (ie, the resistance Rp) is calculated to obtain the conversion coefficient G R of the electrical signal outputted by the measuring point corresponding to the linear resonant actuator vibrator velocity v; the linear resonance is calculated according to the electromagnetic parameter Km and the second inductance value (ie, the inductance Lp)
  • the conversion coefficient G L of the electrical signal outputted by the measuring point corresponding to the transducer displacement d; the electrical signal outputted by the measuring point corresponding to the linear resonant actuator vibrator a is calculated according to the electromagnetic parameter Km and the capacitance value (ie, the capacitance Cp) Conversion factor G C .
  • the current sensor and the converter may be sequentially connected to one end Pt f of the inductor Ls connected to the resistor Rp.
  • the inductor Ls may be connected to one end of the input source negative terminal or the resistor Rs may be connected to the resistor Rp.
  • One end, or one end of the resistor Rs connected to the positive end of the input source, is sequentially connected with a current sensor and a converter, and the current signal is collected by the current sensor I LRA flowing through the inductor Ls, the current signal is the load current of the linear resonant actuator,
  • the converter with a conversion factor of G LRA converts the current signal I LRA into an output of the analog linear resonant actuator vibrator;
  • Pt v sequentially connects the current sensor and the converter, and the current sensor collects flowing through the resistor Rp current signal I R, and using a conversion factor of the converter G R of the current signal I R into an analog linear resonant actuator output transducer speed of the actuator; in Ls end inductance Lp connected inductor Pt d sequentially and a converter current sensor is connected, through which a current flowing through the inductor Lp of the acquisition sensor signal current I L, and using a conversion factor G L in turn An output
  • the conversion coefficient M LRA of the electrical signal outputted by the measuring point corresponding to the resultant force of the linear resonant actuator vibrator is calculated according to the electromagnetic parameter Km; according to the electromagnetic parameter Km and the second The resistance value (ie, the resistance Rr) is calculated to obtain the conversion coefficient M R of the electrical signal outputted by the measuring point corresponding to the linear resonant actuator vibrator velocity v; the linear resonance is calculated according to the electromagnetic parameter Km and the second inductance value (ie, the inductance Lr)
  • the conversion coefficient M L of the electrical signal outputted by the measuring point corresponding to the acceleration of the vibrator a; the electrical signal outputted by the measuring point corresponding to the displacement d of the linear resonant actuator is calculated according to the electromagnetic parameter Km and the capacitance value (ie, the capacitance Cr) Conversion factor M C .
  • the current sensor and the converter when measuring, can be sequentially connected to one end Pt f ' of the inductor Ls connected to the resistor Rr. Since the resistor Rr, the inductor Lr and the capacitor Cr are connected in series, flow through the resistor Rr, the inductor Lr and the capacitor. The current of Cr is the same, so it is also possible to connect the current sensor to one end of the resistor Rr to the inductor Lr, one end of the inductor Lr to the resistor Rr, or one end of the inductor Lr to the capacitor Cr, or one end of the capacitor Cr connection coupler.
  • a converter through which the current signal I LRA flowing through the inductor Ls is collected, the current signal is a load current of the linear resonant actuator, and the current signal I LRA is converted into an analog linearity by a converter with a conversion coefficient of M LRA
  • the output of the combined force of the resonant actuator oscillator; the voltage sensor is connected in parallel across the resistor Rr (Pt v1 ', Pt v2 '), and the voltage sensor is connected to the converter, and the voltage signal across the resistor Rr is collected by the voltage sensor V R , and convert the voltage signal V R to the output of the analog linear resonant actuator vibrator using a converter with a conversion factor of M R ; at both ends of the inductor Lr (Pt a1 ', Pt a2 ') Connect the voltage sensor in parallel, and connect the voltage sensor to the converter, collect the voltage signal V L across the inductor Lr through the voltage sensor, and use the converter with a conversion factor of M L to
  • the above converters are shown as amplifiers in Figures 4 and 5, respectively, and the conversion factor of the converter corresponds to the amplification factor of the amplifier.
  • the test method of the present invention may be implemented by a processor executing program instructions, which are stored in a machine readable storage medium and executed by the processor to implement the method steps of the above-described embodiments of the present invention.
  • the machine readable storage medium can be a memory or a non-volatile memory.
  • the non-volatile memory may be: a storage drive (such as a hard drive), a solid state drive, any type of storage disk (such as a compact disc, a DVD, etc.), or a similar storage medium, or a combination thereof.
  • the memory can be: RAM (Radom Access Memory), volatile memory, non-volatile memory, flash memory.
  • the method steps of the above embodiments of the present invention can be performed on a simulation platform such as Simulink or SPICE. The following is the output of the linear resonant actuator obtained on the Simulink simulation platform. For example:
  • the simulation results that need to be acquired are the load current I LRA , the back electromotive force voltage V BEMF , and the output of the analog linear resonant actuator vibrator acceleration a.
  • the circuit structure in Figure 2 is built on the Simulink simulation platform; then the measurement points are selected in the circuit according to the output required by the linear resonant actuator.
  • a current sensor can be connected to one end of the inductor Ls connected to the resistor Rp, a voltage sensor is connected in parallel across the capacitor Cp, and a current sensor and a converter are sequentially connected to one end of the capacitor Cp connected to the inductor Ls; and then the corresponding drive is selected according to requirements.
  • the square wave signal can be selected as the drive signal, as shown in FIG. 6a, and FIG. 6a shows that on the time axis of 0 to 0.2 seconds, the AC conversion rate is 175 Hz, the low level and the high level are -2 V, respectively.
  • FIG. 6b to Figure 6d sequentially show the load current I LRA and the back electromotive voltage V BEMF of the corresponding measuring point of the circuit driven by the square wave signal V DRV And a signal plot of the output of the oscillator acceleration a of the analog linear resonant actuator, wherein the load current I LRA is approximately between -0.08A and 0.08A, also represented as a square wave signal, back electromotive force voltage V BEMF and simulation
  • the output of the linear resonant actuator oscillator acceleration a is expressed as an oscillating sinusoidal signal.
  • the present invention obtains the output of the linear resonant actuator from the circuit level by the above embodiment.
  • the linear resonant actuator can also be simulated with a single-input multiple-output or single-input single-output system, so the output of the linear resonant actuator can be obtained based on the system model.
  • FIG. 7 is a flowchart of a method for acquiring a linear resonant actuator output according to another embodiment of the present invention, where the method includes:
  • the passive electrical device includes at least a resistor, a capacitor, and an inductor.
  • steps S710 and S720 in FIG. 7 For details of the steps S710 and S720 in FIG. 7 , refer to steps S110 and S120 in FIG. 1 , and details are not described herein again.
  • the transfer function from the input end of the circuit to the measurement point can be calculated according to the following method:
  • the Z-transformation in the time domain is calculated by using the
  • the transfer function from the input of the circuit to the measurement point can be established in one of two ways:
  • the circuit of the analog linear resonant actuator is established by using two inductors, one capacitor and two resistors.
  • the circuit structure can be referred to FIG. 2 or FIG. 3, according to the inductance values of the two inductors, the resistance values of the two resistors, and the capacitance.
  • the value is calculated as the third-order transfer function from the input of the circuit to the measurement point.
  • the output of the analog linear resonant actuator vibrator acceleration is obtained.
  • the measurement point corresponding to the output is the end of the capacitor Cp connected to the inductor Ls, which can be obtained according to the circuit structure and the basic circuit law
  • the coefficients c 0 , c 1 , and c 2 are determined by the parameters of the passive electrical components in the circuit structure (ie, the inductance values of the two inductors, the resistance values of the two resistors, and the capacitance values).
  • the circuit of the analog linear resonant actuator is established by using an inductor, a capacitor and two resistors.
  • the circuit structure can be referred to the circuit structure of the inductor Ls replaced by the wire in FIG. 2 or FIG. 3, which can be based on the inductance value, the capacitance value and Two resistors
  • the resistance value is calculated to obtain the second-order transfer function from the input end of the circuit to the measurement point, and then the second-order transfer function is substituted for the coefficient, so that the second-order transfer function is an expression about the resonant frequency, the damping ratio and the gain of the circuit. .
