WO2018126560A1 - Method for driving a linear resonant actuator, and terminal - Google Patents

Method for driving a linear resonant actuator, and terminal Download PDF

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Publication number
WO2018126560A1
WO2018126560A1 PCT/CN2017/081493 CN2017081493W WO2018126560A1 WO 2018126560 A1 WO2018126560 A1 WO 2018126560A1 CN 2017081493 W CN2017081493 W CN 2017081493W WO 2018126560 A1 WO2018126560 A1 WO 2018126560A1
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WO
WIPO (PCT)
Prior art keywords
signal
linear motor
wave signal
terminal
sine wave
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PCT/CN2017/081493
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French (fr)
Chinese (zh)
Inventor
陈建立
李辉
Original Assignee
华为技术有限公司
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Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to CN201780064676.9A priority Critical patent/CN109874398A/en
Publication of WO2018126560A1 publication Critical patent/WO2018126560A1/en

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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02Arrangements 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
    • H02P25/06Linear motors

Definitions

  • the embodiments of the present invention relate to the field of terminal technologies, and in particular, to a driving method and a terminal for a linear motor.
  • Linear Resonant Actuator is a device used in the terminal to generate vibration and has a wide range of applications in terminals.
  • the touch screen reports a touch event to the processor, and the processor generates a driving signal after receiving the touch event, thereby driving the linear motor to generate vibration and making the user experience
  • the processor generates a driving signal after receiving the touch event, thereby driving the linear motor to generate vibration and making the user experience
  • the terminal receives a reminder or notification (such as an incoming call reminder, a short message reminder, an alarm reminder, or a notification from an application, etc.)
  • the linear motor also gives vibration feedback.
  • the vibration intensity of the linear motor is maximum; when the frequency of the drive signal is at the resonant frequency of the linear motor.
  • the absolute value of the difference is greater than the bandwidth of the linear motor (for example, 2 Hz), the vibration strength of the linear motor is rapidly weakened.
  • the linear motor in the terminal has an inherent resonant frequency before the terminal leaves the factory. After the terminal is shipped, the resonant frequency of the linear motor in the terminal may change due to component aging, manufacturing error or ambient temperature. At this time, if the linear motor is also driven at the resonance frequency inherent to the linear motor, the vibration intensity of the linear motor cannot be maximized.
  • the embodiment of the present application provides a driving method and a terminal for a linear motor, which are used for accurately acquiring a resonant frequency of a linear motor, thereby driving a linear motor by using a driving signal having the resonant frequency, enhancing the vibration intensity of the linear motor, and improving the user.
  • a driving method and a terminal for a linear motor which are used for accurately acquiring a resonant frequency of a linear motor, thereby driving a linear motor by using a driving signal having the resonant frequency, enhancing the vibration intensity of the linear motor, and improving the user.
  • an embodiment of the present invention provides a terminal, where the terminal includes a processor, a signal amplifying circuit, a linear motor, and a detecting circuit.
  • the processor is configured to generate a first excitation signal, and output a first excitation signal to the signal amplification circuit;
  • the signal amplification circuit is coupled to the processor, configured to receive the first excitation signal output by the processor, and amplify the first excitation signal by first After the multiple is set, the second excitation signal is obtained, and the second excitation signal is output to the linear motor;
  • the linear motor is connected to the signal amplification circuit for storing energy by using the second excitation signal to generate a counter electromotive force, and converting the counter electromotive force into the first a sine wave signal output;
  • the detection circuit is coupled to the linear motor for acquiring a frequency of the first sine wave signal, the frequency of the first sine wave signal is a resonant frequency of the linear motor; and the processor is further configured to generate the resonant frequency Driving a signal and
  • the meaning of the driving signal having the resonant frequency is that the frequency of the driving signal is the resonant frequency.
  • the specific value of the first set multiple is not limited, and the first set multiple may be greater than 1, or may be equal to 1.
  • the terminal provided by the above first aspect is based on the following principle when acquiring the resonant frequency of the linear motor: an initial energy storage excitation for the linear motor, the linear motor performs energy storage to generate a counter electromotive force; and the linear motor releases the energy storage, The counter electromotive force is released in the form of a sinusoidal signal whose frequency is the resonant frequency of the linear motor.
  • the linear motor since the signal amplifying circuit outputs the second excitation signal to the linear motor, the linear motor can store itself by using the second excitation signal to generate a counter electromotive force; the linear motor releases itself.
  • the frequency of the first sine wave signal output by the linear motor is the resonant frequency of the linear motor.
  • the processor configures the frequency of the driving signal of the linear motor to the acquired resonant frequency, which can enhance the vibration intensity of the linear motor.
  • the terminal when driving the linear motor, the terminal utilizes the inherent characteristics of the linear motor's own energy storage to generate the back electromotive force and release the energy storage, and can accurately and conveniently acquire the resonant frequency of the linear motor, thereby using the obtained resonant frequency as the driving of the linear motor.
  • the frequency of the signal enhances the vibration strength of the linear motor.
  • the detecting circuit when detecting the frequency of the first sine wave signal, can be specifically implemented by clamping the first sine wave signal to a preset voltage value to obtain a second The sine wave signal is compared with a preset voltage value to obtain a square wave signal; the frequency of the square wave signal is obtained, and the frequency of the square wave signal is the same as the frequency of the first sine wave signal.
  • the first sine wave signal can be converted into a square wave signal after being clamped and compared, and the frequency of the converted square wave signal and the first sine wave signal can be converted.
  • the frequency of the square wave signal is the same, and the frequency of the square wave signal is easier to detect. Therefore, the frequency of the first sine wave signal can be more conveniently obtained by the above implementation manner.
  • the terminal provided by the above first aspect further includes a memory, where the memory is used to store a resonant frequency acquired by the detecting circuit; then, the processor generates a driving having the resonant frequency.
  • the resonant frequency stored in the memory can be read first, and then a drive signal having the read resonant frequency is generated.
  • the terminal provided by the first aspect further includes a switch unit and a control logic unit.
  • the switch unit is connected with the linear motor and the detecting circuit for disconnecting or closing the linear motor and the detecting circuit;
  • the control logic unit is connected with the switching unit for controlling the switching unit to make the linear motor and detecting when the linear motor performs energy storage The circuit is disconnected and the switching unit is controlled to close the linear motor and the detection circuit after the linear motor has been stored.
  • the switch unit and the control logic unit are disposed, and the switch unit can be controlled by the control logic unit to control the opening or closing of the linear motor and the detection circuit.
  • the linear motor When the linear motor is disconnected from the detection circuit, the linear motor performs energy storage; when the linear motor and the detection circuit are closed, the linear motor releases the energy storage, that is, the linear motor outputs the back electromotive force generated by the energy storage in the form of the first sine wave signal. To the detection circuit.
  • the detection circuit specifically includes an operational amplification circuit and a comparator.
  • the operational amplifier circuit is configured to amplify the first sine wave signal by a second set multiple and clamp the preset voltage value to obtain a second sine wave signal; the comparator is connected to the operational amplifier circuit for using the second sine wave The signal is compared with a preset voltage value to obtain a square wave signal.
  • the specific value of the second set multiple is not limited, and the second set multiple may be greater than 1, or may be equal to 1.
  • the comparator in the detection circuit is specifically used to: the second sine wave The signal is compared with the preset voltage value, and the high level is output when the amplitude of the second sine wave signal is greater than or equal to the preset voltage value, and the low level is output when the amplitude of the second sine wave signal is less than the preset voltage value. , get a square wave signal.
  • the signal amplifying circuit includes a first resistor, a second resistor, a third resistor, a fourth resistor, a first capacitor, a second capacitor, and a first fully differential operational amplifier, wherein: The first end of the first resistor is configured to receive a first differential excitation signal in the first excitation signal, the second end of the first resistor is coupled to the negative input terminal of the first fully differential operational amplifier; the first end of the second resistor Receiving a second differential excitation signal in the first excitation signal, the second end of the second resistor is connected to the forward input end of the first fully differential operational amplifier; the third resistor and the first capacitor are connected in parallel and then connected in the first full a differential operational amplifier between the negative input terminal and the positive output terminal; the fourth resistor and the second capacitor are connected in parallel between the forward input terminal and the negative output terminal of the first fully differential operational amplifier; The forward and negative outputs of the operational amplifier are coupled to the first and second ends of the linear motor, respectively.
  • the first set multiple can be set by adjusting the ratio of the third resistance to the first resistance (ie, the ratio of the fourth resistance to the second resistance).
  • the signal amplifying circuit is in the form of a first fully differential operational amplifier.
  • the common mode noise in the second excitation signal can be suppressed, and the second is enhanced.
  • the driving ability of the excitation signal is in the form of a first fully differential operational amplifier.
  • the operational amplifier circuit in the detection circuit includes a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, and a second fully differential operational amplifier, wherein: the fifth resistor The first end is connected to the forward input end of the second fully differential operational amplifier, the second end of the fifth resistor is connected to the switch unit, and the first end of the sixth resistor is connected to the negative input end of the second fully differential operational amplifier, The second end of the sixth resistor is connected to the switch unit; the seventh resistor is connected between the forward input terminal and the negative output terminal of the second fully differential operational amplifier, and the eighth resistor is connected across the second fully differential operational amplifier Between the negative input and the positive output.
  • the forward input of the comparator in the detection circuit is connected to the negative output or the positive output of the second fully differential operational amplifier, and the negative output of the comparator is used to input the preset voltage value, the comparator The output is used to output a square wave signal.
  • the second set multiple can be set by adjusting the ratio of the seventh resistor to the fifth resistor (ie, the ratio of the eighth resistor to the sixth resistor).
  • the switch unit may include a first switch, a second switch, a third switch, and a fourth switch, wherein: one end of the first switch is connected to the first end of the linear motor, and One end is connected to the second end of the fifth resistor; one end of the second switch is connected to the second end of the linear motor, and the other end is connected to the second end of the sixth resistor; one end of the third switch and the second end of the fifth resistor Connected, the other end is grounded; one end of the fourth switch is connected to the second end of the sixth resistor, and the other end is grounded; the control logic unit is specifically configured to: control the first switch and the second switch to be disconnected when the linear motor performs energy storage And controlling the third switch and the fourth switch to be closed; controlling the first switch and the second switch to be closed after the linear motor energy storage is completed, and controlling the third switch and the fourth switch to be turned off.
  • control logic unit can control the linear motor and the detection by controlling the opening, closing and closing of the first switch, the second switch, the third switch and the fourth switch in the switch unit.
  • the circuit is open or closed.
  • an embodiment of the present invention provides a driving method of a linear motor, where the method is applied to a processor, In the terminal of the signal amplifying circuit, the linear motor and the detecting circuit, the method comprises the steps of: the processor generating a first excitation signal and outputting the first excitation signal to the signal amplifying circuit; and the signal amplifying circuit amplifying the first excitation signal After the first set multiple, a second excitation signal is obtained, and the second excitation signal is output to a linear motor, the second excitation signal is used to generate a counter electromotive force after the linear motor is stored; and the linear motor uses the second excitation signal to store energy.
  • the detecting circuit acquires a frequency of the first sine wave signal, the frequency of the first sine wave signal being a resonant frequency of the linear motor; the processor generates the resonance The frequency of the drive signal, and the drive signal is used to drive the linear motor in the terminal.
  • the linear motor can store itself by using the second excitation signal to generate a counter electromotive force; the linear motor is When releasing its own stored energy, the frequency of the first sine wave signal output by the linear motor is the resonant frequency of the linear motor. After the frequency of the first sine wave signal (the resonant frequency of the linear motor) is obtained by the detecting circuit, the processor configures the frequency of the driving signal of the linear motor to the acquired resonant frequency, which can enhance the vibration intensity of the linear motor.
  • the linear motor when the linear motor is driven by the driving method of the linear motor provided by the second aspect, the inherent characteristics of the back electromotive force generated by the linear motor itself and the energy storage are released, and the resonant frequency of the linear motor can be accurately and conveniently obtained, thereby obtaining The arriving resonant frequency drives the linear motor as the frequency of the drive signal of the linear motor, enhancing the vibration strength of the linear motor.
  • the detecting circuit when detecting the frequency of the first sine wave signal, can be implemented by clamping the first sine wave signal to a preset voltage value to obtain a second sine
  • the wave signal is obtained by comparing the second sine wave signal with a preset voltage value to obtain a square wave signal; the frequency of the square wave signal is obtained, and the frequency of the square wave signal is the same as the frequency of the first sine wave signal.
  • the first sine wave signal can be converted into a square wave signal after being clamped and compared, and the frequency of the converted square wave signal and the first sine wave signal can be converted.
  • the frequency is the same, and the frequency of the square wave signal is easier to detect, so the frequency of the first sine wave signal can be more conveniently obtained by the above implementation.
  • the second sine wave signal is compared with a preset voltage value to obtain a square wave signal, which can be specifically achieved by: second sinusoidal signal and preset voltage value Comparing, when the amplitude of the second sine wave signal is greater than or equal to the preset voltage value, the high level is output, and when the amplitude of the second sine wave signal is less than the preset voltage value, the low level is output, and the square wave signal is obtained. .
  • the terminal further includes a memory, and after the detecting circuit acquires the frequency of the first sine wave signal, the frequency of the first sine wave signal (ie, the resonant frequency of the linear motor) may also be stored by the memory. Then, when the processor generates the driving signal having the resonant frequency, the resonant frequency stored in the memory can be read first, and then the driving signal having the read resonant frequency is generated.
  • the condition that the trigger processor generates the first excitation signal may be: the processor receives the indication information, where the indication information is used to indicate that the terminal receives the power-on signal, and the power-on signal is used by the terminal.
  • the trigger terminal is powered on; or the terminal receives the shutdown signal, the shutdown signal is used to trigger the terminal to shut down; or the terminal receives the vibration function enable signal, the vibration function enable signal is used to indicate the terminal to open the vibration function; or, the terminal A trigger signal is received, the trigger signal is used to instruct the user to trigger the terminal to acquire the resonant frequency of the linear motor.
  • FIG. 1 is a schematic structural diagram of a haptic feedback system in a tablet computer according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a circuit model of a linear motor according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a first terminal according to an embodiment of the present disclosure.
  • FIG. 4 is a schematic diagram of a conversion process of a first sine wave signal, a second sine wave signal, and a square wave signal according to an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of a signal amplifying circuit according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a second terminal according to an embodiment of the present disclosure.
  • FIG. 7 is a schematic structural diagram of an operational amplifier circuit and a switch unit according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a fifth resistor according to an embodiment of the present disclosure.
  • FIG. 9 is a schematic structural diagram of a third terminal according to an embodiment of the present disclosure.
  • FIG. 10 is a schematic flow chart of a driving method of a linear motor according to an embodiment of the present invention.
  • linear motors are commonly used vibration devices.
  • driving the linear motor to generate vibration by processing the generated driving signal for example, when the user performs a touch operation on the touch screen of the terminal or clicks a virtual button, or when the terminal receives a reminder or notification (such as an incoming call reminder, When SMS reminders, alarm reminders, or notifications from applications, etc., the processor generates a drive signal that drives the linear motor, giving the linear motor a vibration feedback.