  • the accuracy of the mode-transfer function is higher and the complexity is higher, so it is not convenient to analyze the dynamic performance of the resonant system corresponding to the transfer function (that is, the simulated linear resonant actuator);
  • the second-order transfer function established by ignoring the inductance Ls corresponds to a second-order under-damped resonant system. Since the transfer function of the second-order underdamped resonant system can be represented by the resonant frequency, damping ratio and gain of the circuit, the dynamics of the system The performance is determined by the resonant frequency and damping ratio, so the simplified second-order transfer function is used to simulate the linear resonant actuator for easy analysis of actuator performance.
  • the embodiment of the present invention also provides a circuit for acquiring the output of the linear resonant actuator based on the same design concept as the method of obtaining the output of the linear resonant actuator.
  • the circuit includes: a first resistor, a first inductor, a capacitor, a second inductor, and a second resistor, a resistance value of the first and second resistors, an inductance value of the first and second inductors, and a capacitance value by the linear resonant actuator Determination of electrical parameters and kinematic parameters;
  • the passive electrical device adopts at least one of the following two connection modes:
  • the capacitor, the second inductor and the second resistor are connected in parallel to each other to form a parallel resonant circuit
  • One end of the first resistor is a positive input terminal, and one end of the first inductor is a negative input terminal, and the other end of the first resistor and the other end of the first inductor are respectively connected to both ends of the parallel resonant circuit.
  • the resistor Rs and the inductor Ls in FIG. 2 are sequentially the first resistor and the first inductor in the implementation manner, and the resistor Rp, the inductor Lp and the capacitor Cp in FIG.
  • the resistance value and the inductance value of the conductive coil of the linear resonant actuator are respectively the resistance value of the first resistor and the inductance value of the first inductor, and the resistance value of the second resistor, the capacitance value of the capacitor, and the inductance value of the second inductor are determined by The resistance value and inductance value of the linear resonant actuator conductive coil and the linear resonant actuator operating current I, the operating voltage V, and the resonant frequency ⁇ 0 of the linear resonant actuator vibrator and the frequency bandwidth B 0 are calculated.
  • the circuit of FIG. 2 further includes: a first current sensor connected to one end of the first resistor or one end of the first inductor, the output of the first current sensor being linearly resonantly actuated a load current of the device; and/or a second current sensor coupled to the second resistor coupled to one end of the first inductor; and/or a third current sensor coupled to the second inductor coupled to one end of the first inductor; Or a fourth current sensor connected to one end of the first inductor connected to the capacitor; and/or a voltage sensor connected in parallel with the capacitor, the output of the voltage sensor being a counter-electrical of the linear resonant actuator Potential voltage.
  • the circuit of FIG. 4 further includes: a first converter connected to the first current sensor, the output of the first converter being a combined force of the oscillators of the linear resonant actuator; And/or a second converter coupled to the second current sensor, the output of the second converter being a vibrator speed of the linear resonant actuator; and/or a third converter coupled to the third current sensor
  • the output of the third converter is the oscillator displacement of the linear resonant actuator; and/or the fourth converter connected to the fourth current sensor, the output of the fourth converter being the oscillator of the linear resonant actuator Acceleration.
  • the conversion coefficient G LRA of the first converter is the electromagnetic parameter Km of the linear resonant actuator
  • the conversion coefficient G R of the second converter is calculated from the electromagnetic parameter Km of the linear resonant actuator and the resistance value of the second resistor
  • the conversion coefficient G L of the third converter is calculated from the electromagnetic parameter Km of the linear resonant actuator and the inductance value of the second inductance
  • the conversion coefficient G C of the fourth converter is determined by the electromagnetic parameter Km of the linear resonant actuator
  • the capacitance value of the capacitor is calculated.
  • the capacitor, the second inductor and the second resistor are connected in series to each other to form a series resonant circuit
  • One end of the first resistor is a positive input terminal, one end of the first inductor is a negative input terminal, the other end of the first resistor is connected to the first input end of the coupler, and the other end of the first inductor is connected to the second input end of the coupler,
  • the first output end and the second output end of the coupler are respectively connected to the series resonant circuit.
  • the resistor Rs and the inductor Ls in FIG. 3 are sequentially the first resistor and the first inductor in the implementation manner, and the resistor Rr, the inductor Lr and the capacitor Cr in FIG.
  • the resistance value and the inductance value of the conductive coil of the linear resonant actuator are respectively the resistance value of the first resistor and the inductance value of the first inductor, and the resistance value of the second resistor, the inductance value of the second inductor, and the capacitance value are linear resonance
  • the resistance value and inductance value of the actuator conductive coil and the linear resonant actuator operating current I, the operating voltage V, and the resonant frequency ⁇ 0 of the linear resonant actuator vibrator and the frequency bandwidth B 0 are calculated.
  • the circuit of FIG. 3 further includes: a first current sensor connected to one end of the second resistor or one end of the second inductor or one end of the capacitor, the output of the first current sensor is a load current of the linear resonant vibrator; and/or a first voltage sensor in parallel with the second resistor; and/or a second voltage sensor in parallel with the second inductor; and/or a third voltage sensor in parallel with the capacitor And/or a fourth voltage sensor connected in parallel with the coupler input, the output of the fourth voltage sensor being the back electromotive voltage of the linear resonant vibrator.
  • the circuit in FIG. 5 further includes: a first conversion connected to the first current sensor, compared to FIG.
  • the output of the first converter is the resultant of the oscillator of the linear resonant actuator; and/or the second converter connected to the first voltage sensor, the output of the second converter being a linear resonant actuator a vibrator speed; and/or a third converter coupled to the second voltage sensor, the output of the third converter being an oscillator acceleration of the linear resonant actuator; and/or the third voltage sensor coupled to the third voltage sensor
  • the output of the fourth converter, the fourth converter is the oscillator displacement of the linear resonant actuator.
  • the conversion coefficient M LRA of the first converter is the electromagnetic parameter Km of the linear resonant actuator
  • the conversion coefficient M R of the second converter is calculated from the electromagnetic parameter Km of the linear resonant actuator and the resistance value of the second resistor
  • the conversion coefficient M L of the third converter is calculated from the electromagnetic parameter Km of the linear resonant actuator and the inductance value of the second inductance
  • the conversion coefficient M C of the fourth converter is determined by the electromagnetic parameter Km of the linear resonant actuator
  • the capacitance value of the capacitor is calculated.
  • a method and a circuit for obtaining the output of a linear resonant actuator are disclosed.
  • the present scheme utilizes a passive electrical device to establish an analog linear resonant actuator circuit model or system model in the development of the project and During the debugging process, the scheme can directly replace the physical actuator, so as to improve the working efficiency and avoid the dependence on the physical actuator.
  • the scheme obtains the electrical signal output from the measuring point based on the circuit model.
  • the output of the simulated linear resonant actuator or based on the transfer function from the input of the circuit model calculation circuit to the measuring point, directly calculates the output of the simulated linear resonant actuator from the transfer function, providing a computer simulation
  • the solution is to obtain the output of the actuator during the test without using an actuator or other electronic device, thereby avoiding the damage of the actuator in the prior art, being easily interfered by the external environment, and being inefficient. Shortcomings.
  • the scheme is based on the working principle of the linear resonant actuator to model it reasonably.
  • the simulation of the actuator working process based on the efficient and simple model can effectively shorten the development cycle of the actuator and control system of the actuator. It can simulate the test effect of tactile vibration, etc.
  • modeling and simulation can also be used in the design phase of linear resonant actuators to simulate and predict the performance before establishing a physical model. In the design and development process of the haptic feedback system, this program has important practical significance.
  • the words “first” and “second” are used to distinguish the same items or similar items whose functions and functions are substantially the same. Personnel can understand that the words “first” and “second” do not limit the quantity and order of execution.