  • the touch screen, the processor, the driver and the motor of the terminal constitute a tactile feedback system.
  • linear motors are commonly used vibration devices.
  • the linear motor gives vibration feedback, so that the user gets a tactile feedback experience.
  • the tactile feedback system in the tablet as an example, as shown in FIG. 1 , when the user touches or clicks the virtual button in the tablet, the touch screen reports the touch event to the MCU (Micro Control Unit), and the MCU receives the touch event.
  • the reported touch event sends an enable signal (EN) and a duty cycle variable PWM signal to the driver, thereby enabling the driver to cause the driver to drive the linear motor to vibrate, thereby causing the tablet to give a vibration feedback of the touch event.
  • EN enable signal
  • PWM duty cycle variable PWM
  • the terminal when the terminal receives a reminder or notification (such as an incoming call reminder, a short message reminder, an alarm reminder, or a notification from an application, etc.), it also triggers an operation of reporting a reminder or notification event to the MCU, and the MCU receives such an event. A drive signal is then generated to drive the linear motor to generate vibration.
  • a reminder or notification such as an incoming call reminder, a short message reminder, an alarm reminder, or a notification from an application, etc.
  • the vibration intensity of the linear motor is related to the frequency of the driving signal: when the frequency of the driving signal is the resonant frequency of the linear motor, the vibration intensity of the linear motor is maximum; when the frequency of the driving signal is related to the linear motor.
  • the absolute value of the difference in the resonant frequency is greater than the bandwidth of the linear motor, the vibration strength of the linear motor is rapidly weakened. Due to component aging, manufacturing errors, or ambient temperature, the natural resonant frequency of the linear motor changes compared to the natural resonant frequency at the factory, resulting in a decrease in the vibration strength of the linear motor.
  • the linear motor has a resonant frequency of 235 Hz and the linear motor has a bandwidth of 2 Hz.
  • the resonant frequency of the linear motor changes as components age, manufacturing tolerances, or ambient temperature changes. For example, from 235Hz to 238Hz.
  • the linear motor is still driven by the driving signal with the frequency of 235 Hz, since the absolute value of the difference between the frequency of the driving signal (235 Hz) and the resonant frequency of the linear motor (238 Hz) is greater than 2 Hz, the vibration intensity of the linear motor will be Rapidly weakened.
  • the linear motor can be equivalent to the circuit model shown in FIG. 2.
  • a and B are the inputs of a linear motor, and the input signal to the linear motor is a set of differential input pairs.
  • the natural resonant frequencies of common linear motors are 175 Hz and 205 Hz.
  • an attenuated back electromotive force can be tested at the A and B ends of the linear motor, and the inverse
  • the electromotive force is in the form of a sinusoidal signal having a frequency of 175 Hz, and the amplitude of the sinusoidal signal is gradually attenuated.
  • the embodiment of the present invention provides a driving method and terminal for the linear motor to accurately obtain the resonant frequency of the linear motor based on the conclusions obtained by the above simulation experiment.
  • a drive signal having the resonant frequency is used to drive the linear motor to enhance the vibration strength of the linear motor.
  • the method and the terminal are based on the same inventive concept. Since the method and the terminal solve the problem are similar in principle, the implementation of the terminal and the method can be referred to each other, and the repeated description is not repeated.
  • FIG. 3 is a schematic diagram of a terminal 300 according to an embodiment of the present invention.
  • the terminal 300 includes a processor 301, a signal amplifying circuit 302, a linear motor 303, and a detecting circuit 304.
  • the processor 301 is configured to generate a first excitation signal, and output the first excitation signal to the signal amplifying circuit 302.
  • the signal amplifying circuit 302 is connected to the processor 301 for receiving the processor.
  • the first excitation signal outputted by the second excitation signal is amplified by a first set multiple to obtain a second excitation signal, and the second excitation signal is output to the linear motor 303;
  • the linear motor 303 is connected to the signal amplification circuit 302 for
  • the second excitation signal is used to store energy and generate a counter electromotive force, and the back electromotive force generated by the energy storage is converted into a first sine wave signal output;
  • the detecting circuit 304 is connected to the linear motor 303 for acquiring the frequency of the first sine wave signal,
  • the frequency of the first sine wave signal is the resonant frequency of the linear motor 303;
  • the processor 301 is further configured to generate a driving signal having the resonant frequency, and drive the linear motor 303 with the driving signal.
  • the meaning of the driving signal having the resonant frequency is that the frequency of the driving signal is the resonant frequency.
  • the input signal of the linear motor 303 is a set of differential input pairs
  • the output signal is a set of differential output pairs
  • the two inputs of the linear motor also serve as two outputs of the linear motor. end. Therefore, there are two connecting lines between the signal amplifying circuit 302 and the linear motor 303 in FIG. 3 for respectively outputting the two differential components of the second excitation signal to the linear motor 303 by the signal amplifying circuit 302; between the linear motor 303 and the detecting circuit 304
  • the value of the first set multiple may be greater than 1 or equal to 1.
  • signal amplifying circuit 302 can be implemented by a fully differential integrating amplifier.
  • the signal amplifying circuit 302 is implemented by using a fully differential integrating amplifier, in addition to amplifying the first excitation signal, since the fully differential integrating amplifier can suppress common mode noise, the signal amplifying circuit 302 can also suppress the common in the second excitation signal. Modal noise enhances the driving capability of the second excitation signal.
  • the frequency of the first sine wave signal output by the linear motor 303 The rate is the resonant frequency of the linear motor 303.
  • the frequency of the sine wave signal is not easy to detect in practical applications. Therefore, when the detection circuit 304 in the terminal 300 acquires the frequency of the first sine wave signal, for example, it can be implemented by clamping the first sine wave signal to a preset voltage value to obtain a second sine wave signal; The two sine wave signals are compared with a preset voltage value to obtain a square wave signal; the frequency of the square wave signal is obtained, and the frequency of the square wave signal is the same as the frequency of the first sine wave signal.
  • the square wave signal Since the frequency of the square wave signal is easy to detect, and the frequency of the square wave signal is the same as the frequency of the first sine wave signal, the square wave signal is used as the signal output by the terminal 300, and the frequency of the first sine wave signal is conveniently obtained. Thereby, the resonance frequency of the linear motor 303 is obtained.
  • the terminal 300 may further include a memory.
  • This memory can be used to store the resonant frequency of the linear motor 303. Then, when generating the driving signal having the resonant frequency, the processor 301 can be specifically displayed by first reading the resonant frequency stored in the memory; and then generating a driving signal having the read resonant frequency.
  • the first sine wave signal and the second sine wave signal mentioned in the embodiments of the present invention only refer to the waveform of the signal, and the initial phase of the signal is not limited.
  • the initial phase of the first sinusoidal signal may be 0°, 90°, 180°, 200°, etc.
  • the initial phase of the second sinusoidal signal may be 0°, 90°, 180°, 200°, and the like.
  • the first sine wave signal is clamped by the detecting circuit 304, the first sine wave signal is converted into a second sine wave signal, and then the second sine wave signal is compared with a preset voltage value to obtain a square wave signal, thereby obtaining a square wave signal, thereby The resonant frequency of the linear motor 303 can be obtained by detecting the frequency of the square wave signal.
  • the specific process of comparing the second sine wave signal with the preset voltage value to obtain the square wave signal may be: comparing the second sine wave signal with a preset voltage value, where the amplitude of the second sine wave signal is greater than or When the voltage is equal to the preset voltage value, the output level is high, and when the amplitude of the second sine wave signal is less than the preset voltage value, the low level is output, thereby obtaining a square wave signal.
  • the conversion process of the first sine wave signal ⁇ the second sine wave signal ⁇ the square wave signal may be as shown in FIG. 4 .
  • the DC offset of the first sine wave signal is 0,
  • the DC offset of the second sine wave signal is the preset voltage value Vcm, and the DC offset of the square wave signal is also 0.
  • the second sine wave signal is clamped at a preset voltage value Vcm, and the frequencies of the first sine wave signal, the second sine wave signal, and the square wave signal are all the same.
  • the first sine wave signal is finally converted into a square wave signal and output, which is convenient for detecting the frequency of the square wave signal.
  • the first excitation signal is an original signal for the linear motor 303 to perform energy storage
  • the terminal 300 triggers each circuit and unit in the terminal 300 to perform corresponding operations after receiving the first excitation signal, thereby acquiring
  • the resonant frequency of the linear motor 303 and the frequency of the drive signal are configured as the resonant frequency of the linear motor 303.
  • the first excitation signal is output by the processor 301 in the terminal 300.
  • the triggering condition for the processor 301 to output the first excitation signal is different. For example, the processor 301 outputs the first excitation signal when the terminal 300 is powered on, or the processor 301 outputs the first excitation signal when the terminal 300 is powered off, or is turned on by the user.
  • the processor 301 When the vibration function of the terminal 300 (ie, the user sets the terminal 300 to the vibration mode), the processor 301 outputs a first excitation signal, or sets a corresponding operation interface in the terminal, and the user manually triggers an operation of acquiring the resonance frequency of the linear motor 303.
  • the processor 301 outputs a first excitation signal.
  • the linear motor 303 can store itself by using the second excitation signal to generate a counter electromotive force; It can be seen from the experiment that when the linear motor 303 releases its own energy storage, the frequency of the first sine wave signal output by the linear motor 303 is the resonant frequency of the linear motor. After the frequency of the first sine wave signal (the resonance frequency of the linear motor 303) is acquired by the detection circuit 304, the processor 301 configures the frequency of the drive signal of the linear motor 303 to the acquired resonance frequency, and the vibration intensity of the linear motor can be enhanced.
  • the terminal 300 utilizes the inherent characteristics of the linear motor 303 to generate the counter electromotive force and release the stored energy, so that the resonant frequency of the linear motor 303 can be accurately and conveniently obtained, thereby obtaining the obtained resonant frequency as The frequency of the drive signal of the linear motor 303 enhances the linearity The vibration intensity of the motor 303.
  • the signal amplifying circuit 302 is configured to amplify the first excitation signal to obtain a second excitation signal, and output the second excitation signal obtained by the amplification to the linear motor 303.
  • the specific structure of the signal amplifying circuit 302 is not limited in the embodiment of the present invention, and the signal amplifying circuit 302 can implement amplification of the first excitation signal.
  • One possible implementation of the signal amplifying circuit 302 is given below.
  • the signal amplifying circuit 302 can include a first resistor, a second resistor, a third resistor, a fourth resistor, a first capacitor, a second capacitor, and a first fully differential operational amplifier, wherein: the first resistor One end is configured to receive a first differential excitation signal in the first excitation signal, a second end of the first resistor is coupled to a negative input terminal of the first fully differential operational amplifier; and a first end of the second resistor is configured to receive the first a second differential excitation signal in the excitation signal, the second end of the second resistor is coupled to the forward input of the first fully differential operational amplifier; the third resistor and the first capacitor are connected in parallel and connected across the negative of the first fully differential operational amplifier Between the input terminal and the forward output terminal; the fourth resistor and the second capacitor are connected in parallel between the forward input terminal and the negative output terminal of the first fully differential operational amplifier; the forward direction of the first fully differential operational amplifier The output end and the negative output end are coupled to the first end and the second end of
  • the first differential excitation signal and the second differential excitation signal are differential input pairs, which together constitute the first excitation signal described in the embodiment of the present invention.
  • the resistances of the first resistor and the second resistor are the same, the resistances of the third resistor and the fourth resistor are the same, the first capacitor and the first capacitor The capacitance of the two capacitors is the same.
  • the first set multiple may be set by adjusting a ratio of the third resistor to the first resistor (ie, a ratio of the fourth resistor to the second resistor).
  • the terminal 300 it is first necessary to store the linear motor 303. After the energy storage is completed, the back electromotive force generated by the energy storage needs to be converted into the first sine wave signal output. Then, judging when to store energy to the linear motor 303 and when to release the stored energy of the linear motor 303 can be achieved by cooperation of the switching unit and the control logic unit.
  • FIG. 6 a schematic structural diagram of the terminal 300 can be as shown in FIG. 6.
  • the switch unit 305 is coupled to the linear motor 303 and the detection circuit 304 for disconnecting or closing the linear motor 303 and the detection circuit 304;
  • the control logic unit 306 is coupled to the switch unit 305 for storage in the linear motor 303.
  • the enabler control switch unit 305 disconnects the linear motor 303 and the detection circuit 304, and controls the switch unit 305 to close the linear motor 303 and the detection circuit 304 after the linear motor 303 is energized.
  • the linear motor 303 and the detection can be realized by controlling the opening or closing of the plurality of switches included in the switch unit 305.
  • the circuit 304 is opened or closed.
  • the switch unit 305 and the control logic unit 306 are provided in the terminal 300, and the control unit 305 can be controlled by the control logic unit 306 to control the linear motor 303 to be disconnected or closed from the detection circuit 304.
  • the linear motor 303 performs energy storage; when the linear motor 303 and the detecting circuit 304 are closed, the linear motor 303 releases the energy storage, that is, the linear motor 303 will generate the back electromotive force generated by the energy storage.
  • a form of a sine wave signal is output to the detection circuit 304.
  • the detecting circuit 304 is configured to clamp the first sine wave signal to a preset voltage value to obtain a second sine wave signal, and compare the second sine wave signal with a preset voltage value to obtain a square wave signal.
  • the detection circuit 304 can implement the above functions by using an operational amplification circuit and a comparator included therein.
  • the operational amplifier circuit is configured to amplify the first sine wave signal by a second set multiple and clamp the preset voltage value to obtain a second sine wave signal; the comparator and the transport The amplifier circuit is connected to compare the second sine wave signal with a preset voltage value to obtain a square wave signal.
  • the specific value of the second set multiple is not limited, and the second set multiple may be greater than 1, or may be equal to 1.
  • the operational amplifier circuit in the detection circuit 304 can be implemented by a fully differential operational amplifier.
  • the fully differential operational amplifier can suppress the common mode noise in the signal, thereby reducing the interference of the external environment on the detection circuit 304, improving the quality of the square wave signal output by the detection circuit 304, thereby making the frequency of the detected square wave signal more accurate. .
  • the structure of the operational amplifier circuit can be as shown in FIG. 7.
  • the operational amplifier circuit may include a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, and a second fully differential operational amplifier, wherein: the first end of the fifth resistor and the second fully differential operational amplifier are positive Connecting to the input end, the second end of the fifth resistor is connected to the switch unit; the first end of the sixth resistor is connected to the negative input end of the second fully differential operational amplifier, and the second end of the sixth resistor is connected to the switch unit;
  • the seventh resistor is connected between the forward input terminal and the negative output terminal of the second fully differential operational amplifier, and the eighth resistor is connected between the negative input terminal and the forward output terminal of the second fully differential operational amplifier;
  • the forward input of the comparator is connected to the negative output or the positive output of the second fully differential operational amplifier, the negative output of the comparator is used to input a preset voltage value, and the output of the comparator is used to output a square wave signal.
  • FIG. 7 also shows a schematic structural view of the switching unit 305 in the terminal 300 when the operational amplification circuit adopts the above configuration.
  • the switch unit 305 can include a first switch, a second switch, a third switch, and a fourth switch, wherein: one end of the first switch is connected to the first end of the linear motor 303, and the other end is connected to the fifth resistor.
  • the second end of the second switch is connected to the second end of the linear motor 303, and the other end is connected to the second end of the sixth resistor; one end of the third switch is connected to the second end of the fifth resistor, and the other end is connected Grounding; one end of the fourth switch is connected to the second end of the sixth resistor, and the other end is grounded.
  • the control logic unit 306 controls the switch unit 305 in such a manner that the linear motor 303 and the detection circuit 304 are opened or closed:
  • the first switch and the second switch are controlled to be turned off when the linear motor 303 performs energy storage, and the third switch and the fourth switch are controlled to be closed, thereby causing the linear motor 303 and the detecting circuit 304 to be disconnected; after the linear motor 303 is stored, the control is completed.
  • the first switch and the second switch are closed, controlling the third switch and the fourth switch to open, thereby causing the linear motor 303 and the detection circuit 304 to close.
  • the second set multiple can be set by adjusting the ratio of the seventh resistor to the fifth resistor (ie, the ratio of the eighth resistor to the sixth resistor).
  • the resistance of the seventh resistor can be set to A
  • the resistance of the fifth resistor can be modified by register programming to one of A, 2A, 3A, and 4A, and the second The set multiples are set to 1, 2, 3, and 4, respectively, as shown in FIG.
  • the resistance of the fifth resistor can be changed by the configuration register programming, thereby changing the second set multiple to satisfy the different magnification requirements of the second fully differential operational amplifier.
  • the forward input of the comparator in the detection circuit 304 can be connected to the negative output of the second fully differential operational amplifier or to the forward output of the second fully differential operational amplifier. This is because the output signals of the forward and negative outputs of the second fully differential op amp are a pair of differential signals when the forward input of the comparator is connected to the positive output of the second fully differential op amp.
  • the comparator compares a differential component of the second sine wave signal with a preset voltage value Vcm to obtain a square wave signal; when the forward input and the second of the comparator are When the negative output terminal of the differential operational amplifier is connected, the comparator compares the other differential component of the second sine wave signal with the preset voltage value Vcm to obtain a square wave signal.
  • the square wave signals obtained by the above two connection methods have the same frequency and a phase difference of 180°. Therefore, the frequency of the square wave signal can be realized as the resonance frequency of the linear motor 303 by using the above two connection modes, thereby realizing the detection of the resonance frequency of the linear motor 303.
  • the comparator in the detecting circuit 304 compares the second sine wave signal with the preset voltage value to obtain a square wave signal, which can be implemented by comparing the second sine wave signal with a preset voltage value, When the amplitude of the second sine wave signal is greater than or equal to the preset voltage value, the output high level is output, and when the amplitude of the second sine wave signal is less than the preset voltage value, the low level is output, and the square wave signal is obtained.
  • the embodiment of the present invention further provides another terminal, which can be as shown in FIG.
  • the terminal 700 shown in FIG. 9 can be regarded as a specific example of the terminal 300 shown in FIG.
  • OP1 and OP2 are a specific example of the first fully differential operational amplifier and the second fully differential operational amplifier, respectively. Since OP1 is a fully differential operational amplifier, the input resistance of the forward input and the negative input of OP1 are the same, both are Rin, the feedback resistance of OP1 is Rf, and the feedback capacitance is Cf; similarly, due to OP2 It is a fully differential operational amplifier, so the input resistance of the forward input and the negative input of OP2 are the same, both are R1, and the feedback resistance of OP2 is R2.
  • two Rins connected to the negative input terminal and the forward input terminal of the OP1 can be regarded as the first resistor and the second resistor in the embodiment of the present invention; respectively, connected to the negative input terminal and the forward output of the OP1.
  • the Rf and Cf of the terminal can be regarded as the third resistor and the first capacitor in the embodiment of the present invention respectively;
  • Rf and Cf connected to the forward input terminal and the negative output terminal of the OP1 can be regarded as the first embodiment in the embodiment of the present invention, respectively.
  • the fourth switch and the second switch; S11 and S12 are respectively regarded as the first switch and the second switch in the embodiment of the present invention, and S21 and S22 can be regarded as the third switch and the fourth switch in the embodiment of the present invention; and OP2
  • the two R1s connected to the positive input terminal and the negative input terminal can be regarded as the fifth resistor and the sixth resistor in the embodiment of the present invention, respectively; the R2 across the forward input terminal and the negative output terminal of the OP2 can be visualized.
  • R2 across the negative input terminal and the forward output terminal of the OP2 may be regarded as the eighth resistor in the embodiment of the present invention.
  • the two input signals through the negative input terminal and the forward input terminal of the Rin input OP1 are the first differential excitation signal and the second differential excitation signal, respectively, as shown in FIG.
  • the excitation signal and the second differential excitation signal are differential input pairs, which together constitute the first excitation signal described in the embodiments of the present invention.
  • the signal amplifying circuit is composed of two Rin, two Cf, two Rf and OP1, and the operational amplifying circuit is composed of two R1, two R2 and OP2.
  • control logic unit is not shown in the terminal 900 shown in FIG. 9.
  • the control logic unit can control the switching unit to open or close the linear motor and the detection circuit.
  • the control logic unit controls the switch unit to disconnect the linear motor and the detection circuit, which can be realized by controlling the opening of S11 and S12, and the closing of S21 and S22; the control logic unit controls the switching unit to close the linear motor and the detection circuit, and can control S11 and S12 Closed, S21 and S22 are disconnected.
  • the terminal 900 shown in Fig. 9 is divided into two working phases when driving the linear motor:
  • the first stage linear motor energy storage
  • the processor outputs a first excitation signal when the terminal is triggered to reacquire the resonant frequency of the linear motor under a specific trigger condition (such as when the terminal is turned on or off).
  • the control logic unit controls S11 and S12 to be disconnected, and S21 and S22 are closed.
  • OP1 is in an enabled state
  • OP2 is in an disabled state
  • the signal amplifying circuit amplifies the first excitation signal by a first set multiple (such as 1) and outputs.
  • linear motor energy storage produces back EMF.
  • the setting of the first set multiple can be realized by changing the ratio of Rin and Rf.
  • the control logic unit controls S11 and S12 to be disconnected, and S21 and S22 are closed, and both OP1 and OP2 are in an enabled state.
  • OP2 is connected to the linear motor via R1.
  • OP1 corresponds to the voltage follower in the second phase. Due to the clamping action of the operational amplifier circuit, the first sinusoidal signal (ie, the pair of differential input signals VOP and VON) is clamped at Vcm.
  • the linear motor releases the stored energy in the form of a first sine wave signal and outputs it to OP2.
  • OP2 amplifies the first sine wave signal by a second set multiple and clamps it to Vcm to obtain a second sine wave signal; the comparator compares the second sinusoidal signal with Vcm, when the second sine wave signal is greater than or equal to Vcm The output level is high. When the second sine wave signal is less than Vcm, it outputs a low level, and finally the square wave signal is obtained and output.
  • the frequency of the output square wave signal is the resonant frequency of the linear motor.
  • the setting of the second set multiple can be realized by changing the ratio of R2 and R1.
  • R1 can be set as a fixed resistor
  • R2 can be set as a resistor having a variable resistance
  • the setting of the second set multiple can be realized by adjusting the resistance of R2.
  • the forward input end of the comparator is connected with the negative output end of the OP2, thereby comparing a differential component of the second sine wave signal with a preset voltage value Vcm to obtain a square wave.
  • the forward input of the comparator can also be connected to the forward output of the OP2, thereby making the second sine Another differential component of the wave signal is compared to a preset voltage value Vcm to obtain a square wave signal.
  • the terminal 900 shown in FIG. 9 can be regarded as a specific example of the terminal 300 shown in FIG. 3.
  • the implementation of the terminal 300 shown in FIG. 3 can be referred to the related description of the terminal 300 shown in FIG.
  • the present application further provides a driving method of a linear motor, which is applicable to a terminal, the terminal includes a processor, a signal amplifying circuit, a linear motor, and a detecting circuit, that is, the terminal may be FIG. Terminal 300 is shown. As shown in FIG. 10, the method includes the following steps:
  • the processor generates a first excitation signal, and outputs the first excitation signal to the signal amplification circuit.
  • the signal amplifying circuit amplifies the first excitation signal by a first set multiple to obtain a second excitation signal, and outputs the second excitation signal to the linear motor.
  • the excitation signal is used to generate a counter electromotive force after the linear motor stores energy.
  • the linear motor uses a second excitation signal to store energy to generate a counter electromotive force.
  • the linear motor converts the generated back electromotive force into a first sine wave signal output.
  • the detection circuit acquires the frequency of the first sine wave signal.
  • the frequency of the first sine wave signal is the resonant frequency of the linear motor.
  • the processor generates a driving signal having the resonant frequency, and uses the driving signal to drive the linear motor.
  • the method can be implemented by clamping the first sine wave signal to a preset voltage value to obtain a second sine wave signal; and the second sine wave signal and the pre- The voltage value is compared to obtain a square wave signal; the frequency of the square wave signal is obtained, and the frequency of the square wave signal is the same as the frequency of the first sine wave signal.
  • the first sine wave signal can be converted into a square wave signal after being clamped and compared, and the frequency of the converted square wave signal and the first sine wave signal can be converted.
  • the frequency is the same, and the frequency of the square wave signal is easier to detect, so the frequency of the first sine wave signal can be more conveniently obtained by the above implementation.
  • the second sine wave signal is compared with a preset voltage value to obtain a square wave signal, which can be specifically as follows Implementation: comparing the second sine wave signal with a preset voltage value, and outputting a high level when the amplitude of the second sine wave signal is greater than or equal to the preset voltage value, and the amplitude of the second sine wave signal is less than When the voltage value is set, a low level is output, thereby obtaining the above square wave signal.
  • the frequency of the first sine wave signal (resonance frequency of the linear motor) may also be stored by a memory included in the terminal; then, when the processor generates the driving signal having the resonant frequency, the processor may first read the memory for storage. The resonant frequency then produces a drive signal with the read resonant frequency.
  • the processor generates a first excitation signal.
  • the condition that the triggering processor generates the first excitation signal is that the processor receives the indication information, where the indication information is used to indicate that the terminal receives the power-on signal, and the power-on signal is used to trigger the terminal to be powered on; or, the terminal receives a shutdown signal, the shutdown signal is used to trigger the terminal to shut down; or the terminal receives the vibration function on signal, the vibration function on signal is used to indicate that the terminal turns on the vibration function; or the terminal receives the trigger signal, the trigger signal is used to indicate The user triggers the terminal to acquire the resonant frequency of the linear motor.
  • the method shown in FIG. 10 can be regarded as the method performed by the terminal 300.
  • the implementation method not fully explained and described in the driving method of the linear motor shown in FIG. 10 is referred to the related description in the terminal 300 shown in FIG.
  • the linear motor can store itself by using the second excitation signal to generate a counter electromotive force; according to the foregoing simulation experiment, the linear motor can be known.
  • the frequency of the first sine wave signal output by the linear motor is the resonant frequency of the linear motor.
  • the processor configures the frequency of the driving signal of the linear motor to the acquired resonant frequency, which can enhance the vibration intensity of the linear motor. Therefore, when the linear motor is driven by the method shown in FIG.
  • the inherent characteristics of the back-EMF and the stored energy storage by the linear motor itself are stored, and the resonant frequency of the linear motor can be accurately and conveniently obtained, thereby taking the obtained resonant frequency as The frequency of the drive signal of the linear motor drives the linear motor, which enhances the vibration strength of the linear motor and enhances the user experience.
  • an embodiment of the present invention provides a driving method and a terminal for a linear motor.
  • the driving method and the terminal of the linear motor provided by the embodiment of the invention can accurately acquire the resonant frequency of the linear motor, thereby setting the frequency of the driving signal of the linear motor to the obtained resonant frequency, enhancing the vibration intensity of the linear motor, and improving user experience.
  • embodiments of the present application can be provided as a method, system, or computer program product.
  • embodiments of the invention may be in the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware.
  • embodiments of the invention may take the form of a computer program product embodied on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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  • Control Of Linear Motors (AREA)

Abstract

A method for driving a linear resonant actuator, and a terminal, for use in accurately obtaining a resonance frequency of the linear resonant actuator, thereby driving the linear resonant actuator by using a driving signal having the resonance frequency, and enhancing the vibration strength of the linear resonant actuator. The terminal comprises: a processor, used for generating a first exciting signal and outputting the first exciting signal to a signal amplifier circuit; the signal amplifier circuit, connected to a processor and used for amplifying the first exciting signal by a first set multiple to obtain a second exciting signal and outputting the second exciting signal to the linear resonant actuator; the linear resonant actuator, connected to the signal amplifier circuit and used for storing energy and generating back electromotive force by using the second exciting signal, and converting the back electromotive force into a first sine wave signal for output; and a detection circuit, connected to the linear resonant actuator and used for obtaining the frequency of the first sine wave signal, the frequency of the first sine wave signal being the resonance frequency of the linear resonant actuator. The processor is also used for generating a driving signal having the resonance frequency and driving the linear resonant actuator by using the driving signal.

Description

一种线性马达的驱动方法及终端Linear motor driving method and terminal
本申请要求在2017年1月4日提交中国专利局、申请号为201710005324.8、发明名称为“一种获取线性马达谐振频率的方法和设备”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese Patent Application, filed on Jan. 4, 2017, filed Jan. In this application.
技术领域Technical field
本发明实施例涉及终端技术领域,尤其涉及一种线性马达的驱动方法及终端。The embodiments of the present invention relate to the field of terminal technologies, and in particular, to a driving method and a terminal for a linear motor.
背景技术Background technique
线性马达(Linear Resonant Actuator,简称为LRA)是终端中用于产生振动的器件,在终端中有着广泛的应用。比如,当用户在终端的触摸屏上进行触控操作或点击虚拟按键时,触摸屏会向处理器上报触摸事件,处理器在接收到触摸事件后产生驱动信号,从而驱动线性马达产生振动,使用户体验到振动感,即触觉反馈。再比如,当终端接收到提醒或通知(比如来电提醒、短信提醒、闹铃提醒或者来自应用程序的通知等)时,若终端开启了振动功能,线性马达也会给出振动反馈。Linear Resonant Actuator (LRA) is a device used in the terminal to generate vibration and has a wide range of applications in terminals. For example, when the user performs a touch operation on the touch screen of the terminal or clicks a virtual button, the touch screen reports a touch event to the processor, and the processor generates a driving signal after receiving the touch event, thereby driving the linear motor to generate vibration and making the user experience To the sense of vibration, that is, tactile feedback. For another example, when the terminal receives a reminder or notification (such as an incoming call reminder, a short message reminder, an alarm reminder, or a notification from an application, etc.), if the terminal turns on the vibration function, the linear motor also gives vibration feedback.