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Abstract

一种获取线性谐振致动器输出量的方法和电路。该方法包括：根据线性谐振致动器的电学参数和运动学参数，利用无源电器件建立模拟线性谐振致动器的电路，无源电器件至少包括电阻、电容和电感（S110）；根据线性谐振致动器所需要的输出量在电路中选取测量点（S120）；将输入源的驱动信号输入至电路的输入端，采集测量点输出的电信号得到被模拟的线性谐振致动器的输出量（S130）。该方法和电路通过建立模拟线性谐振致动器的电路模型或系统模型，在项目的开发和调试过程中，利用所建立的电路模型或系统模型替换直接使用物理致动器的方案，从而可以提高效率，避免对物理致动器的依赖。

Description

一种获取线性谐振致动器输出量的方法和电路 技术领域
本发明涉及触觉反馈技术领域，特别涉及一种获取线性谐振致动器输出量的方法和电路。
背景技术
针对人们听觉、视觉的音视频技术在过去的几十年得到充分的发展和应用。近几年，工业界开始将目光转向其它感官通道，针对触觉的力反馈、振动技术开始被开发，触觉反馈技术逐渐在消费电子、家电、工业中得到应用。从早期的寻呼机振动提示，到近期的手机、穿戴设备触控技术，基于触觉相关技术已经成为人机交互技术中的重要组成部分。
触觉反馈系统中产生振动的部件是致动器(俗称马达)，致动器的振动传递给所在设备，然后传导到用户肢体、躯体的皮肤，产生振动触觉。现有方案，大多直接使用物理的致动器，进行驱动和控制算法的开发和调试。现有技术方法不但效率低，而且致动器的性能会有损耗甚至有损坏的风险。
发明内容
本发明提供了一种获取线性谐振致动器输出量的方法和电路，以解决现有技术直接利用物理的致动器进行项目的开发和调试时，效率低、易损耗或损坏致动器性能的问题。
为达到上述目的，本发明的技术方案是这样实现的：
一方面，本发明实施例提供了一种获取线性谐振致动器输出量的方法，该方法包括：
根据线性谐振致动器的电学参数和运动学参数，利用无源电器件建立模拟线性谐振致动器的电路，无源电器件至少包括电阻、电容和电感；
根据线性谐振致动器所需要的输出量在电路中选取测量点；
将输入源的驱动信号输入至电路的输入端，采集测量点输出的电信号得到被模拟的线性谐振致动器的输出量。
另一方面，本发明实施例提供了一种获取线性谐振致动器输出量的方法，该方法包括：
根据线性谐振致动器的电学参数和运动学参数，利用无源电器件建立模拟线性谐振致动器的电路，无源电器件至少包括电阻、电容和电感；
根据线性谐振致动器所需要的输出量在电路中选取测量点；
计算从电路的输入端至测量点的传递函数；
根据输入源的驱动信号和传递函数计算得到被模拟的线性谐振致动器的输出量。
又一方面，本发明实施例提供了一种获取线性谐振致动器输出量的电路，该电路包括：第一电阻、第一电感、电容、第二电感和第二电阻；
电容、第二电感和第二电阻相互并联形成并联谐振电路，第一电阻的一端为正极输入端，第一电感的一端为负极输入端，第一电阻的另一端和第一电感的另一端分别连接并联谐振电路的两端；
或者，
电容、第二电感和第二电阻相互串联形成串联谐振电路，第一电阻的一端为正极输入端，第一电感的一端为负极输入端，第一电阻的另一端连接耦合器的第一输入端，第一电感的另一端连接耦合器的第二输入端，耦合器的第一输出端和第二输出端分别连接所述串联谐振电路的两端；
其中，第一、第二电阻的电阻值，第一、第二电感的电感值以及电容值由所述线性谐振致动器电学参数和运动学参数确定。
本发明实施例的有益效果是：一方面，本方案利用无源电器件建立模拟线性谐振致动器电路模型或系统模型，在项目的开发和调试过程中，可用本方案替换直接使用物理致动器的方案，达到提高工作效率，避免对物理致动器的依赖的效果；另一方面，本方案基于电路模型采集测量点输出的电信号得到被模拟的线性谐振致动器的输出量，或者基于电路模型计算电路的输入端至测量点的传递函数，由传递函数直接计算出被模拟的线性谐振致动器的输出量，提供了计算机仿真的方案，在不使用致动器或其他电子器件的情况下，通过算法得到测试过程中致动器的输出量，避免了现有技术中易于损坏致动器、易于受到外界环境干扰、效率低的缺点。
本方案依据线性谐振致动器的工作原理对其合理地建立模型，基于高效、简洁的模型进行致动器工作过程的仿真，能有效地缩短致动器的驱动和控制系统的研发周期、也能模拟触觉振动的测试效果等；另外，建模和仿真还可以用于线性谐振致动器的设计阶段，在建立物理模型前进行仿真并预测其性能。在触觉反馈系统的设计和开发过程中，本方案具有重要的实际意义。
附图说明
图1为本发明一个实施例提供的获取线性谐振致动器输出量的方法流程图；
图2为本发明另一个实施例提供的模拟线性谐振致动器的第一电路的电路结构图；
图3为本发明另一个实施例提供的模拟线性谐振致动器的第二电路的电路结构图；
图4为本发明另一个实施例提供的获取线性谐振致动器输出量的第一电路的电路结构图；
图5为本发明另一个实施例提供的获取线性谐振致动器输出量的第二电路的电路结构图；
图6a为本发明另一个实施例提供的一种驱动信号的示意图；
图6b为本发明另一个实施例提供的在图6a驱动信号的激励下，相应测量点输出线性谐振致动器负载电流的示意图；
图6c为本发明另一个实施例提供的在图6a驱动信号的激励下，相应测量点输出线性谐振致动器反电动势电压的示意图；
图6d为本发明另一个实施例提供的在图6a驱动信号的激励下，相应测量点输出线性谐振致动器振子加速度的示意图；
图7为本发明另一个实施例提供的获取线性谐振致动器输出量的方法流程图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明实施方式作进一步地详细描述。
触觉反馈系统中的致动器(actuator)是执行控制指令、将驱动信号转换为物理振动的关键部分。致动器通常包括偏心旋转质量致动器(ERM)和线性谐振致动器(LRA)两种，本专利以线性谐振致动器为例来进行说明。
线性谐振致动器的工作原理为:交变的电信号施加在线性谐振致动器的导电线圈上，从而在磁场中产生交变的驱动力，驱动线性谐振致动器里面的可移动质量块(或简称振子)沿直线进行往返运动。
为了在触觉反馈系统的研发阶段前期减少对物理致动器的依赖，提高研发效率，降低研发成本，一种解决方案就是对致动器的工作机制进行计算机仿真。基于此，本发明一个实施例提供了一种获取线性谐振致动器输出量的方法。图1为本发明一个实施例提供的获取线性 谐振致动器输出量的方法流程图，如图1所示，该方法包括：
S110，根据线性谐振致动器的电学参数和运动学参数，利用无源电器件建立模拟线性谐振致动器的电路，无源电器件至少包括电阻、电容和电感。
基于上述线性谐振致动器的工作原理可知，线性谐振致动器是一种电磁机械系统，由于线性谐振致动器包括导电线圈，因此线性谐振致动器本身就有电阻属性和电感属性，且线性谐振致动器的谐振部分是由质量块和弹簧组成的机械结构，因此可以用电阻-电感-电容谐振电路(即RLC谐振电路)来描述。
S120，根据线性谐振致动器所需要的输出量在电路中选取测量点。
其中，所需要的输出量包括振子合力、振子速度、振子加速度、振子位移、线性谐振致动器的负载电流、反电动势电压，设计人员可根据实际需求，选择其中一个或多个输出量，则测量每个输出量的数据的测量点可以对应电路中一条线路或电路中的一个器件，如通过流经该条线路中的电流信号、流经该器件的电流信号或加载在该器件两端的电压信号等等获取到输出量。
S130，将输入源的驱动信号输入至电路的输入端，采集测量点输出的电信号得到被模拟的线性谐振致动器的输出量。
所得到的输出量可以辅助线性谐振致动器控制算法的开发，以及辅助触觉效果的设计和开发。
其中，驱动信号可以根据需要进行选择，例如可选择短时脉冲信号、一个或多个周期的方波、正弦波、脉宽调制(PWM)信号等。