在上述通过处理器产生驱动信号来驱动线性马达产生振动的场景下,当驱动信号的频率为线性马达的谐振频率时,线性马达的振动强度最大;当驱动信号的频率与线性马达的谐振频率的差值的绝对值大于线性马达的带宽(比如2Hz)时,线性马达的振动强度迅速减弱。In the above scenario where the drive signal is generated by the processor to drive the linear motor to generate vibration, when the frequency of the drive signal is the resonant frequency of the linear motor, the vibration intensity of the linear motor is maximum; when the frequency of the drive signal is at the resonant frequency of the linear motor When the absolute value of the difference is greater than the bandwidth of the linear motor (for example, 2 Hz), the vibration strength of the linear motor is rapidly weakened.
在终端出厂之前,终端中的线性马达具有固有的谐振频率。在终端出厂后,由于元件老化、制造误差或环境温度等原因,终端中的线性马达的谐振频率可能会发生变化。此时,如果还以该线性马达固有的谐振频率来驱动该线性马达,则无法使该线性马达的振动强度达到最大。The linear motor in the terminal has an inherent resonant frequency before the terminal leaves the factory. After the terminal is shipped, the resonant frequency of the linear motor in the terminal may change due to component aging, manufacturing error or ambient temperature. At this time, if the linear motor is also driven at the resonance frequency inherent to the linear motor, the vibration intensity of the linear motor cannot be maximized.
发明内容Summary of the invention
本申请实施例提供了一种线性马达的驱动方法及终端,用以准确地获取线性马达的谐振频率,从而采用具有该谐振频率的驱动信号来驱动线性马达,增强线性马达的振动强度,提升用户体验。The embodiment of the present application provides a driving method and a terminal for a linear motor, which are used for accurately acquiring a resonant frequency of a linear motor, thereby driving a linear motor by using a driving signal having the resonant frequency, enhancing the vibration intensity of the linear motor, and improving the user. Experience.
第一方面,本发明实施例提供一种终端,该终端包括处理器、信号放大电路、线性马达和检测电路。其中,处理器用于产生第一激励信号,并输出第一激励信号至信号放大电路;信号放大电路与处理器连接,用于接收处理器输出的第一激励信号,将第一激励信号放大第一设定倍数后得到第二激励信号,并输出第二激励信号至线性马达;线性马达与信号放大电路连接,用于采用第二激励信号进行储能以产生反电动势,以及将反电动势转换成第一正弦波信号输出;检测电路与线性马达连接,用于获取第一正弦波信号的频率,该第一正弦波信号的频率为线性马达的谐振频率;处理器还用于产生具有该谐振频率的驱动信号,并采用该驱动信号驱动所述线性马达。In a first aspect, an embodiment of the present invention provides a terminal, where the terminal includes a processor, a signal amplifying circuit, a linear motor, and a detecting circuit. The processor is configured to generate a first excitation signal, and output a first excitation signal to the signal amplification circuit; the signal amplification circuit is coupled to the processor, configured to receive the first excitation signal output by the processor, and amplify the first excitation signal by first After the multiple is set, the second excitation signal is obtained, and the second excitation signal is output to the linear motor; the linear motor is connected to the signal amplification circuit for storing energy by using the second excitation signal to generate a counter electromotive force, and converting the counter electromotive force into the first a sine wave signal output; the detection circuit is coupled to the linear motor for acquiring a frequency of the first sine wave signal, the frequency of the first sine wave signal is a resonant frequency of the linear motor; and the processor is further configured to generate the resonant frequency Driving a signal and driving the linear motor with the drive signal.
其中,具有该谐振频率的驱动信号的含义是:该驱动信号的频率为该谐振频率。 The meaning of the driving signal having the resonant frequency is that the frequency of the driving signal is the resonant frequency.
需要说明的是,本发明实施例中对第一设定倍数的具体数值均不做限制,第一设定倍数可大于1,也可等于1。It should be noted that, in the embodiment of the present invention, the specific value of the first set multiple is not limited, and the first set multiple may be greater than 1, or may be equal to 1.
上述第一方面所提供的终端在获取线性马达的谐振频率时,基于以下原理:给线性马达一个初始储能激励,线性马达会进行储能,以产生反电动势;线性马达在释放储能时,会以正弦波信号的形式释放该反电动势,该正弦波信号的频率即为线性马达的谐振频率。The terminal provided by the above first aspect is based on the following principle when acquiring the resonant frequency of the linear motor: an initial energy storage excitation for the linear motor, the linear motor performs energy storage to generate a counter electromotive force; and the linear motor releases the energy storage, The counter electromotive force is released in the form of a sinusoidal signal whose frequency is the resonant frequency of the linear motor.
在上述第一方面提供的终端中,由于信号放大电路将第二激励信号输出至线性马达后,线性马达可采用第二激励信号对自身进行储能,从而产生反电动势;线性马达在释放自身的储能时,线性马达输出的第一正弦波信号的频率即为线性马达的谐振频率。通过检测电路获取第一正弦波信号的频率(线性马达的谐振频率)后,处理器将线性马达的驱动信号的频率配置为获取到的谐振频率,可以增强线性马达的振动强度。因此,终端在驱动线性马达时,利用线性马达自身储能产生反电动势以及释放储能的固有特点,可准确、便捷地获取线性马达的谐振频率,从而将获取到的谐振频率作为线性马达的驱动信号的频率,增强了线性马达的振动强度。In the terminal provided in the above first aspect, since the signal amplifying circuit outputs the second excitation signal to the linear motor, the linear motor can store itself by using the second excitation signal to generate a counter electromotive force; the linear motor releases itself. When storing energy, the frequency of the first sine wave signal output by the linear motor is the resonant frequency of the linear motor. After the frequency of the first sine wave signal (the resonant frequency of the linear motor) is obtained by the detecting circuit, the processor configures the frequency of the driving signal of the linear motor to the acquired resonant frequency, which can enhance the vibration intensity of the linear motor. Therefore, when driving the linear motor, the terminal utilizes the inherent characteristics of the linear motor's own energy storage to generate the back electromotive force and release the energy storage, and can accurately and conveniently acquire the resonant frequency of the linear motor, thereby using the obtained resonant frequency as the driving of the linear motor. The frequency of the signal enhances the vibration strength of the linear motor.
基于第一方面,在一种可能的设计中,检测电路在获取第一正弦波信号的频率时,具体可通过以下方式实现:将第一正弦波信号箝位在预设电压值,得到第二正弦波信号;将第二正弦波信号与预设电压值进行比较,得到方波信号;获取该方波信号的频率,该方波信号的频率与第一正弦波信号的频率相同。Based on the first aspect, in a possible design, when detecting the frequency of the first sine wave signal, the detecting circuit can be specifically implemented by clamping the first sine wave signal to a preset voltage value to obtain a second The sine wave signal is compared with a preset voltage value to obtain a square wave signal; the frequency of the square wave signal is obtained, and the frequency of the square wave signal is the same as the frequency of the first sine wave signal.
由于在实际实现时,正弦波信号的频率不易于检测,因此可将第一正弦波信号经过箝位和比较操作后转换为方波信号,转换得到的方波信号的频率与第一正弦波信号的频率相同,且该方波信号的频率更易于检测,因此采用上述实现方式可更加方便地获取到第一正弦波信号的频率。Since the frequency of the sine wave signal is not easy to detect in actual implementation, the first sine wave signal can be converted into a square wave signal after being clamped and compared, and the frequency of the converted square wave signal and the first sine wave signal can be converted. The frequency of the square wave signal is the same, and the frequency of the square wave signal is easier to detect. Therefore, the frequency of the first sine wave signal can be more conveniently obtained by the above implementation manner.
基于第一方面,在一种可能的设计中,上述第一方面提供的终端中还包括存储器,该存储器可用于存储检测电路获取到的谐振频率;那么,处理器在产生具有该谐振频率的驱动信号时,可先读取该存储器中存储的谐振频率,然后产生具有读取到的谐振频率的驱动信号。Based on the first aspect, in a possible design, the terminal provided by the above first aspect further includes a memory, where the memory is used to store a resonant frequency acquired by the detecting circuit; then, the processor generates a driving having the resonant frequency. In the case of a signal, the resonant frequency stored in the memory can be read first, and then a drive signal having the read resonant frequency is generated.
基于第一方面,在一种可能的设计中,第一方面提供的终端还包括开关单元和控制逻辑单元。其中,开关单元与线性马达和检测电路连接,用于使线性马达和检测电路断开或闭合;控制逻辑单元与开关单元连接,用于在线性马达进行储能时控制开关单元使线性马达和检测电路断开,在线性马达储能完成后控制开关单元使线性马达和检测电路闭合。Based on the first aspect, in a possible design, the terminal provided by the first aspect further includes a switch unit and a control logic unit. Wherein, the switch unit is connected with the linear motor and the detecting circuit for disconnecting or closing the linear motor and the detecting circuit; the control logic unit is connected with the switching unit for controlling the switching unit to make the linear motor and detecting when the linear motor performs energy storage The circuit is disconnected and the switching unit is controlled to close the linear motor and the detection circuit after the linear motor has been stored.
在上述第一方面提供的终端中设置开关单元和控制逻辑单元,可以通过控制逻辑单元控制开关单元,实现控制线性马达与检测电路的断开或闭合。在线性马达与检测电路断开时,线性马达进行储能;在线性马达与检测电路闭合时,线性马达释放储能,即线性马达将储能产生的反电动势以第一正弦波信号的形式输出至检测电路。In the terminal provided in the above first aspect, the switch unit and the control logic unit are disposed, and the switch unit can be controlled by the control logic unit to control the opening or closing of the linear motor and the detection circuit. When the linear motor is disconnected from the detection circuit, the linear motor performs energy storage; when the linear motor and the detection circuit are closed, the linear motor releases the energy storage, that is, the linear motor outputs the back electromotive force generated by the energy storage in the form of the first sine wave signal. To the detection circuit.
基于第一方面,在一种可能的设计中,检测电路具体包括运算放大电路和比较器。其中,运算放大电路用于将第一正弦波信号放大第二设定倍数并箝位在预设电压值,得到第二正弦波信号;比较器与运算放大电路连接,用于将第二正弦波信号与预设电压值进行比较,得到方波信号。Based on the first aspect, in one possible design, the detection circuit specifically includes an operational amplification circuit and a comparator. The operational amplifier circuit is configured to amplify the first sine wave signal by a second set multiple and clamp the preset voltage value to obtain a second sine wave signal; the comparator is connected to the operational amplifier circuit for using the second sine wave The signal is compared with a preset voltage value to obtain a square wave signal.
需要说明的是,本发明实施例中对第二设定倍数的具体数值均不做限制,第二设定倍数可大于1,也可等于1。It should be noted that, in the embodiment of the present invention, the specific value of the second set multiple is not limited, and the second set multiple may be greater than 1, or may be equal to 1.
基于第一方面,在一种可能的设计中,检测电路中的比较器具体用于:将第二正弦波 信号与预设电压值进行比较,在第二正弦波信号的幅值大于或等于预设电压值时输出高电平,在第二正弦波信号的幅值小于预设电压值时输出低电平,得到方波信号。Based on the first aspect, in one possible design, the comparator in the detection circuit is specifically used to: the second sine wave The signal is compared with the preset voltage value, and the high level is output when the amplitude of the second sine wave signal is greater than or equal to the preset voltage value, and the low level is output when the amplitude of the second sine wave signal is less than the preset voltage value. , get a square wave signal.
基于第一方面,在一种可能的设计中,信号放大电路包括第一电阻、第二电阻、第三电阻、第四电阻、第一电容、第二电容和第一全差分运算放大器,其中:第一电阻的第一端用于接收第一激励信号中的第一差分激励信号,第一电阻的第二端与第一全差分运算放大器的负向输入端连接;第二电阻的第一端用于接收第一激励信号中第二差分激励信号,第二电阻的第二端与第一全差分运算放大器的正向输入端连接;第三电阻和第一电容并联后跨接在第一全差分运算放大器的负向输入端和正向输出端之间;第四电阻和第二电容并联后跨接在第一全差分运算放大器的正向输入端和负向输出端之间;第一全差分运算放大器的正向输出端和负向输出端分别与线性马达的第一端和第二端连接。Based on the first aspect, in one possible design, the signal amplifying circuit includes a first resistor, a second resistor, a third resistor, a fourth resistor, a first capacitor, a second capacitor, and a first fully differential operational amplifier, wherein: The first end of the first resistor is configured to receive a first differential excitation signal in the first excitation signal, the second end of the first resistor is coupled to the negative input terminal of the first fully differential operational amplifier; the first end of the second resistor Receiving a second differential excitation signal in the first excitation signal, the second end of the second resistor is connected to the forward input end of the first fully differential operational amplifier; the third resistor and the first capacitor are connected in parallel and then connected in the first full a differential operational amplifier between the negative input terminal and the positive output terminal; the fourth resistor and the second capacitor are connected in parallel between the forward input terminal and the negative output terminal of the first fully differential operational amplifier; The forward and negative outputs of the operational amplifier are coupled to the first and second ends of the linear motor, respectively.
为了保持第一全差分运算放大器的输入信号和输出信号的平衡,可设定:第一电阻和第二电阻的阻值相同,第三电阻和第四电阻的阻值相同,第一电容和第二电容的电容值相同。此时,可通过调节第三电阻与第一电阻的比值(即第四电阻与第二电阻的比值)来设置第一设定倍数。In order to maintain the balance between the input signal and the output signal of the first fully differential operational amplifier, it may be set that the resistances of the first resistor and the second resistor are the same, the resistances of the third resistor and the fourth resistor are the same, the first capacitor and the first capacitor The capacitance of the two capacitors is the same. At this time, the first set multiple can be set by adjusting the ratio of the third resistance to the first resistance (ie, the ratio of the fourth resistance to the second resistance).
信号放大电路采用第一全差分运算放大器的形式,除了可以实现将第一激励信号放大第一设定倍数得到第二激励信号以外,还可抑制第二激励信号中的共模噪声,增强第二激励信号的驱动能力。The signal amplifying circuit is in the form of a first fully differential operational amplifier. In addition to amplifying the first excitation signal by a first set multiple to obtain a second excitation signal, the common mode noise in the second excitation signal can be suppressed, and the second is enhanced. The driving ability of the excitation signal.