在实际应用中，可以通过下述方法采集测量点输出的电信号：
在电路的每个测量点上连接电流传感器或电压传感器，采集电流传感器或电压传感器输出的电信号，根据每个测量点输出的电信号计算得到线性谐振驱动器相应的输出量。
由上，图1中的方法通过建立电路模型模拟线性谐振致动器，使用无源电子元件电阻、电容、电感形成电路，从而在电路层面上模拟线性谐振致动器的属性，并可以基于简洁的电路模型进行线性谐振致动器工作过程的仿真，从而有效地缩短致动器驱动和控制系统的研发周期；还可以在线性谐振致动器的设计阶段，基于电路模型预测线性谐振致动器的性能。
在发明的另一个实施例中，图1中的步骤S110可以具体为：根据线性谐振致动器导电线圈的电学参数，选取第一电阻和第一电感；以及根据线性谐振致动器导电线圈的电学参数和振子的运动学参数，选取电容、第二电阻和第二电感，则本发明实施例可以通过下述两种实 现方案中的一种来建立模拟线性谐振致动器的电路：
实现方案一
将第一电阻和第一电感串联以及将电容、第二电感和第二电阻并联建立模拟所述线性谐振致动器的第一电路，其中，第一电阻的一端连接输入源的正极端，第一电感的一端连接输入源的负极端，电容、第二电感和第二电阻相互并联形成并联谐振电路，并联谐振电路的两端分别串联连接在第一电阻的另一端和第一电感的另一端之间。
采用本实现方案连接成的第一电路的电路结构可参考图2，图2中的电阻Rs和电感Ls依次为本实现方案中的第一电阻和第一电感，通过电阻Rs和电感Ls模拟线性谐振致动器的导电线圈；图2中的电阻Rp、电感Lp和电容Cp依次为本实现方案中的第二电阻、第二电感和电容，通过相互并联的电阻Rp、电感Lp和电容Cp组成的并联谐振电路模拟线性谐振致动器的振子。
实现方案二：
将第一电阻和第一电感串联，以及将电容、第二电感和第二电阻串联建立模拟线性谐振致动器的第二电路，其中，第一电阻的一端连接输入源的正极端，第一电感的一端连接输入源的负极端，第一电阻的另一端连接耦合器的第一输入端，第一电感的另一端连接到耦合器的第二输入端，电容、第二电感和第二电阻相互串联形成串联谐振电路，串联谐振电路的两端分别串联连接在耦合器的第一输出端和第二输出端之间。
采用本实现方案连接成的第二电路的电路结构可参考图3，图3中的电阻Rs和电感Ls依次为本实现方案中的第一电阻和第一电感，通过电阻Rs和电感Ls模拟线性谐振致动器的导电线圈；图3中的电阻Rr、电感Lr和电容Cr依次为本实现方案中的第二电阻、第二电感和电容，通过相互串联的电阻Rr、电感Lr和电容Cr组成的串联谐振电路模拟线性谐振致动器的振子。串联的电阻Rs和电感Ls通过电压耦合器T与串联的电阻Rr、电感Lr和电容Cr耦合连接。
由于线性谐振致动器振子振动过程中，振子受到三种力的作用，分别为根据振子加速度与振子质量的乘积计算得到的牛顿力、根据振子振动过程中所受摩擦系数与振子速度的乘积计算得到阻碍力，以及根据振子弹性系数与振子位移的乘积计算得到的弹力，这三种力的合力即为振子合力。
在利用图2中的电路模拟线性谐振致动器时，可以用电路中并联的RLC谐振电路模拟振子的振动过程，由于RLC谐振电路的总电流分别为流经电阻Rp的电流、电感Lp的电流和 电容Cp的电流的和。那么在设计过程中，可以将振子合力与RLC谐振电路的总电流建立对应关系，对于振子振动过程中形成的振子加速度、振子速度和振子位移，以振子速度为基准值，通过对振子速度进行微分运算即可得到振子加速度，通过对振子速度进行积分运算即可得到振子位移；而在RLC谐振电路中，通过对作用在电阻Rp上的电压进行除法运算即可得流经电阻Rp的电流值，通过对作用在电感Lp上的电压进行积分运算即可得到流经电感Lp的电流值，通过对作用在电容Cp上的电压进行微分运算即可得到流经电容Cp的电流值，通过分析可以将涉及微分运算的振子加速度与RLC谐振电路中流经电容Cp的电流建立对应关系，将涉及积分运算的振子位移与RLC谐振电路中流经电感Lp的电流建立对应关系，将不涉及积分运算也不涉及微分运算的振子速度与RLC谐振电路中流经电阻Rp的电流建立对应关系。
在确定上述对应关系后，即可通过下述方法确定各个无源电器件的参数：
将线性谐振致动器导电线圈的电阻值和电感值分别设置为第一电阻值(即电阻Rs)和第一电感值(即电感Ls)；根据线性谐振致动器导电线圈的电阻值和电感值及线性谐振致动器工作电流、工作电压，以及线性谐振致动器振子的谐振频率和频率带宽计算得到第二电阻值、电容值和第二电感值。
例如，在图2所示的第一电路中，可根据线性谐振致动器导电线圈电阻值和电感值及线性谐振致动器工作电流I、工作电压V，以及线性谐振致动器振子的谐振频率ω0计算得到第二电阻值(即电阻Rp)；根据第二电阻值和线性谐振致动器振子的频率带宽B0计算得到电容值(即电容Cp)；以及根据电容值和线性谐振致动器振子的谐振频率ω0计算得到第二电感值(即电感Lp)。而在图3所示的第二电路中，可根据线性谐振致动器导电线圈的电阻值和电感值及线性谐振致动器工作电流I、工作电压V，以及线性谐振致动器振子的谐振频率ω0计算得到第二电阻值(即电阻Rr)；根据第二电阻值和线性谐振致动器振子的频率带宽B0计算得到第二电感值(即电感Lr)；根据第二电感值和线性谐振致动器振子的谐振频率ω0计算得到电容值(即电容Cr)。
需要说明的是，由于线性谐振致动器的供应商一般不会提供致动器的电磁参数Km、致动器振子质量、振子的弹性系数、振子的摩擦系数等参数，通常提供线性谐振致动器导电线圈的电阻值和电感值，线性谐振致动器工作电流、工作电压，以及线性谐振致动器振子的谐 振频率和频率带宽工作参数，因此，本发明优选使用上述工作参数计算第一电路或第二电路中各无源电器件的参数值。若线性谐振致动器的供应商提供致动器的电磁参数Km、致动器振子质量、振子的弹性系数、振子的摩擦系数等参数，也可以基于振子的力学方程与第一电路或第二电路中的电学方程之间的对应关系，利用线性谐振致动器电磁参数Km以及线性谐振致动器振子质量、振子的弹性系数、振子的摩擦系数计算得到第二电阻值、电容值和第二电感值。
对比图2和图3，图2中用于模拟线性谐振致动器的导电线圈的第一电阻值(电阻Rs)和第一电感值(电感Ls)与图3中用于模拟线性谐振致动器的导电线圈的第一电阻值(电阻Rs)和第一电感值(电感Ls)相同，但图2中用于模拟线性谐振致动器振子谐振运动的第二电阻值(电阻Rp)、第二电感值(电感Lp)和电容值(电容Cp)与图3中用于模拟线性谐振致动器振子谐振运动的第二电阻值(电阻Rr)、第二电感值(电感Lr)和电容值(电容Cr)并不相同。
在依照上述方法建立好模拟线性谐振致动器的电路后，本发明通过另一个实施例详细说明图1中步骤S120选取测量点的方法，选取测量点的方法如下所示：
在模拟线性谐振致动器的电路为第一电路时，选取第一电阻的一端或第一电感的一端作为线性谐振致动器振子合力的测量点；选取第二电阻连接第一电感的一端作为线性谐振致动器振子速度的测量点；选取第二电感连接第一电感的一端作为线性谐振致动器振子位移的测量点；选取电容连接第一电感的一端作为线性谐振致动器振子加速度的测量点；选取电容作为线性谐振致动器反电动势电压的测量点，测量时，在电容Cp的两端连接电压传感器，电压传感器输出电压即可模拟线性谐振致动器振子合力。根据需要上述测量点可以选取一个或多个。
在模拟线性谐振致动器的电路为第二电路时，选取第二电阻的一端或第二电感的一端或电容的一端作为线性谐振致动器振子合力的测量点；选取第二电阻作为线性谐振致动器振子速度的测量点；选取第二电感作为线性谐振致动器振子加速度的测量点；选取电容作为线性谐振致动器振子位移的测量点；选取耦合器的输入端作为线性谐振致动器反电动势电压的测量点，测量时，在耦合器的两个输入端接入电压传感器，电压传感器输出电压即可模拟线性谐振致动器振子合力。根据需要上述测量点可以选取一个或多个。