基于第一方面,在一种可能的设计中,检测电路中的运算放大电路包括第五电阻、第六电阻、第七电阻、第八电阻和第二全差分运算放大器,其中:第五电阻的第一端与第二全差分运算放大器的正向输入端连接,第五电阻的第二端与开关单元连接;第六电阻的第一端与第二全差分运算放大器的负向输入端连接,第六电阻的第二端与开关单元连接;第七电阻跨接在第二全差分运算放大器的正向输入端和负向输出端之间,第八电阻跨接在第二全差分运算放大器的负向输入端和正向输出端之间。那么,检测电路中的比较器的正向输入端与第二全差分运算放大器的负向输出端或正向输出端连接,比较器的负向输出端用于输入预设电压值,比较器的输出端用于输出方波信号。Based on the first aspect, in one possible design, the operational amplifier circuit in the detection circuit includes a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, and a second fully differential operational amplifier, wherein: the fifth resistor The first end is connected to the forward input end of the second fully differential operational amplifier, the second end of the fifth resistor is connected to the switch unit, and the first end of the sixth resistor is connected to the negative input end of the second fully differential operational amplifier, The second end of the sixth resistor is connected to the switch unit; the seventh resistor is connected between the forward input terminal and the negative output terminal of the second fully differential operational amplifier, and the eighth resistor is connected across the second fully differential operational amplifier Between the negative input and the positive output. Then, the forward input of the comparator in the detection circuit is connected to the negative output or the positive output of the second fully differential operational amplifier, and the negative output of the comparator is used to input the preset voltage value, the comparator The output is used to output a square wave signal.
需要说明的是,为了保持第二全差分运算放大器的输入信号和输出信号的平衡,可设定:第五电阻和第六电阻的阻值相同,第七电阻和第八电阻的阻值相同。那么,在运算放大电路中,可通过调节第七电阻与第五电阻的比值(即第八电阻与第六电阻的比值)来设置上述第二设定倍数。It should be noted that, in order to maintain the balance between the input signal and the output signal of the second fully differential operational amplifier, it can be set that the resistance values of the fifth resistor and the sixth resistor are the same, and the resistances of the seventh resistor and the eighth resistor are the same. Then, in the operational amplifier circuit, the second set multiple can be set by adjusting the ratio of the seventh resistor to the fifth resistor (ie, the ratio of the eighth resistor to the sixth resistor).
基于第一方面,在一种可能的设计中,开关单元可包括第一开关、第二开关、第三开关和第四开关,其中:第一开关的一端与线性马达的第一端连接,另一端与第五电阻的第二端连接;第二开关的一端与线性马达的第二端连接,另一端与第六电阻的第二端连接;第三开关的一端与第五电阻的第二端连接,另一端接地;第四开关的一端与第六电阻的第二端连接,另一端接地;控制逻辑单元,具体用于:在线性马达进行储能时控制第一开关和第二开关断开,控制第三开关和第四开关闭合;在线性马达储能完成后控制第一开关和第二开关闭合,控制第三开关和第四开关断开。Based on the first aspect, in one possible design, the switch unit may include a first switch, a second switch, a third switch, and a fourth switch, wherein: one end of the first switch is connected to the first end of the linear motor, and One end is connected to the second end of the fifth resistor; one end of the second switch is connected to the second end of the linear motor, and the other end is connected to the second end of the sixth resistor; one end of the third switch and the second end of the fifth resistor Connected, the other end is grounded; one end of the fourth switch is connected to the second end of the sixth resistor, and the other end is grounded; the control logic unit is specifically configured to: control the first switch and the second switch to be disconnected when the linear motor performs energy storage And controlling the third switch and the fourth switch to be closed; controlling the first switch and the second switch to be closed after the linear motor energy storage is completed, and controlling the third switch and the fourth switch to be turned off.
开关单元和控制逻辑单元采用上述实现方式时,控制逻辑单元可通过控制开关单元中的第一开关、第二开关、第三开关和第四开关的断开和闭合,来实现控制线性马达和检测电路断开或闭合。When the switch unit and the control logic unit adopt the above implementation manner, the control logic unit can control the linear motor and the detection by controlling the opening, closing and closing of the first switch, the second switch, the third switch and the fourth switch in the switch unit. The circuit is open or closed.
第二方面,本发明实施例提供一种线性马达的驱动方法,该方法应用于包括处理器、 信号放大电路、线性马达以及检测电路的终端中,该方法包括如下步骤:处理器产生第一激励信号,并输出该第一激励信号至所述信号放大电路;信号放大电路将第一激励信号放大第一设定倍数后得到第二激励信号,并输出第二激励信号至线性马达,该第二激励信号用于使线性马达储能后产生反电动势;线性马达采用第二激励信号进行储能并产生反电动势,以及将反电动势转换成第一正弦波信号输出;检测电路获取第一正弦波信号的频率,该第一正弦波信号的频率即为线性马达的谐振频率;处理器产生具有该谐振频率的驱动信号,并采用该驱动信号驱动终端中的线性马达。In a second aspect, an embodiment of the present invention provides a driving method of a linear motor, where the method is applied to a processor, In the terminal of the signal amplifying circuit, the linear motor and the detecting circuit, the method comprises the steps of: the processor generating a first excitation signal and outputting the first excitation signal to the signal amplifying circuit; and the signal amplifying circuit amplifying the first excitation signal After the first set multiple, a second excitation signal is obtained, and the second excitation signal is output to a linear motor, the second excitation signal is used to generate a counter electromotive force after the linear motor is stored; and the linear motor uses the second excitation signal to store energy. Generating a counter electromotive force and converting the counter electromotive force into a first sine wave signal output; the detecting circuit acquires a frequency of the first sine wave signal, the frequency of the first sine wave signal being a resonant frequency of the linear motor; the processor generates the resonance The frequency of the drive signal, and the drive signal is used to drive the linear motor in the terminal.
在第二方面提供的线性马达的驱动方法中,由于信号放大电路将第二激励信号输出至线性马达后,线性马达可采用第二激励信号对自身进行储能,从而产生反电动势;线性马达在释放自身的储能时,线性马达输出的第一正弦波信号的频率即为线性马达的谐振频率。通过检测电路获取第一正弦波信号的频率(线性马达的谐振频率)后,处理器将线性马达的驱动信号的频率配置为获取的谐振频率,可以增强线性马达的振动强度。因此,采用第二方面提供的线性马达的驱动方法驱动线性马达时,利用线性马达自身储能产生反电动势以及释放储能的固有特点,可准确、便捷地获取线性马达的谐振频率,从而将获取到的谐振频率作为线性马达的驱动信号的频率去驱动线性马达,增强了线性马达的振动强度。In the driving method of the linear motor provided by the second aspect, since the signal amplifying circuit outputs the second excitation signal to the linear motor, the linear motor can store itself by using the second excitation signal to generate a counter electromotive force; the linear motor is When releasing its own stored energy, the frequency of the first sine wave signal output by the linear motor is the resonant frequency of the linear motor. After the frequency of the first sine wave signal (the resonant frequency of the linear motor) is obtained by the detecting circuit, the processor configures the frequency of the driving signal of the linear motor to the acquired resonant frequency, which can enhance the vibration intensity of the linear motor. Therefore, when the linear motor is driven by the driving method of the linear motor provided by the second aspect, the inherent characteristics of the back electromotive force generated by the linear motor itself and the energy storage are released, and the resonant frequency of the linear motor can be accurately and conveniently obtained, thereby obtaining The arriving resonant frequency drives the linear motor as the frequency of the drive signal of the linear motor, enhancing the vibration strength of the linear motor.
基于第二方面,在一种可能的设计中,检测电路在获取第一正弦波信号的频率时,可通过如下方式实现:将第一正弦波信号箝位在预设电压值,得到第二正弦波信号;将第二正弦波信号与预设电压值进行比较,得到方波信号;获取方波信号的频率,方波信号的频率与第一正弦波信号的频率相同。Based on the second aspect, in a possible design, when detecting the frequency of the first sine wave signal, the detecting circuit can be implemented by clamping the first sine wave signal to a preset voltage value to obtain a second sine The wave signal is obtained by comparing the second sine wave signal with a preset voltage value to obtain a square wave signal; the frequency of the square wave signal is obtained, and the frequency of the square wave signal is the same as the frequency of the first sine wave signal.
由于在实际实现时,正弦波信号的频率不易于检测,因此可将第一正弦波信号经过箝位和比较操作后转换为方波信号,转换得到的方波信号的频率与第一正弦波信号的频率相同,且方波信号的频率更易于检测,因此采用上述实现方式可更加方便地获取到第一正弦波信号的频率。Since the frequency of the sine wave signal is not easy to detect in actual implementation, the first sine wave signal can be converted into a square wave signal after being clamped and compared, and the frequency of the converted square wave signal and the first sine wave signal can be converted. The frequency is the same, and the frequency of the square wave signal is easier to detect, so the frequency of the first sine wave signal can be more conveniently obtained by the above implementation.
基于第二方面,在一种可能的设计中,将第二正弦波信号与预设电压值进行比较,得到方波信号,具体可通过如下方式实现:将第二正弦波信号与预设电压值进行比较,在第二正弦波信号的幅值大于或等于预设电压值时输出高电平,在第二正弦波信号的幅值小于预设电压值时输出低电平,得到该方波信号。Based on the second aspect, in a possible design, the second sine wave signal is compared with a preset voltage value to obtain a square wave signal, which can be specifically achieved by: second sinusoidal signal and preset voltage value Comparing, when the amplitude of the second sine wave signal is greater than or equal to the preset voltage value, the high level is output, and when the amplitude of the second sine wave signal is less than the preset voltage value, the low level is output, and the square wave signal is obtained. .
基于第二方面,在一种可能的设计中,终端还包括存储器,在检测电路获取第一正弦波信号的频率之后,还可由存储器存储第一正弦波信号的频率(即线性马达的谐振频率);那么,处理器在产生具有该谐振频率的驱动信号时,可先读取存储器中存储的谐振频率,然后产生具有读取到的谐振频率的驱动信号。Based on the second aspect, in a possible design, the terminal further includes a memory, and after the detecting circuit acquires the frequency of the first sine wave signal, the frequency of the first sine wave signal (ie, the resonant frequency of the linear motor) may also be stored by the memory. Then, when the processor generates the driving signal having the resonant frequency, the resonant frequency stored in the memory can be read first, and then the driving signal having the read resonant frequency is generated.
基于第二方面,在一种可能的设计中,触发处理器产生第一激励信号的条件可以是:处理器接收到指示信息,该指示信息用于指示:终端接收到开机信号,该开机信号用于触发终端进行开机;或者,终端接收到关机信号,该关机信号用于触发终端进行关机;或者,终端接收到振动功能开启信号,该振动功能开启信号用于指示终端开启振动功能;或者,终端接收到触发信号,该触发信号用于指示用户触发终端获取线性马达的谐振频率。Based on the second aspect, in a possible design, the condition that the trigger processor generates the first excitation signal may be: the processor receives the indication information, where the indication information is used to indicate that the terminal receives the power-on signal, and the power-on signal is used by the terminal. The trigger terminal is powered on; or the terminal receives the shutdown signal, the shutdown signal is used to trigger the terminal to shut down; or the terminal receives the vibration function enable signal, the vibration function enable signal is used to indicate the terminal to open the vibration function; or, the terminal A trigger signal is received, the trigger signal is used to instruct the user to trigger the terminal to acquire the resonant frequency of the linear motor.
附图说明DRAWINGS
图1为本发明实施例提供的一种平板电脑中的触觉反馈系统的结构示意图; 1 is a schematic structural diagram of a haptic feedback system in a tablet computer according to an embodiment of the present invention;
图2为本发明实施例提供的线性马达的电路模型的示意图;2 is a schematic diagram of a circuit model of a linear motor according to an embodiment of the present invention;
图3为本发明实施例提供的第一种终端的结构示意图;FIG. 3 is a schematic structural diagram of a first terminal according to an embodiment of the present disclosure;
图4为本发明实施例提供的第一正弦波信号、第二正弦波信号和方波信号的转换过程的示意图;4 is a schematic diagram of a conversion process of a first sine wave signal, a second sine wave signal, and a square wave signal according to an embodiment of the present invention;
图5为本发明实施例提供的一种信号放大电路的结构示意图;FIG. 5 is a schematic structural diagram of a signal amplifying circuit according to an embodiment of the present invention;
图6为本发明实施例提供的第二种终端的结构示意图;FIG. 6 is a schematic structural diagram of a second terminal according to an embodiment of the present disclosure;
图7为为本发明实施例提供的一种运算放大电路和开关单元的结构示意图;7 is a schematic structural diagram of an operational amplifier circuit and a switch unit according to an embodiment of the present invention;
图8为本发明实施例提供的第五电阻的结构示意图;FIG. 8 is a schematic structural diagram of a fifth resistor according to an embodiment of the present disclosure;
图9为本发明实施例提供的第三种终端的结构示意图;FIG. 9 is a schematic structural diagram of a third terminal according to an embodiment of the present disclosure;
图10为本发明实施例提供的线性马达的驱动方法的流程示意图。FIG. 10 is a schematic flow chart of a driving method of a linear motor according to an embodiment of the present invention.
具体实施方式detailed description
在手机、平板电脑、电子游戏设备、车载导航仪等终端中,线性马达为常用的振动器件。通过处理产生的驱动信号来驱动线性马达产生振动的场景有多种,比如,当用户在终端的触摸屏上进行触控操作或点击虚拟按键时,或者当终端接收到提醒或通知(比如来电提醒、短信提醒、闹铃提醒或者来自应用程序的通知等)时,处理器都会产生驱动信号,从而驱动线性马达,使线性马达给出振动反馈。In mobile phones, tablets, video game devices, car navigation systems and other terminals, linear motors are commonly used vibration devices. There are various scenarios for driving the linear motor to generate vibration by processing the generated driving signal, for example, when the user performs a touch operation on the touch screen of the terminal or clicks a virtual button, or when the terminal receives a reminder or notification (such as an incoming call reminder, When SMS reminders, alarm reminders, or notifications from applications, etc., the processor generates a drive signal that drives the linear motor, giving the linear motor a vibration feedback.
用户在终端的触摸屏上进行触控操作或点击虚拟按键时,终端的触摸屏、处理器、驱动器和马达构成触觉反馈系统。采用触觉反馈技术的终端中,线性马达为常用的振动器件。用户在终端的屏幕上触摸或者点击虚拟按键后线性马达会给出振动反馈,从而使用户得到触觉反馈体验。以平板电脑中的触觉反馈系统为例,如图1所示,当用户触摸或点击平板电脑中的虚拟按键后,触摸屏向MCU(Micro Control Unit,微控制单元)上报触摸事件,MCU在收到上报的触摸事件后向驱动器发送使能信号(EN)和占空比可变的PWM信号,从而使能驱动器,使驱动器驱动线性马达产生振动,从而使平板电脑给出触摸事件的振动反馈。When the user performs a touch operation on the touch screen of the terminal or clicks a virtual button, the touch screen, the processor, the driver and the motor of the terminal constitute a tactile feedback system. In terminals using haptic feedback technology, linear motors are commonly used vibration devices. When the user touches or clicks the virtual button on the screen of the terminal, the linear motor gives vibration feedback, so that the user gets a tactile feedback experience. Taking the tactile feedback system in the tablet as an example, as shown in FIG. 1 , when the user touches or clicks the virtual button in the tablet, the touch screen reports the touch event to the MCU (Micro Control Unit), and the MCU receives the touch event. The reported touch event sends an enable signal (EN) and a duty cycle variable PWM signal to the driver, thereby enabling the driver to cause the driver to drive the linear motor to vibrate, thereby causing the tablet to give a vibration feedback of the touch event.
此外,当终端接收到提醒或通知(比如来电提醒、短信提醒、闹铃提醒或者来自应用程序的通知等)时,也会触发向MCU上报提醒或通知事件的操作,MCU在接收到此类事件后产生驱动信号,从而驱动线性马达产生振动。In addition, when the terminal receives a reminder or notification (such as an incoming call reminder, a short message reminder, an alarm reminder, or a notification from an application, etc.), it also triggers an operation of reporting a reminder or notification event to the MCU, and the MCU receives such an event. A drive signal is then generated to drive the linear motor to generate vibration.
在采用驱动信号驱动线性马达时,线性马达的振动强度与驱动信号的频率有关:当驱动信号的频率为线性马达的谐振频率时,线性马达的振动强度最大;当驱动信号的频率与线性马达的谐振频率的差值的绝对值大于线性马达的带宽时,线性马达的振动强度迅速减弱。由于元件老化、制造误差或环境温度等原因,线性马达的固有谐振频率相比于出厂时的固有谐振频率会发生改变,从而导致线性马达的振动强度减弱。When a linear motor is driven by a driving signal, the vibration intensity of the linear motor is related to the frequency of the driving signal: when the frequency of the driving signal is the resonant frequency of the linear motor, the vibration intensity of the linear motor is maximum; when the frequency of the driving signal is related to the linear motor When the absolute value of the difference in the resonant frequency is greater than the bandwidth of the linear motor, the vibration strength of the linear motor is rapidly weakened. Due to component aging, manufacturing errors, or ambient temperature, the natural resonant frequency of the linear motor changes compared to the natural resonant frequency at the factory, resulting in a decrease in the vibration strength of the linear motor.
比如,线性马达的谐振频率为235Hz,线性马达的带宽为2Hz。随着元件老化、制造误差或环境温度变化,线性马达的谐振频率会发生改变。比如,由235Hz变为238Hz。此时,若仍采用频率为235Hz的驱动信号驱动线性马达,由于驱动信号的频率(235Hz)与线性马达的谐振频率(238Hz)的差值的绝对值大于2Hz,因此,线性马达的振动强度会迅速减弱。For example, the linear motor has a resonant frequency of 235 Hz and the linear motor has a bandwidth of 2 Hz. The resonant frequency of the linear motor changes as components age, manufacturing tolerances, or ambient temperature changes. For example, from 235Hz to 238Hz. At this time, if the linear motor is still driven by the driving signal with the frequency of 235 Hz, since the absolute value of the difference between the frequency of the driving signal (235 Hz) and the resonant frequency of the linear motor (238 Hz) is greater than 2 Hz, the vibration intensity of the linear motor will be Rapidly weakened.
本发明实施例中,线性马达可以等效为如图2所示的电路模型。在图2所示的线性马达的电路模型中,A和B是线性马达的输入端,线性马达的输入信号为一组差分输入对。 In the embodiment of the present invention, the linear motor can be equivalent to the circuit model shown in FIG. 2. In the circuit model of the linear motor shown in Figure 2, A and B are the inputs of a linear motor, and the input signal to the linear motor is a set of differential input pairs.
在图2所示的线性马达的模型中,线性马达的谐振频率为In the model of the linear motor shown in Figure 2, the resonant frequency of the linear motor is
Figure PCTCN2017081493-appb-000001
Figure PCTCN2017081493-appb-000001
实际应用中,常见的线性马达的固有谐振频率有175Hz和205Hz两种。In practical applications, the natural resonant frequencies of common linear motors are 175 Hz and 205 Hz.
根据图2所示的线性马达的电路模型,通过测试一个175Hz的线性马达的电特性,拟合出图2等效模型对应的参数:电阻Rl=25.7Ω、电感Lc=135uH、电阻Rd=6.1Ω、电容Cm=8.5329mF、电感Lm=91.81uH。将A端短接到B端,通过仿真给线性马达等效电路的电容Cm一个50mV的初始激励储能后,在线性马达的A端和B端可测试到一个衰减的反电动势,并且该反电动势为正弦波信号的形式,该正弦波信号的频率即为175Hz,该正弦波信号的幅值逐渐衰减。According to the circuit model of the linear motor shown in Fig. 2, by testing the electrical characteristics of a 175 Hz linear motor, the parameters corresponding to the equivalent model of Fig. 2 are fitted: resistance Rl = 25.7 Ω, inductance Lc = 135 uH, resistance Rd = 6.1 Ω, capacitance Cm = 8.5329 mF, inductance Lm = 91.81 uH. Short-circuit the A terminal to the B terminal, and after simulating the initial excitation energy storage of the capacitance Cm of the linear motor equivalent circuit by 50mV, an attenuated back electromotive force can be tested at the A and B ends of the linear motor, and the inverse The electromotive force is in the form of a sinusoidal signal having a frequency of 175 Hz, and the amplitude of the sinusoidal signal is gradually attenuated.
由上述仿真实验可以看出,给线性马达提供初始储能后,通过线性马达中产生的反电动势信号可以提取出线性马达的谐振频率信息。It can be seen from the above simulation experiment that after the initial energy storage is provided to the linear motor, the resonance frequency information of the linear motor can be extracted by the back electromotive force signal generated in the linear motor.
为了在采用驱动信号驱动线性马达时增强线性马达的振动强度,基于上述仿真实验得出的结论,本发明实施例提供一种线性马达的驱动方法及终端,用以准确地获取线性马达的谐振频率,从而采用具有该谐振频率的驱动信号来驱动线性马达,增强线性马达的振动强度。其中,方法和终端是基于同一发明构思的,由于方法及终端解决问题的原理相似,因此终端与方法的实施可以相互参见,重复之处不再赘述。In order to enhance the vibration intensity of the linear motor when the linear motor is driven by the driving signal, the embodiment of the present invention provides a driving method and terminal for the linear motor to accurately obtain the resonant frequency of the linear motor based on the conclusions obtained by the above simulation experiment. Thus, a drive signal having the resonant frequency is used to drive the linear motor to enhance the vibration strength of the linear motor. The method and the terminal are based on the same inventive concept. Since the method and the terminal solve the problem are similar in principle, the implementation of the terminal and the method can be referred to each other, and the repeated description is not repeated.
需要说明的是,在本发明实施例的描述中,“第一”、“第二”等词汇,仅用于区分描述的目的,而不能理解为指示或暗示相对重要性,也不能理解为指示或暗示顺序。It should be noted that in the description of the embodiments of the present invention, the terms "first", "second" and the like are used only to distinguish the purpose of description, and are not to be understood as indicating or implying relative importance, nor can it be understood as an indication. Or suggest the order.
参见图3,为本发明实施例提供的一种终端300。如图3所示,终端300包括处理器301、信号放大电路302、线性马达303以及检测电路304。FIG. 3 is a schematic diagram of a terminal 300 according to an embodiment of the present invention. As shown in FIG. 3, the terminal 300 includes a processor 301, a signal amplifying circuit 302, a linear motor 303, and a detecting circuit 304.
在本发明实施例提供的终端300中,处理器301用于产生第一激励信号,并输出该第一激励信号至信号放大电路302;信号放大电路302与处理器301连接,用于接收处理器301输出的第一激励信号,将第一激励信号放大第一设定倍数后得到第二激励信号,并输出该第二激励信号至线性马达303;线性马达303与信号放大电路302连接,用于采用第二激励信号进行储能并产生反电动势,以及将储能产生的反电动势转换成第一正弦波信号输出;检测电路304与线性马达303连接,用于获取第一正弦波信号的频率,该第一正弦波信号的频率即为线性马达303的谐振频率;处理器301还用于产生具有该谐振频率的驱动信号,并采用该驱动信号驱动线性马达303。In the terminal 300 provided by the embodiment of the present invention, the processor 301 is configured to generate a first excitation signal, and output the first excitation signal to the signal amplifying circuit 302. The signal amplifying circuit 302 is connected to the processor 301 for receiving the processor. The first excitation signal outputted by the second excitation signal is amplified by a first set multiple to obtain a second excitation signal, and the second excitation signal is output to the linear motor 303; the linear motor 303 is connected to the signal amplification circuit 302 for The second excitation signal is used to store energy and generate a counter electromotive force, and the back electromotive force generated by the energy storage is converted into a first sine wave signal output; the detecting circuit 304 is connected to the linear motor 303 for acquiring the frequency of the first sine wave signal, The frequency of the first sine wave signal is the resonant frequency of the linear motor 303; the processor 301 is further configured to generate a driving signal having the resonant frequency, and drive the linear motor 303 with the driving signal.
其中,具有该谐振频率的驱动信号的含义是:该驱动信号的频率为该谐振频率。The meaning of the driving signal having the resonant frequency is that the frequency of the driving signal is the resonant frequency.
由图2所示的线性马达的电路模型可知,线性马达303的输入信号为一组差分输入对,输出信号为一组差分输出对,线性马达的两个输入端也作为线性马达的两个输出端。因此,图3中信号放大电路302与线性马达303间有两条连接线,分别用于信号放大电路302向线性马达303输出第二激励信号的两个差分分量;线性马达303与检测电路304间有两条连接线,分别用于线性马达303向检测电路304输出第一正弦波信号的两个差分分量。It can be seen from the circuit model of the linear motor shown in FIG. 2 that the input signal of the linear motor 303 is a set of differential input pairs, the output signal is a set of differential output pairs, and the two inputs of the linear motor also serve as two outputs of the linear motor. end. Therefore, there are two connecting lines between the signal amplifying circuit 302 and the linear motor 303 in FIG. 3 for respectively outputting the two differential components of the second excitation signal to the linear motor 303 by the signal amplifying circuit 302; between the linear motor 303 and the detecting circuit 304 There are two connecting lines for the linear motor 303 to output two differential components of the first sine wave signal to the detecting circuit 304, respectively.
此外,信号放大电路302对第一激励信号进行放大时,第一设定倍数的数值可大于1也可等于1。具体地,信号放大电路302可通过全差分积分放大器实现。在采用全差分积分放大器实现信号放大电路302时,除了可对第一激励信号进行放大外,由于全差分积分放大器可抑制共模噪声,因而信号放大电路302还可抑制第二激励信号中的共模噪声,增强第二激励信号的驱动能力。In addition, when the signal amplifying circuit 302 amplifies the first excitation signal, the value of the first set multiple may be greater than 1 or equal to 1. In particular, signal amplifying circuit 302 can be implemented by a fully differential integrating amplifier. When the signal amplifying circuit 302 is implemented by using a fully differential integrating amplifier, in addition to amplifying the first excitation signal, since the fully differential integrating amplifier can suppress common mode noise, the signal amplifying circuit 302 can also suppress the common in the second excitation signal. Modal noise enhances the driving capability of the second excitation signal.
根据上述仿真实验的结论,在终端300中,线性马达303输出的第一正弦波信号的频 率即为线性马达303的谐振频率。但是,在实际应用中正弦波信号的频率不易于检测。因此,终端300中的检测电路304在获取第一正弦波信号的频率时,例如可以通过如下方式实现:将第一正弦波信号箝位在预设电压值,得到第二正弦波信号;将第二正弦波信号与预设电压值进行比较,得到方波信号;获取该方波信号的频率,该方波信号的频率与第一正弦波信号的频率相同。由于该方波信号的频率易于检测,且该方波信号的频率与第一正弦波信号的频率相同,因此将该方波信号作为终端300输出的信号,便于获取第一正弦波信号的频率,从而获取线性马达303的谐振频率。According to the conclusion of the above simulation experiment, in the terminal 300, the frequency of the first sine wave signal output by the linear motor 303 The rate is the resonant frequency of the linear motor 303. However, the frequency of the sine wave signal is not easy to detect in practical applications. Therefore, when the detection circuit 304 in the terminal 300 acquires the frequency of the first sine wave signal, for example, it can be implemented by clamping the first sine wave signal to a preset voltage value to obtain a second sine wave signal; The two sine wave signals are compared with a preset voltage value to obtain a square wave signal; the frequency of the square wave signal is obtained, and the frequency of the square wave signal is the same as the frequency of the first sine wave signal. Since the frequency of the square wave signal is easy to detect, and the frequency of the square wave signal is the same as the frequency of the first sine wave signal, the square wave signal is used as the signal output by the terminal 300, and the frequency of the first sine wave signal is conveniently obtained. Thereby, the resonance frequency of the linear motor 303 is obtained.
此外,终端300中还可以包括存储器。该存储器可用于存储线性马达303的谐振频率。那么,处理器301在产生具有该谐振频率的驱动信号时,具体可通过如下方式显示:首先,读取存储器中存储的该谐振频率;然后,产生具有读取到的该谐振频率的驱动信号。In addition, the terminal 300 may further include a memory. This memory can be used to store the resonant frequency of the linear motor 303. Then, when generating the driving signal having the resonant frequency, the processor 301 can be specifically displayed by first reading the resonant frequency stored in the memory; and then generating a driving signal having the read resonant frequency.
需要说明的是,本发明实施例中提及的第一正弦波信号和第二正弦波信号仅指该信号的波形,并不限制该信号的初始相位。比如,第一正弦波信号的初始相位可以为0°、90°、180°、200°等等,第二正弦波信号的初始相位可以为0°、90°、180°、200°等等。It should be noted that the first sine wave signal and the second sine wave signal mentioned in the embodiments of the present invention only refer to the waveform of the signal, and the initial phase of the signal is not limited. For example, the initial phase of the first sinusoidal signal may be 0°, 90°, 180°, 200°, etc., and the initial phase of the second sinusoidal signal may be 0°, 90°, 180°, 200°, and the like.
通过检测电路304对第一正弦波信号进行箝位后,第一正弦波信号转换为第二正弦波信号,再通过将第二正弦波信号与预设电压值进行比较,得到方波信号,从而可通过检测方波信号的频率获取线性马达303的谐振频率。其中,将第二正弦波信号与预设电压值进行比较得到方波信号的具体过程可以是:将第二正弦波信号与预设电压值进行比较,在第二正弦波信号的幅值大于或等于预设电压值时输出高电平,在第二正弦波信号的幅值小于预设电压值时输出低电平,从而得到方波信号。After the first sine wave signal is clamped by the detecting circuit 304, the first sine wave signal is converted into a second sine wave signal, and then the second sine wave signal is compared with a preset voltage value to obtain a square wave signal, thereby obtaining a square wave signal, thereby The resonant frequency of the linear motor 303 can be obtained by detecting the frequency of the square wave signal. The specific process of comparing the second sine wave signal with the preset voltage value to obtain the square wave signal may be: comparing the second sine wave signal with a preset voltage value, where the amplitude of the second sine wave signal is greater than or When the voltage is equal to the preset voltage value, the output level is high, and when the amplitude of the second sine wave signal is less than the preset voltage value, the low level is output, thereby obtaining a square wave signal.