在依照上述方法选好测量点后，本发明通过另一个实施例详细说明图1中步骤S130获取线性谐振致动器的输出量的方法，获取方法如下：
在模拟线性谐振致动器的电路的每个测量点上连接电流传感器或电压传感器，采集电流传感器或电压传感器输出的电信号，并根据每个测量点输出的电信号计算得到线性谐振驱动器相应的输出量。
在本实施例的一个实现方案中，通过下述计算方法得到线性谐振驱动器的输出量：
根据线性谐振致动器导电线圈的长度和磁通量密度计算电磁参数Km，该电磁参数又称为线性谐振致动器的马达参数；根据电磁参数Km和电路中无源电器件的参数计算对应于每个测量点输出的电信号的转换系数；通过计算每个测量点输出的电信号与其对应的转换系数的乘积，得到线性谐振致动器相应的输出量。
其中，每个测量点输出的电信号的转换系数的计算方法如下：
在模拟线性谐振致动器的电路为第一电路时，根据电磁参数Km计算得到线性谐振致动器振子合力f对应的测量点输出的电信号的转换系数GLRA；根据电磁参数Km和第二电阻值(即电阻Rp)计算得到线性谐振致动器振子速度v对应的测量点输出的电信号的转换系数GR；根据电磁参数Km和第二电感值(即电感Lp)计算得到线性谐振致动器振子位移d对应的测量点输出的电信号的转换系数GL；根据电磁参数Km和电容值(即电容Cp)计算得到线性谐振致动器振子加速度a对应的测量点输出的电信号的转换系数GC。
参考图4所示，测量时，可以在电感Ls连接电阻Rp的一端Ptf依次连接电流传感器和转换器，当然也可以在电感Ls连接输入源负极端的一端、或在电阻Rs连接电阻Rp的一端、或在电阻Rs连接输入源正极端的一端依次连接电流传感器和转换器，通过该电流传感器采集流经电感Ls的电流信号ILRA，该电流信号为线性谐振致动器的负载电流，利用转换系数为GLRA的转换器将电流信号ILRA转换为模拟线性谐振致动器振子合力的输出量；在电阻Rp连接电感Ls的一端Ptv依次连接电流传感器和转换器，通过该电流传感器采集流经电阻Rp的电流信号IR，并利用转换系数为GR的转换器将电流信号IR转换为模拟线性谐振致动器振子速度的输出量；在电感Lp连接电感Ls的一端Ptd依次连接电流传感器和转换器，通过该电流传感器采集流经电感Lp的电流信号IL，并利用转换系数为GL的转换器将电流信号IL转换为模拟线性谐振致动器振子位移的输出量；在电容Cp连接电感Ls的一端Pta依次连接电流传感器和转换器，通过该电流传感器采集流经电容Cp的电流信号IC，并利用转换系数为GC的转换器将电流信号IC转换为模拟线性谐振致动器振子加速度的输出量。
在模拟线性谐振致动器的电路为第二电路时，根据电磁参数Km计算得到线性谐振致动 器振子合力f对应的测量点输出的电信号的转换系数MLRA；根据电磁参数Km和第二电阻值(即电阻Rr)计算得到线性谐振致动器振子速度v对应的测量点输出的电信号的转换系数MR；根据电磁参数Km和第二电感值(即电感Lr)计算得到线性谐振致动器振子加速度a对应的测量点输出的电信号的转换系数ML；根据电磁参数Km和电容值(即电容Cr)计算得到线性谐振致动器振子位移d对应的测量点输出的电信号的转换系数MC。
参考图5所示，测量时，可以在电感Ls连接电阻Rr的一端Ptf’依次连接电流传感器和转换器，由于电阻Rr、电感Lr和电容Cr相互串联，流经电阻Rr、电感Lr和电容Cr的电流相同，因此也可以在电阻Rr连接电感Lr的一端、或在电感Lr连接电阻Rr的一端、或在电感Lr连接电容Cr的一端，或在电容Cr连接耦合器的一端依次连接电流传感器和转换器，通过该电流传感器采集流经电感Ls的电流信号ILRA，该电流信号为线性谐振致动器的负载电流，利用转换系数为MLRA的转换器将电流信号ILRA转换为模拟线性谐振致动器振子合力的输出量；在电阻Rr两端(Ptv1’,Ptv2’)并联接入电压传感器，并使该电压传感器连接到转换器，通过电压传感器采集电阻Rr两端的电压信号VR，并利用转换系数为MR的转换器将电压信号VR转换为模拟线性谐振致动器振子速度的输出量；在电感Lr的两端(Pta1’,Pta2’)并联接入电压传感器，并使该电压传感器连接到转换器，通过电压传感器采集电感Lr两端的电压信号VL，并利用转换系数为ML的转换器将电压信号VL转换为模拟线性谐振致动器振子加速度的输出量；在电容Cr的两端(Ptd1’,Ptd2’)并联接入电压传感器，并使该电压传感器连接到转换器，通过电压传感器采集电容Cr两端的电压信号VC，并利用转换系数为MC的转换器将电压信号VC转换为模拟线性谐振致动器振子位移的输出量。
上述转换器在图4和图5中分别表示为放大器，转化器的转换系数对应为放大器的放大系数。
需要说明的是，本发明的测试方法可由处理器执行程序指令实现，该程序指令存储在机器可读存储介质中，被处理器执行时实现本发明上述实施例的方法步骤。在不同的实施例中，机器可读存储介质可以是内存或者非易失性存储器。其中非易失性存储器可以是：存储驱动器(如硬盘驱动器)、固态硬盘、任何类型的存储盘(如光盘、DVD等)，或者类似的存储介质，或者它们的组合。内存可以是：RAM(Radom Access Memory，随机存取存储器)、易失存储器、非易失性存储器、闪存。可以理解为，可以在Simulink、SPICE等仿真平台上执行本发明上述实施例的方法步骤。下面以在Simulink仿真平台上获取线性谐振致动器的输出量为 例进行说明：
假设针对一个谐振频率为175Hz的致动器，需要获取的仿真结果为负载电流ILRA、反电动势电压VBEMF和模拟线性谐振致动器振子加速度a的输出量。
首先在Simulink仿真平台上搭建图2中的电路结构；然后根据线性谐振致动器所需要的输出量在电路中选取测量点。基于上述假设，可以在电感Ls连接电阻Rp的一端连接电流传感器，在电容Cp的两端并联电压传感器，在电容Cp连接电感Ls的一端依次连接电流传感器和转换器；再根据需求选择相应的驱动信号，采集并显示各个测量点的电流传感器或电压传感器或转换器的输出量。
示例地，可以选择方波信号为驱动信号，如图6a所示，图6a示出了在0～0.2秒的时间轴上，交变频率为175Hz、低电平和高电平分别为-2V和2V，共持续10个周期的驱动电压信号VDRV；图6b～图6d依次示出了在方波信号VDRV的驱动下，电路的相应测量点输出的负载电流ILRA、反电动势电压VBEMF和模拟线性谐振致动器的振子加速度a的输出量的信号曲线图，其中，负载电流ILRA大致在-0.08A至0.08A之间，也表现为方波信号，反电动势电压VBEMF和模拟线性谐振致动器振子加速度a的输出量都表现为震荡的正弦信号。
由上，本发明通过上述实施例从电路层面上获取了线性谐振致动器的输出量。
在电路模型的基础上，还可以用单输入多输出或单输入单输出的系统模拟线性谐振致动器，因此可以基于系统模型获取线性谐振致动器的输出量。
如图7所示，图7为本发明另一个实施例提供的获取线性谐振致动器输出量的方法流程图，该方法包括：
S710，根据线性谐振致动器的电学参数和运动学参数，利用无源电器件建立模拟线性谐振致动器的电路，无源电器件至少包括电阻、电容和电感。
S720，根据线性谐振致动器所需要的输出量在电路中选取测量点。
S730，计算从电路的输入端至测量点的传递函数。
S740，根据输入源的驱动信号和传递函数计算得到被模拟的线性谐振致动器的输出量。
其中，图7中的步骤S710和S720的具体内容可参见图1中的步骤S110和S120，在此不再赘述。
在本发明的另一个实施例中，对于图7中的步骤S730，可以根据下述方法计算从电路的输入端至测量点的传递函数包括：
确定线性谐振致动器输出量与电路测量点输出的电信号之间的转换关系；参考图4中连 在各测量点的相应转换器的转换系数的计算方法，即可获得线性谐振致动器输出量与电路测量点输出的电信号之间的线性关系；
根据对应关系以及电路的电路结构、无源电器件参数，计算以线性谐振致动器输出量为输出变量、输入端的驱动信号为输入变量的传递函数。
为便于理解，基于图4中的电路结构，以获取模拟线性谐振致动器振子合力的输出量为例进行说明：
模拟线性谐振致动器振子合力的输出量对应的测量点为电路中电感Ls连接电阻Rp的一端，根据电路结构以及基本的电路定律，如基尔霍夫电流定律KCL或基尔霍夫电压定律KVL，可以得到以测量点的输出电流ILRA为输出变量y(t)，驱动信号VDRV为输入变量x(t)的关系，可以用函数表示为y(t)＝F{x(t)}，计算方法可采用现有技术中的方法，如对输入变量x(t)和输出变量y(t)进行连续时域上的拉普拉斯变换，利用变换后的输入变量X(s)和输出变量Y(s)计算得到连续时域上的系统传递函数H(s)＝Y(s)/X(s)；也可以对输入变量x(t)和输出变量y(t)进行离散时域上的Z变换，利用Z变换后的输入变量X(z)和输出变量Y(z)计算得到离散时域上的系统传递函数H(z)＝Y(z)/X(z)。
在本发明的另一个实施例中，可以通过下述两种方式中的一种，建立电路的输入端至测量点的传递函数：
方式一：
利用两个电感、一个电容和两个电阻建立模拟线性谐振致动器的电路，该电路结构可以参照图2或图3所示，根据两个电感的电感值、两个电阻的电阻值和电容值计算得到电路的输入端至测量点的三阶传递函数。
示例性地，以获取模拟线性谐振致动器振子加速度的输出量为例。如图4所示，该输出量对应的测量点为电容Cp连接电感Ls的一端，则根据电路结构以及基本的电路定律可以得到，以该测量点对应的转换器的输出量为输出变量Y(s)、以方波信号为输入变量X(s)，根据H(s)＝Y(s)/X(s)计算得到
Figure PCTCN2017100517-appb-000001
其中，系数c0、c1、c2由电路结构中的无源电器件的参数(即两个电感的电感值、两个电阻的电阻值和电容值)决定。
方式二：
利用一个电感、一个电容和两个电阻建立模拟线性谐振致动器的电路，该电路结构可以参见图2或图3中电感Ls被导线替代后的电路结构，可以先根据电感值、电容值和两个电阻 的电阻值计算得到电路的输入端至测量点的二阶传递函数，再将该二阶传递函数进行系数代换，使该二阶传递函数为关于电路的谐振频率、阻尼比和增益的表达式。
对于上述两种方式，方式一传递函数的精度较高，复杂度也较高，因此不便于分析该传递函数对应的谐振系统(也即被模拟线性谐振致动器)的动态性能；方式二通过忽略电感Ls所建立的二阶传递函数对应为二阶的欠阻尼谐振系统，由于该二阶的欠阻尼谐振系统的传递函数可以利用电路的谐振频率、阻尼比和增益来表示，而系统的动态性能由谐振频率和阻尼比决定，因而利用简化后的二阶传递函数模拟线性谐振致动器，方便分析致动器性能。
基于与获取线性谐振致动器输出量的方法相同的设计构思，本发明实施例还提供了一种获取线性谐振致动器输出量的电路。
该电路包括：第一电阻、第一电感、电容、第二电感和第二电阻，第一、第二电阻的电阻值，第一、第二电感的电感值以及电容值由线性谐振致动器电学参数和运动学参数确定；
本实施例中上述无源电器件采用如下两种连接方式中的至少一种：
方式一：
电容、第二电感和第二电阻相互并联形成并联谐振电路；
第一电阻的一端为正极输入端，所述第一电感的一端为负极输入端，第一电阻的另一端和第一电感的另一端分别连接并联谐振电路的两端。
上述方式连接成的电路结构可参考图2，图2中的电阻Rs和电感Ls依次为本实现方案中的第一电阻和第一电感，图2中的电阻Rp、电感Lp和电容Cp即依次为本实现方案中的第二电阻、第二电感和电容。
其中，线性谐振致动器导电线圈的电阻值和电感值分别为第一电阻的电阻值和第一电感的电感值，第二电阻的电阻值、电容的电容值和第二电感的电感值由线性谐振致动器导电线圈的电阻值和电感值及线性谐振致动器工作电流I、工作电压V，以及线性谐振致动器振子的谐振频率ω0、频率带宽B0计算得到。
在本实施例的一个优选方案中，图2中的电路还包括：与第一电阻的一端或第一电感的一端相连接的第一电流传感器，第一电流传感器的输出量为线性谐振致动器的负载电流；和/或，与第二电阻连接第一电感的一端相连接的第二电流传感器；和/或，与第二电感连接第一电感的一端相连接的第三电流传感器；和/或，与电容连接第一电感的一端相连接的第四电流传感器；和/或，与电容并联的电压传感器，电压传感器的输出量为线性谐振致动器的反电动 势电压。
如图4所示，相比于图2，图4中的电路还包括：与第一电流传感器相连接的第一转换器，第一转换器的输出量为线性谐振致动器的振子合力；和/或，与第二电流传感器相连接的第二转换器，第二转换器的输出量为线性谐振致动器的振子速度；和/或，与第三电流传感器相连接的第三转换器，第三转换器的输出量为线性谐振致动器的振子位移；和/或，与第四电流传感器相连接的第四转换器，第四转换器的输出量为线性谐振致动器的振子加速度。
其中，第一转换器的转换系数GLRA为线性谐振致动器的电磁参数Km，第二转换器的转换系数GR由线性谐振致动器的电磁参数Km和第二电阻的电阻值计算得到；第三转换器的转换系数GL由线性谐振致动器的电磁参数Km和第二电感的电感值计算得到；第四转换器的转换系数GC由线性谐振致动器的电磁参数Km和电容的电容值计算得到。
方式二：
电容、第二电感和第二电阻相互串联形成串联谐振电路；
第一电阻的一端为正极输入端，第一电感的一端为负极输入端，第一电阻的另一端连接耦合器的第一输入端，第一电感的另一端连接耦合器的第二输入端，耦合器的第一输出端和第二输出端分别连接串联谐振电路。
上述方式连接成的电路结构可参考图3，图3中的电阻Rs和电感Ls依次为本实现方案中的第一电阻和第一电感，图3中的电阻Rr、电感Lr和电容Cr即依次为本实现方案中的第二电阻、第二电感和电容。
其中，线性谐振致动器导电线圈的电阻值和电感值分别为第一电阻的电阻值和第一电感的电感值，第二电阻的电阻值、第二电感的电感值和电容值由线性谐振致动器导电线圈的电阻值和电感值及线性谐振致动器工作电流I、工作电压V，以及线性谐振致动器振子的谐振频率ω0、频率带宽B0计算得到。
在本实施例的一个优选方案中，图3中的电路还包括：与第二电阻的一端或第二电感的一端或电容的一端相连接的第一电流传感器，第一电流传感器的输出量为线性谐振振动器的负载电流；和/或，与第二电阻并联的第一电压传感器；和/或，与第二电感并联的第二电压传感器；和/或，与电容并联的第三电压传感器；和/或，与耦合器输入端并联的第四电压传感器，第四电压传感器的输出量为线性谐振振动器的反电动势电压。
如图5所示，相比于图3，图5中的电路还包括：与第一电流传感器相连接的第一转换 器，第一转换器的输出量为线性谐振致动器的振子合力；和/或，与第一电压传感器相连接的第二转换器，第二转换器的输出量为线性谐振致动器的振子速度；和/或，与第二电压传感器相连接的第三转换器，第三转换器的输出量为线性谐振致动器的振子加速度；和/或，与第三电压传感器相连接的第四转换器，第四转换器的输出量为线性谐振致动器的振子位移。
其中，第一转换器的转换系数MLRA为线性谐振致动器的电磁参数Km；第二转换器的转换系数MR由线性谐振致动器的电磁参数Km和第二电阻的电阻值计算得到；第三转换器的转换系数ML由线性谐振致动器的电磁参数Km和第二电感的电感值计算得到；第四转换器的转换系数MC由线性谐振致动器的电磁参数Km和电容的电容值计算得到。
综上所述，公开了一种获取线性谐振致动器输出量的方法和电路，一方面，本方案利用无源电器件建立模拟线性谐振致动器电路模型或系统模型，在项目的开发和调试过程中，可用本方案替换直接使用物理致动器的方案，达到提高工作效率，避免对物理致动器的依赖的效果；另一方面，本方案基于电路模型采集测量点输出的电信号得到被模拟的线性谐振致动器的输出量，或者基于电路模型计算电路的输入端至测量点的传递函数，由传递函数直接计算出被模拟的线性谐振致动器的输出量，提供了计算机仿真的方案，在不使用致动器或其他电子器件的情况下，通过算法得到测试过程中致动器的输出量，避免了现有技术中易于损坏致动器、易于受到外界环境干扰、效率低的缺点。