假设预设电压值为Vcm,上述第一正弦波信号→第二正弦波信号→方波信号的转换过程可如图4所示。图4中,第一正弦波信号的直流偏移量为0,第二正弦波信号的直流偏移量为预设电压值Vcm,方波信号的直流偏移量也为0。由图4可以看出,第二正弦波信号被箝位在预设电压值Vcm,且第一正弦波信号、第二正弦波信号和方波信号的频率均相同。将第一正弦波信号最终转换为方波信号后输出,便于检测该方波信号的频率。Assuming that the preset voltage value is Vcm, the conversion process of the first sine wave signal → the second sine wave signal → the square wave signal may be as shown in FIG. 4 . In FIG. 4, the DC offset of the first sine wave signal is 0, the DC offset of the second sine wave signal is the preset voltage value Vcm, and the DC offset of the square wave signal is also 0. As can be seen from FIG. 4, the second sine wave signal is clamped at a preset voltage value Vcm, and the frequencies of the first sine wave signal, the second sine wave signal, and the square wave signal are all the same. The first sine wave signal is finally converted into a square wave signal and output, which is convenient for detecting the frequency of the square wave signal.
本发明实施例中,第一激励信号是用于线性马达303进行储能的原始信号,终端300在接收到第一激励信号后才会触发终端300中的各个电路和单元执行相应操作,从而获取线性马达303的谐振频率,并将驱动信号的频率配置为线性马达303的谐振频率。其中,第一激励信号是由终端300中的处理器301输出的。处理器301输出第一激励信号的触发条件有多种,比如,在终端300开机时处理器301输出第一激励信号,或者在终端300关机时处理器301输出第一激励信号,或者在用户开启终端300的振动功能(即用户将终端300设置为振动模式)时处理器301输出第一激励信号,或者在终端中设置相应操作界面,由用户手动触发获取线性马达303的谐振频率的操作,此时处理器301输出第一激励信号。In the embodiment of the present invention, the first excitation signal is an original signal for the linear motor 303 to perform energy storage, and the terminal 300 triggers each circuit and unit in the terminal 300 to perform corresponding operations after receiving the first excitation signal, thereby acquiring The resonant frequency of the linear motor 303 and the frequency of the drive signal are configured as the resonant frequency of the linear motor 303. The first excitation signal is output by the processor 301 in the terminal 300. The triggering condition for the processor 301 to output the first excitation signal is different. For example, the processor 301 outputs the first excitation signal when the terminal 300 is powered on, or the processor 301 outputs the first excitation signal when the terminal 300 is powered off, or is turned on by the user. When the vibration function of the terminal 300 (ie, the user sets the terminal 300 to the vibration mode), the processor 301 outputs a first excitation signal, or sets a corresponding operation interface in the terminal, and the user manually triggers an operation of acquiring the resonance frequency of the linear motor 303. The processor 301 outputs a first excitation signal.
在图3所示的终端300中,由于信号放大电路302将第二激励信号输出至线性马达303后,线性马达303可采用第二激励信号对自身进行储能,从而产生反电动势;根据前述仿真实验可知,线性马达303在释放自身的储能时,线性马达303输出的第一正弦波信号的频率即为线性马达的谐振频率。通过检测电路304获取第一正弦波信号的频率(线性马达303的谐振频率)后,处理器301将线性马达303的驱动信号的频率配置为获取的谐振频率,可以增强线性马达的振动强度。因此,终端300在驱动线性马达303时,利用线性马达303自身储能产生反电动势以及释放储能的固有特点,可准确、便捷地获取线性马达303的谐振频率,从而将获取到的谐振频率作为线性马达303的驱动信号的频率,增强了线性 马达303的振动强度。In the terminal 300 shown in FIG. 3, after the signal amplifying circuit 302 outputs the second excitation signal to the linear motor 303, the linear motor 303 can store itself by using the second excitation signal to generate a counter electromotive force; It can be seen from the experiment that when the linear motor 303 releases its own energy storage, the frequency of the first sine wave signal output by the linear motor 303 is the resonant frequency of the linear motor. After the frequency of the first sine wave signal (the resonance frequency of the linear motor 303) is acquired by the detection circuit 304, the processor 301 configures the frequency of the drive signal of the linear motor 303 to the acquired resonance frequency, and the vibration intensity of the linear motor can be enhanced. Therefore, when the linear motor 303 is driven, the terminal 300 utilizes the inherent characteristics of the linear motor 303 to generate the counter electromotive force and release the stored energy, so that the resonant frequency of the linear motor 303 can be accurately and conveniently obtained, thereby obtaining the obtained resonant frequency as The frequency of the drive signal of the linear motor 303 enhances the linearity The vibration intensity of the motor 303.
本发明实施例中,信号放大电路302用于对第一激励信号放大第一设定倍数得到第二激励信号,将放大后得到的第二激励信号输出至线性马达303。具体实现时,本发明实施例中对信号放大电路302的具体结构不做限制,信号放大电路302可实现对第一激励信号的放大即可。下面给出信号放大电路302的一种可能的实现方式。In the embodiment of the present invention, the signal amplifying circuit 302 is configured to amplify the first excitation signal to obtain a second excitation signal, and output the second excitation signal obtained by the amplification to the linear motor 303. In a specific implementation, the specific structure of the signal amplifying circuit 302 is not limited in the embodiment of the present invention, and the signal amplifying circuit 302 can implement amplification of the first excitation signal. One possible implementation of the signal amplifying circuit 302 is given below.
如图5所示,信号放大电路302可包括第一电阻、第二电阻、第三电阻、第四电阻、第一电容、第二电容和第一全差分运算放大器,其中:第一电阻的第一端用于接收第一激励信号中的第一差分激励信号,第一电阻的第二端与第一全差分运算放大器的负向输入端连接;第二电阻的第一端用于接收第一激励信号中第二差分激励信号,第二电阻的第二端与第一全差分运算放大器的正向输入端连接;第三电阻和第一电容并联后跨接在第一全差分运算放大器的负向输入端和正向输出端之间;第四电阻和第二电容并联后跨接在第一全差分运算放大器的正向输入端和负向输出端之间;第一全差分运算放大器的正向输出端和负向输出端分别与线性马达303的第一端和第二端连接。As shown in FIG. 5, the signal amplifying circuit 302 can include a first resistor, a second resistor, a third resistor, a fourth resistor, a first capacitor, a second capacitor, and a first fully differential operational amplifier, wherein: the first resistor One end is configured to receive a first differential excitation signal in the first excitation signal, a second end of the first resistor is coupled to a negative input terminal of the first fully differential operational amplifier; and a first end of the second resistor is configured to receive the first a second differential excitation signal in the excitation signal, the second end of the second resistor is coupled to the forward input of the first fully differential operational amplifier; the third resistor and the first capacitor are connected in parallel and connected across the negative of the first fully differential operational amplifier Between the input terminal and the forward output terminal; the fourth resistor and the second capacitor are connected in parallel between the forward input terminal and the negative output terminal of the first fully differential operational amplifier; the forward direction of the first fully differential operational amplifier The output end and the negative output end are coupled to the first end and the second end of the linear motor 303, respectively.
其中,第一差分激励信号和第二差分激励信号为差分输入对,二者共同组成本发明实施例中所述的第一激励信号。The first differential excitation signal and the second differential excitation signal are differential input pairs, which together constitute the first excitation signal described in the embodiment of the present invention.
为了保持第一全差分运算放大器的输入信号和输出信号的平衡,可设定:第一电阻和第二电阻的阻值相同,第三电阻和第四电阻的阻值相同,第一电容和第二电容的电容值相同。In order to maintain the balance between the input signal and the output signal of the first fully differential operational amplifier, it may be set that the resistances of the first resistor and the second resistor are the same, the resistances of the third resistor and the fourth resistor are the same, the first capacitor and the first capacitor The capacitance of the two capacitors is the same.
此外,在上述信号放大电路302的实现方式中,可通过调节第三电阻与第一电阻的比值(即第四电阻与第二电阻的比值)来设置第一设定倍数。In addition, in the implementation of the signal amplifying circuit 302, the first set multiple may be set by adjusting a ratio of the third resistor to the first resistor (ie, a ratio of the fourth resistor to the second resistor).
在终端300中,首先需要对线性马达303进行储能,储能结束后还需要将储能产生的反电动势转换成第一正弦波信号输出。那么,判断何时对线性马达303进行储能以及何时令线性马达303释放储能,可以通过开关单元和控制逻辑单元配合实现。In the terminal 300, it is first necessary to store the linear motor 303. After the energy storage is completed, the back electromotive force generated by the energy storage needs to be converted into the first sine wave signal output. Then, judging when to store energy to the linear motor 303 and when to release the stored energy of the linear motor 303 can be achieved by cooperation of the switching unit and the control logic unit.
当终端300包含开关单元和控制逻辑单元时,终端300的结构示意图可如图6所示。图6中,开关单元305与线性马达303和检测电路304连接,用于使线性马达303和检测电路304断开或闭合;控制逻辑单元306与开关单元305连接,用于在线性马达303进行储能时控制开关单元305使线性马达303和检测电路304断开,在线性马达303储能完成后控制开关单元305使线性马达303和检测电路304闭合。When the terminal 300 includes a switch unit and a control logic unit, a schematic structural diagram of the terminal 300 can be as shown in FIG. 6. In FIG. 6, the switch unit 305 is coupled to the linear motor 303 and the detection circuit 304 for disconnecting or closing the linear motor 303 and the detection circuit 304; the control logic unit 306 is coupled to the switch unit 305 for storage in the linear motor 303. The enabler control switch unit 305 disconnects the linear motor 303 and the detection circuit 304, and controls the switch unit 305 to close the linear motor 303 and the detection circuit 304 after the linear motor 303 is energized.
具体地,控制逻辑单元306在控制开关单元305使线性马达303和检测电路304断开或闭合时,可通过控制开关单元305包含的多个开关的断开或闭合,来实现线性马达303和检测电路304的断开或闭合。Specifically, when the control logic unit 306 controls the switch unit 305 to open or close the linear motor 303 and the detection circuit 304, the linear motor 303 and the detection can be realized by controlling the opening or closing of the plurality of switches included in the switch unit 305. The circuit 304 is opened or closed.
在终端300中设置开关单元305和控制逻辑单元306,可以通过控制逻辑单元306控制开关单元305,实现控制线性马达303与检测电路304断开或闭合。在线性马达303与检测电路304断开时,线性马达303进行储能;在线性马达303与检测电路304闭合时,线性马达303释放储能,即线性马达303将储能产生的反电动势以第一正弦波信号的形式输出至检测电路304。The switch unit 305 and the control logic unit 306 are provided in the terminal 300, and the control unit 305 can be controlled by the control logic unit 306 to control the linear motor 303 to be disconnected or closed from the detection circuit 304. When the linear motor 303 is disconnected from the detecting circuit 304, the linear motor 303 performs energy storage; when the linear motor 303 and the detecting circuit 304 are closed, the linear motor 303 releases the energy storage, that is, the linear motor 303 will generate the back electromotive force generated by the energy storage. A form of a sine wave signal is output to the detection circuit 304.
在终端300中,检测电路304用于将第一正弦波信号箝位在预设电压值得到第二正弦波信号,以及将第二正弦波信号与预设电压值进行比较得到方波信号。其中,检测电路304可通过自身包含的运算放大电路和比较器实现上述功能。具体地,运算放大电路用于将第一正弦波信号放大第二设定倍数并箝位在预设电压值,得到第二正弦波信号;比较器与运 算放大电路连接,用于将第二正弦波信号与预设电压值进行比较,得到方波信号。In the terminal 300, the detecting circuit 304 is configured to clamp the first sine wave signal to a preset voltage value to obtain a second sine wave signal, and compare the second sine wave signal with a preset voltage value to obtain a square wave signal. The detection circuit 304 can implement the above functions by using an operational amplification circuit and a comparator included therein. Specifically, the operational amplifier circuit is configured to amplify the first sine wave signal by a second set multiple and clamp the preset voltage value to obtain a second sine wave signal; the comparator and the transport The amplifier circuit is connected to compare the second sine wave signal with a preset voltage value to obtain a square wave signal.
需要说明的是,本发明实施例中对第二设定倍数的具体数值均不做限制,第二设定倍数可大于1,也可等于1。It should be noted that, in the embodiment of the present invention, the specific value of the second set multiple is not limited, and the second set multiple may be greater than 1, or may be equal to 1.
检测电路304中的运算放大电路可通过全差分运算放大器实现。全差分运算放大器可抑制信号中的共模噪声,从而可减少外界环境对检测电路304的干扰,提高检测电路304输出的方波信号的品质,从而使得检测到的方波信号的频率更为准确。The operational amplifier circuit in the detection circuit 304 can be implemented by a fully differential operational amplifier. The fully differential operational amplifier can suppress the common mode noise in the signal, thereby reducing the interference of the external environment on the detection circuit 304, improving the quality of the square wave signal output by the detection circuit 304, thereby making the frequency of the detected square wave signal more accurate. .
具体实现时,运算放大电路的结构可如图7所示。图7中,运算放大电路可包括第五电阻、第六电阻、第七电阻、第八电阻和第二全差分运算放大器,其中:第五电阻的第一端与第二全差分运算放大器的正向输入端连接,第五电阻的第二端与开关单元连接;第六电阻的第一端与第二全差分运算放大器的负向输入端连接,第六电阻的第二端与开关单元连接;第七电阻跨接在第二全差分运算放大器的正向输入端和负向输出端之间,第八电阻跨接在第二全差分运算放大器的负向输入端和正向输出端之间;比较器的正向输入端与第二全差分运算放大器的负向输出端或正向输出端连接,比较器的负向输出端用于输入预设电压值,比较器的输出端用于输出方波信号。In specific implementation, the structure of the operational amplifier circuit can be as shown in FIG. 7. In FIG. 7, the operational amplifier circuit may include a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, and a second fully differential operational amplifier, wherein: the first end of the fifth resistor and the second fully differential operational amplifier are positive Connecting to the input end, the second end of the fifth resistor is connected to the switch unit; the first end of the sixth resistor is connected to the negative input end of the second fully differential operational amplifier, and the second end of the sixth resistor is connected to the switch unit; The seventh resistor is connected between the forward input terminal and the negative output terminal of the second fully differential operational amplifier, and the eighth resistor is connected between the negative input terminal and the forward output terminal of the second fully differential operational amplifier; The forward input of the comparator is connected to the negative output or the positive output of the second fully differential operational amplifier, the negative output of the comparator is used to input a preset voltage value, and the output of the comparator is used to output a square wave signal.