本方案依据线性谐振致动器的工作原理对其合理地建立模型，基于高效、简洁的模型进行致动器工作过程的仿真，能有效地缩短致动器的驱动和控制系统的研发周期、也能模拟触觉振动的测试效果等；另外，建模和仿真还可以用于线性谐振致动器的设计阶段，在建立物理模型前进行仿真并预测其性能。在触觉反馈系统的设计和开发过程中，本方案具有重要的实际意义。
为了便于清楚描述本发明实施例的技术方案，在发明的实施例中，采用了“第一”、“第二”等字样对功能和作用基本相同的相同项或相似项进行区分，本领域技术人员可以理解“第一”、“第二”等字样并不对数量和执行次序进行限定。
以上所述，仅为本发明的具体实施方式，在本发明的上述教导下，本领域技术人员可以在上述实施例的基础上进行其他的改进或变形。本领域技术人员应该明白，上述的具体描述只是更好的解释本发明的目的，本发明的保护范围以权利要求的保护范围为准。

Claims (20)

  1. 一种获取线性谐振致动器输出量的方法，其中，所述方法包括：
    根据线性谐振致动器的电学参数和运动学参数，利用无源电器件建立模拟所述线性谐振致动器的电路，所述无源电器件至少包括电阻、电容和电感；
    根据所述线性谐振致动器所需要的输出量在电路中选取测量点；
    将输入源的驱动信号输入至电路的输入端，采集所述测量点输出的电信号得到被模拟的线性谐振致动器的输出量。
  2. 根据权利要求1所述的方法，其中，所述根据线性谐振致动器的电学参数和运动学参数，利用无源电器件建立模拟所述线性谐振致动器的电路包括：
    根据所述线性谐振致动器导电线圈的电学参数，选取第一电阻和第一电感；以及根据所述线性谐振致动器导电线圈的电学参数和振子的运动学参数，选取电容、第二电阻和第二电感；
    将第一电阻和第一电感串联以及将电容、第二电感和第二电阻并联建立模拟所述线性谐振致动器的第一电路，其中，所述第一电阻的一端连接输入源的正极端，所述第一电感的一端连接输入源的负极端，所述电容、所述第二电感和所述第二电阻相互并联形成并联谐振电路，所述并联谐振电路的两端分别串联连接在所述第一电阻的另一端和所述第一电感的另一端之间；
    或者，将第一电阻和第一电感串联以及将电容、第二电感和第二电阻串联建立模拟所述线性谐振致动器的第二电路，其中，所述第一电阻的一端连接输入源的正极端，所述第一电感的一端连接输入源的负极端，第一电阻的另一端连接耦合器的第一输入端，第一电感的另一端连接到耦合器的第二输入端，所述电容、所述第二电感和所述第二电阻相互串联形成串联谐振电路，所述串联谐振电路的两端分别串联连接在耦合器的第一输出端和第二输出端之间。
  3. 根据权利要求2所述的方法，其中，所述根据线性谐振致动器的电学参数和运动学参数，利用无源电器件建立模拟所述线性谐振致动器的电路还包括：
    将所述线性谐振致动器导电线圈的电阻值和电感值分别设置为所述第一电阻的电阻值和所述第一电感的电感值；根据所述线性谐振致动器导电线圈的电阻值和电感值及所述线性谐振致动器的工作电流、工作电压，以及所述线性谐振致动器振子的谐振频率 和频率带宽计算得到所述第二电阻的电阻值、所述电容的电容值和所述第二电感的电感值。
  4. 根据权利要求2所述的方法，其中，在模拟所述线性谐振致动器的电路为第一电路时，所述根据所述线性谐振致动器所需要的输出量在电路中选取测量点包括：
    选取所述第一电阻的一端或所述第一电感的一端作为所述线性谐振致动器振子合力的测量点；
    和/或，选取所述第二电阻连接第一电感的一端作为所述线性谐振致动器振子速度的测量点；
    和/或，选取所述第二电感连接第一电感的一端作为所述线性谐振致动器振子位移的测量点；
    和/或，选取所述电容连接第一电感的一端作为所述线性谐振致动器振子加速度的测量点；
    和/或，选取所述电容作为所述线性谐振致动器反电动势电压的测量点；
    在模拟所述线性谐振致动器的电路为第二电路时，所述根据所述线性谐振致动器所需要的输出量在电路中选取测量点包括：
    选取所述第二电阻的一端或所述第二电感的一端或所述电容的一端作为所述线性谐振致动器振子合力的测量点；
    和/或，选取所述第二电阻作为所述线性谐振致动器振子速度的测量点；
    和/或，选取所述第二电感作为所述线性谐振致动器振子加速度的测量点；
    和/或，选取所述电容作为所述线性谐振致动器振子位移的测量点；
    和/或，选取所述耦合器的输入端作为所述线性谐振致动器反电动势电压的测量点。
  5. 根据权利要求4所述的方法，其中，所述采集所述测量点输出的电信号得到被模拟的线性谐振致动器的输出量包括：
    在所述电路的每个测量点上连接电流传感器或电压传感器；
    采集所述电流传感器或电压传感器输出的电信号；
    根据每个测量点输出的电信号计算得到所述线性谐振驱动器相应的输出量。
  6. 根据权利要求5所述的方法，其中，所述根据每个测量点输出的电信号计算得到所述线性谐振驱动器相应的输出量包括：
    根据所述线性谐振致动器导电线圈的长度和磁通量密度计算电磁参数Km；
    根据所述电磁参数Km和电路中无源电器件的参数计算对应于每个测量点输出的电信号的转换系数；
    通过计算每个测量点输出的电信号与其对应的转换系数的乘积，得到所述线性谐振致动器相应的输出量。
  7. 根据权利要求6所述的方法，其中，在模拟所述线性谐振致动器的电路为第一电路时，所述根据所述电磁参数Km和电路中无源电器件的参数计算对应于每个测量点输出的电信号的转换系数包括：
    根据所述电磁参数Km计算得到所述线性谐振致动器振子合力对应的测量点输出的电信号的转换系数；
    根据所述电磁参数Km和第二电阻值计算得到所述线性谐振致动器振子速度对应的测量点输出的电信号的转换系数；
    根据所述电磁参数Km和第二电感值计算得到所述线性谐振致动器振子位移对应的测量点输出的电信号的转换系数；
    根据所述电磁参数Km和电容值计算得到所述线性谐振致动器振子加速度对应的测量点输出的电信号的转换系数。
  8. 根据权利要求6所述的方法，其中，在模拟所述线性谐振致动器的电路为第二电路时，所述根据所述电磁参数Km和电路中无源电器件的参数计算对应于每个测量点输出的电信号的转换系数包括：
    根据所述电磁参数Km计算得到所述线性谐振致动器振子合力对应的测量点输出的电信号的转换系数；
    根据所述电磁参数Km和第二电阻值计算得到所述线性谐振致动器振子速度对应的测量点输出的电信号的转换系数；
    根据所述电磁参数Km和第二电感值计算得到所述线性谐振致动器振子加速度对应的测量点输出的电信号的转换系数；
    根据所述电磁参数Km和电容值计算得到所述线性谐振致动器振子位移对应的测量点输出的电信号的转换系数。
  9. 一种获取线性谐振致动器输出量的方法，其中，所述方法包括：
    根据线性谐振致动器的电学参数和运动学参数，利用无源电器件建立模拟所述线性谐振致动器的电路，所述无源电器件至少包括电阻、电容和电感；
    根据所述线性谐振致动器所需要的输出量在电路中选取测量点；
    计算从所述电路的输入端至所述测量点的传递函数；
    根据输入源的驱动信号和所述传递函数计算得到被模拟的线性谐振致动器的输出量。
  10. 根据权利要求9所述的方法，其中，所述根据线性谐振致动器的电学参数和运动学参数，利用无源电器件建立模拟所述线性谐振致动器的电路包括：
    根据所述线性谐振致动器导电线圈的电学参数，选取第一电阻和第一电感；以及根据所述线性谐振致动器导电线圈的电学参数和振子的运动学参数，选取电容、第二电阻和第二电感；
    将第一电阻和第一电感串联以及将电容、第二电感和第二电阻并联建立模拟所述线性谐振致动器的第一电路，其中，所述第一电阻的一端连接输入源的正极端，所述第一电感的一端连接输入源的负极端，所述电容、所述第二电感和所述第二电阻相互并联形成并联谐振电路，所述并联谐振电路的两端分别串联连接在所述第一电阻的另一端和所述第一电感的另一端之间；
    或者，将第一电阻和第一电感串联以及将电容、第二电感和第二电阻串联建立模拟所述线性谐振致动器的第二电路，其中，所述第一电阻的一端连接输入源的正极端，所述第一电感的一端连接输入源的负极端，第一电阻的另一端连接耦合器的第一输入端，第一电感的另一端连接到耦合器的第二输入端，所述电容、所述第二电感和所述第二电阻相互串联形成串联谐振电路，所述串联谐振电路的两端分别串联连接在耦合器的第一输出端和第二输出端之间。
  11. 根据权利要求10所述的方法，其中，所述根据线性谐振致动器的电学参数和运动学参数，利用无源电器件建立模拟所述线性谐振致动器的电路还包括：
    将所述线性谐振致动器导电线圈的电阻值和电感值分别设置为所述第一电阻的电阻值和所述第一电感的电感值；根据所述线性谐振致动器导电线圈的电阻值和电感值及所述线性谐振致动器的工作电流、工作电压，以及所述线性谐振致动器振子的谐振频率和频率带宽计算得到所述第二电阻的电阻值、所述电容的电容值和所述第二电感的电感 值。
  12. 根据权利要求10所述的方法，其中，在模拟所述线性谐振致动器的电路为第一电路时，所述根据所述线性谐振致动器所需要的输出量在电路中选取测量点包括：
    选取所述第一电阻的一端或所述第一电感的一端作为所述线性谐振致动器振子合力的测量点；
    和/或，选取所述第二电阻连接第一电感的一端作为所述线性谐振致动器振子速度的测量点；
    和/或，选取所述第二电感连接第一电感的一端作为所述线性谐振致动器振子位移的测量点；
    和/或，选取所述电容连接第一电感的一端作为所述线性谐振致动器振子加速度的测量点；
    和/或，选取所述电容作为所述线性谐振致动器反电动势电压的测量点；
    在模拟所述线性谐振致动器的电路为第二电路时，所述根据所述线性谐振致动器所需要的输出量在电路中选取测量点包括：
    选取所述第二电阻的一端或所述第二电感的一端或所述电容的一端作为所述线性谐振致动器振子合力的测量点；
    和/或，选取所述第二电阻作为所述线性谐振致动器振子速度的测量点；
    和/或，选取所述第二电感作为所述线性谐振致动器振子加速度的测量点；
    和/或，选取所述电容作为所述线性谐振致动器振子位移的测量点；
    和/或，选取所述耦合器的输入端作为所述线性谐振致动器反电动势电压的测量点。
  13. 根据权利要求9所述的方法，其中，所述计算从所述电路的输入端至所述测量点的传递函数包括：
    确定所述线性谐振致动器输出量与所述电路测量点输出的电信号之间的转换关系；
    根据所述对应关系以及所述电路的电路结构、无源电器件参数，计算以所述线性谐振致动器输出量为输出变量、所述输入端的驱动信号为输入变量的所述电路的传递函数。
  14. 根据权利要求13所述的方法，其中，所述利用无源电器件建立模拟所述线性谐振致动器的电路包括：利用两个电感、一个电容和两个电阻建立模拟所述线性谐振致 动器的电路，
    则所述计算从所述电路的输入端至所述测量点的传递函数具体为：
    根据两个电感的电感值、两个电阻的电阻值和电容值计算得到所述电路的输入端至所述测量点的三阶传递函数。
  15. 根据权利要求13所述的方法，其中，所述利用无源电器件建立模拟所述线性谐振致动器的电路包括：利用一个电感、一个电容和两个电阻建立模拟所述线性谐振致动器的电路；
    则所述计算从所述电路的输入端至所述测量点的传递函数具体为：
    根据所述电感值、电容值和两个电阻的电阻值计算得到所述电路的输入端至所述测量点的二阶传递函数。
  16. 一种获取线性谐振致动器输出量的电路，其中，所述电路包括：第一电阻、第一电感、电容、第二电感和第二电阻；
    所述电容、所述第二电感和所述第二电阻相互并联形成并联谐振电路，所述第一电阻的一端为正极输入端，所述第一电感的一端为负极输入端，所述第一电阻的另一端和所述第一电感的另一端分别连接所述并联谐振电路的两端；
    或者，
    所述电容、所述第二电感和所述第二电阻相互串联形成串联谐振电路，第一电阻的一端为正极输入端，第一电感的一端为负极输入端，所述第一电阻的另一端连接耦合器的第一输入端，所述第一电感的另一端连接耦合器的第二输入端，所述耦合器的第一输出端和第二输出端分别连接所述串联谐振电路的两端；
    其中，第一、第二电阻的电阻值，第一、第二电感的电感值以及电容值由所述线性谐振致动器电学参数和运动学参数确定。
  17. 根据权利要求16所述的电路，其中，在所述电容、所述第二电感和所述第二电阻相互并联形成并联谐振电路时，所述电路还包括：与第一电阻的一端或第一电感的一端相连接的第一电流传感器，第一电流传感器的输出量为线性谐振致动器的负载电流；和/或，与第二电阻连接第一电感的一端相连接的第二电流传感器；和/或，与第二电感连接第一电感的一端相连接的第三电流传感器；和/或，与电容连接第一电感的一端相连接的第四电流传感器；和/或，与电容并联的电压传感器，电压传感器的输出量为线 性谐振致动器的反电动势电压。
  18. 根据权利要求17所述的电路，其中，所述电路还包括：与第一电流传感器相连接的第一转换器，第一转换器的输出量为线性谐振致动器的振子合力；和/或，与第二电流传感器相连接的第二转换器，第二转换器的输出量为线性谐振致动器的振子速度；和/或，与第三电流传感器相连接的第三转换器，第三转换器的输出量为线性谐振致动器的振子位移；和/或，与第四电流传感器相连接的第四转换器，第四转换器的输出量为线性谐振致动器的振子加速度；
    其中，第一转换器的转换系数GLRA为线性谐振致动器的电磁参数Km，第二转换器的转换系数GR由线性谐振致动器的电磁参数Km和第二电阻的电阻值计算得到；第三转换器的转换系数GL由线性谐振致动器的电磁参数Km和第二电感的电感值计算得到；第四转换器的转换系数GC由线性谐振致动器的电磁参数Km和电容的电容值计算得到。
  19. 根据权利要求16所述的电路，其中，在所述电容、所述第二电感和所述第二电阻相互串联形成串联谐振电路时，所述电路还包括：与第二电阻的一端或第二电感的一端或电容的一端相连接的第一电流传感器，第一电流传感器的输出量为线性谐振振动器的负载电流；和/或，与第二电阻并联的第一电压传感器；和/或，与第二电感并联的第二电压传感器；和/或，与电容并联的第三电压传感器；和/或，与耦合器输入端并联的第四电压传感器，第四电压传感器的输出量为线性谐振振动器的反电动势电压。
  20. 根据权利要求19所述的电路，其中，所述电路还包括：与第一电流传感器相连接的第一转换器，第一转换器的输出量为线性谐振致动器的振子合力；和/或，与第一电压传感器相连接的第二转换器，第二转换器的输出量为线性谐振致动器的振子速度；和/或，与第二电压传感器相连接的第三转换器，第三转换器的输出量为线性谐振致动器的振子加速度；和/或，与第三电压传感器相连接的第四转换器，第四转换器的输出量为线性谐振致动器的振子位移；
    其中，第一转换器的转换系数MLRA为线性谐振致动器的电磁参数Km；第二转换器的转换系数MR由线性谐振致动器的电磁参数Km和第二电阻的电阻值计算得到；第三转换器的转换系数ML由线性谐振致动器的电磁参数Km和第二电感的电感值计算得到；第四转换器的转换系数MC由线性谐振致动器的电磁参数Km和电容的电容值计算得到。
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