此外,图7中还示出了当运算放大电路采用上述结构时,终端300中的开关单元305的结构示意图。如图7所示,开关单元305可包括第一开关、第二开关、第三开关和第四开关,其中:第一开关的一端与线性马达303的第一端连接,另一端与第五电阻的第二端连接;第二开关的一端与线性马达303的第二端连接,另一端与第六电阻的第二端连接;第三开关的一端与第五电阻的第二端连接,另一端接地;第四开关的一端与第六电阻的第二端连接,另一端接地。In addition, FIG. 7 also shows a schematic structural view of the switching unit 305 in the terminal 300 when the operational amplification circuit adopts the above configuration. As shown in FIG. 7, the switch unit 305 can include a first switch, a second switch, a third switch, and a fourth switch, wherein: one end of the first switch is connected to the first end of the linear motor 303, and the other end is connected to the fifth resistor. The second end of the second switch is connected to the second end of the linear motor 303, and the other end is connected to the second end of the sixth resistor; one end of the third switch is connected to the second end of the fifth resistor, and the other end is connected Grounding; one end of the fourth switch is connected to the second end of the sixth resistor, and the other end is grounded.
那么,当开关单元305包括第一开关、第二开关、第三开关和第四开关时,控制逻辑单元306采用如下方式控制开关单元305,从而使得线性马达303和检测电路304断开或闭合:在线性马达303进行储能时控制第一开关和第二开关断开,控制第三开关和第四开关闭合,从而使得线性马达303和检测电路304断开;在线性马达303储能完成后控制第一开关和第二开关闭合,控制第三开关和第四开关断开,从而使得线性马达303和检测电路304闭合。Then, when the switch unit 305 includes the first switch, the second switch, the third switch, and the fourth switch, the control logic unit 306 controls the switch unit 305 in such a manner that the linear motor 303 and the detection circuit 304 are opened or closed: The first switch and the second switch are controlled to be turned off when the linear motor 303 performs energy storage, and the third switch and the fourth switch are controlled to be closed, thereby causing the linear motor 303 and the detecting circuit 304 to be disconnected; after the linear motor 303 is stored, the control is completed. The first switch and the second switch are closed, controlling the third switch and the fourth switch to open, thereby causing the linear motor 303 and the detection circuit 304 to close.
需要说明的是,为了保持第二全差分运算放大器的输入信号和输出信号的平衡,可设定:第五电阻和第六电阻的阻值相同,第七电阻和第八电阻的阻值相同。那么,在运算放大电路中,可通过调节第七电阻与第五电阻的比值(即第八电阻与第六电阻的比值)来设置上述第二设定倍数。It should be noted that, in order to maintain the balance between the input signal and the output signal of the second fully differential operational amplifier, it can be set that the resistance values of the fifth resistor and the sixth resistor are the same, and the resistances of the seventh resistor and the eighth resistor are the same. Then, in the operational amplifier circuit, the second set multiple can be set by adjusting the ratio of the seventh resistor to the fifth resistor (ie, the ratio of the eighth resistor to the sixth resistor).
具体地,在实际的电路实现中,可设置第七电阻的阻值为A,第五电阻的阻值可通过寄存器编程修改其值为A、2A、3A和4A中的一个,从将第二设定倍数分别设置为1、2、3和4,如图8所示。当第五电阻采用如图8所示的结构时,通过配置寄存器编程即可改变第五电阻的阻值,从而改变上述第二设定倍数,满足第二全差分运算放大器不同的放大倍数的需求。Specifically, in the actual circuit implementation, the resistance of the seventh resistor can be set to A, and the resistance of the fifth resistor can be modified by register programming to one of A, 2A, 3A, and 4A, and the second The set multiples are set to 1, 2, 3, and 4, respectively, as shown in FIG. When the fifth resistor adopts the structure as shown in FIG. 8, the resistance of the fifth resistor can be changed by the configuration register programming, thereby changing the second set multiple to satisfy the different magnification requirements of the second fully differential operational amplifier. .
同样需要说明的是,检测电路304中的比较器的正向输入端既可以与第二全差分运算放大器的负向输出端连接,又可以与第二全差分运算放大器的正向输出端连接,这是因为:第二全差分运算放大器的正向输出端与负向输出端的输出信号是一对差分信号,当比较器的正向输入端与第二全差分运算放大器的正向输出端连接时,比较器将第二正弦波信号中的一个差分分量与预设电压值Vcm比较,得到方波信号;当比较器的正向输入端与第二全 差分运算放大器的负向输出端连接时,比较器将第二正弦波信号中的另一个差分分量与预设电压值Vcm比较,得到方波信号。采用上述两种连接方式时得到的方波信号的频率是相同,相位差为180°。因此,采用上述两种连接方式时均可实现方波信号的频率为线性马达303的谐振频率,从而实现对线性马达303的谐振频率的检测。It should also be noted that the forward input of the comparator in the detection circuit 304 can be connected to the negative output of the second fully differential operational amplifier or to the forward output of the second fully differential operational amplifier. This is because the output signals of the forward and negative outputs of the second fully differential op amp are a pair of differential signals when the forward input of the comparator is connected to the positive output of the second fully differential op amp. The comparator compares a differential component of the second sine wave signal with a preset voltage value Vcm to obtain a square wave signal; when the forward input and the second of the comparator are When the negative output terminal of the differential operational amplifier is connected, the comparator compares the other differential component of the second sine wave signal with the preset voltage value Vcm to obtain a square wave signal. The square wave signals obtained by the above two connection methods have the same frequency and a phase difference of 180°. Therefore, the frequency of the square wave signal can be realized as the resonance frequency of the linear motor 303 by using the above two connection modes, thereby realizing the detection of the resonance frequency of the linear motor 303.
此外,检测电路304中的比较器将第二正弦波信号与预设电压值进行比较得到方波信号的过程,可通过如下方式实现:将第二正弦波信号与预设电压值进行比较,在第二正弦波信号的幅值大于或等于预设电压值时输出高电平,在第二正弦波信号的幅值小于预设电压值时输出低电平,得到方波信号。In addition, the comparator in the detecting circuit 304 compares the second sine wave signal with the preset voltage value to obtain a square wave signal, which can be implemented by comparing the second sine wave signal with a preset voltage value, When the amplitude of the second sine wave signal is greater than or equal to the preset voltage value, the output high level is output, and when the amplitude of the second sine wave signal is less than the preset voltage value, the low level is output, and the square wave signal is obtained.
结合以上对终端300的描述,本发明实施例还提供另一种终端,该终端可如图9所示。图9所示的终端700可视为图3所示的终端300的一个具体示例。In conjunction with the above description of the terminal 300, the embodiment of the present invention further provides another terminal, which can be as shown in FIG. The terminal 700 shown in FIG. 9 can be regarded as a specific example of the terminal 300 shown in FIG.
图9中,OP1和OP2分别为第一全差分运算放大器和第二全差分运算放大器的一个具体示例。由于OP1为全差分运算放大器,因此OP1的正向输入端和负向输入端的输入电阻的阻值相同,均为Rin,OP1的反馈电阻均为Rf,反馈电容均为Cf;同样地,由于OP2为全差分运算放大器,因此OP2的正向输入端和负向输入端的输入电阻的阻值相同,均为R1,OP2的反馈电阻均为R2。In Fig. 9, OP1 and OP2 are a specific example of the first fully differential operational amplifier and the second fully differential operational amplifier, respectively. Since OP1 is a fully differential operational amplifier, the input resistance of the forward input and the negative input of OP1 are the same, both are Rin, the feedback resistance of OP1 is Rf, and the feedback capacitance is Cf; similarly, due to OP2 It is a fully differential operational amplifier, so the input resistance of the forward input and the negative input of OP2 are the same, both are R1, and the feedback resistance of OP2 is R2.
图9中,与OP1的负向输入端和正向输入端连接的两个Rin可分别视为本发明实施例中的第一电阻和第二电阻;跨接在OP1的负向输入端和正向输出端的Rf和Cf可分别视为本发明实施例中的第三电阻和第一电容;跨接在OP1的正向输入端和负向输出端的Rf和Cf可分别视为本发明实施例中的第四电阻和第二电容;S11和S12可分别视为本发明实施例中的第一开关和第二开关,S21和S22可视为本发明实施例中的第三开关和第四开关;与OP2的正向输入端和负向输入端连接的两个R1可分别视为本发明实施例中的第五电阻和第六电阻;跨接在OP2的正向输入端和负向输出端的R2可视为本发明实施例中的第七电阻,跨接在OP2的负向输入端和正向输出端的R2可视为本发明实施例中的第八电阻。In FIG. 9, two Rins connected to the negative input terminal and the forward input terminal of the OP1 can be regarded as the first resistor and the second resistor in the embodiment of the present invention; respectively, connected to the negative input terminal and the forward output of the OP1. The Rf and Cf of the terminal can be regarded as the third resistor and the first capacitor in the embodiment of the present invention respectively; Rf and Cf connected to the forward input terminal and the negative output terminal of the OP1 can be regarded as the first embodiment in the embodiment of the present invention, respectively. The fourth switch and the second switch; S11 and S12 are respectively regarded as the first switch and the second switch in the embodiment of the present invention, and S21 and S22 can be regarded as the third switch and the fourth switch in the embodiment of the present invention; and OP2 The two R1s connected to the positive input terminal and the negative input terminal can be regarded as the fifth resistor and the sixth resistor in the embodiment of the present invention, respectively; the R2 across the forward input terminal and the negative output terminal of the OP2 can be visualized. For the seventh resistor in the embodiment of the present invention, R2 across the negative input terminal and the forward output terminal of the OP2 may be regarded as the eighth resistor in the embodiment of the present invention.
在图9所示的终端900中,通过Rin输入OP1的负向输入端和正向输入端的两个输入信号分别为第一差分激励信号和第二差分激励信号,如图9所示,第一差分激励信号和第二差分激励信号为差分输入对,二者共同组成本发明实施例中所述的第一激励信号。信号放大电路由两个Rin、两个Cf、两个Rf以及OP1组成,运算放大电路由两个R1、两个R2和OP2组成。In the terminal 900 shown in FIG. 9, the two input signals through the negative input terminal and the forward input terminal of the Rin input OP1 are the first differential excitation signal and the second differential excitation signal, respectively, as shown in FIG. The excitation signal and the second differential excitation signal are differential input pairs, which together constitute the first excitation signal described in the embodiments of the present invention. The signal amplifying circuit is composed of two Rin, two Cf, two Rf and OP1, and the operational amplifying circuit is composed of two R1, two R2 and OP2.
需要说明的是,图9所示的终端900中并未示出控制逻辑单元。控制逻辑单元可控制开关单元使线性马达和检测电路断开或闭合。控制逻辑单元控制开关单元使线性马达和检测电路断开,可通过控制S11和S12断开、S21和S22闭合实现;控制逻辑单元控制开关单元使线性马达和检测电路闭合,可通过控制S11和S12闭合、S21和S22断开实现。It should be noted that the control logic unit is not shown in the terminal 900 shown in FIG. 9. The control logic unit can control the switching unit to open or close the linear motor and the detection circuit. The control logic unit controls the switch unit to disconnect the linear motor and the detection circuit, which can be realized by controlling the opening of S11 and S12, and the closing of S21 and S22; the control logic unit controls the switching unit to close the linear motor and the detection circuit, and can control S11 and S12 Closed, S21 and S22 are disconnected.
图9所示终端900在驱动线性马达时分为两个工作阶段:The terminal 900 shown in Fig. 9 is divided into two working phases when driving the linear motor:
第一阶段:线性马达储能The first stage: linear motor energy storage
当在特定触发条件(比如终端开机或关机时)下触发终端重新获取线性马达的谐振频率时,处理器输出第一激励信号。控制逻辑单元控制S11和S12断开、S21和S22闭合,此时OP1处于使能状态,OP2处于未使能状态,信号放大电路将第一激励信号放大第一设定倍数(比如1)后输出至线性马达,线性马达储能产生反电动势。The processor outputs a first excitation signal when the terminal is triggered to reacquire the resonant frequency of the linear motor under a specific trigger condition (such as when the terminal is turned on or off). The control logic unit controls S11 and S12 to be disconnected, and S21 and S22 are closed. At this time, OP1 is in an enabled state, OP2 is in an disabled state, and the signal amplifying circuit amplifies the first excitation signal by a first set multiple (such as 1) and outputs. To linear motors, linear motor energy storage produces back EMF.
其中,可通过改变Rin和Rf的比值来实现对第一设定倍数的设置。Wherein, the setting of the first set multiple can be realized by changing the ratio of Rin and Rf.
第二阶段:线性马达释放储能 Second stage: linear motor release energy storage
线性马达储能完成时,即信号放大电路的输入信号(第一激励信号)为0时,控制逻辑单元控制S11和S12断开、S21和S22闭合,此时OP1和OP2均处于使能状态,OP2通过R1与线性马达连接。When the linear motor energy storage is completed, that is, when the input signal (first excitation signal) of the signal amplifying circuit is 0, the control logic unit controls S11 and S12 to be disconnected, and S21 and S22 are closed, and both OP1 and OP2 are in an enabled state. OP2 is connected to the linear motor via R1.
由于第二阶段中OP1的输入信号为零,因此在第二阶段中OP1相当于电压跟随器。由于运算放大电路的箝位作用,第一正弦波信号(即VOP和VON这一对差分输入信号)被箝位在Vcm。线性马达以第一正弦波信号的形式将储能释放,输出至OP2。OP2将第一正弦波信号放大第二设定倍数并箝位在Vcm后,得到第二正弦波信号;比较器将第二正弦信号与Vcm进行比较,当第二正弦波信号大于或等于Vcm时输出高电平,当第二正弦波信号小于Vcm时输出低电平,最终得到方波信号并输出,输出的方波信号的频率为线性马达的谐振频率。Since the input signal of OP1 in the second phase is zero, OP1 corresponds to the voltage follower in the second phase. Due to the clamping action of the operational amplifier circuit, the first sinusoidal signal (ie, the pair of differential input signals VOP and VON) is clamped at Vcm. The linear motor releases the stored energy in the form of a first sine wave signal and outputs it to OP2. OP2 amplifies the first sine wave signal by a second set multiple and clamps it to Vcm to obtain a second sine wave signal; the comparator compares the second sinusoidal signal with Vcm, when the second sine wave signal is greater than or equal to Vcm The output level is high. When the second sine wave signal is less than Vcm, it outputs a low level, and finally the square wave signal is obtained and output. The frequency of the output square wave signal is the resonant frequency of the linear motor.
其中,可通过改变R2和R1的比值来实现对第二设定倍数的设置。具体地,可将R1设置为固定电阻,将R2设置为阻值可变的电阻,通过调节R2的阻值来实现对第二设定倍数的设置。Wherein, the setting of the second set multiple can be realized by changing the ratio of R2 and R1. Specifically, R1 can be set as a fixed resistor, and R2 can be set as a resistor having a variable resistance, and the setting of the second set multiple can be realized by adjusting the resistance of R2.
需注意,图9所示的终端900中,比较器的正向输入端与OP2的负向输出端连接,从而将第二正弦波信号的一个差分分量与预设电压值Vcm比较,得到方波信号;由于OP2的正向输出端与负向输出端输出的是一对差分信号,因此实际实现时,比较器的正向输入端也可与OP2的正向输出端连接,从而将第二正弦波信号的另一个差分分量与预设电压值Vcm比较,得到方波信号。It should be noted that in the terminal 900 shown in FIG. 9, the forward input end of the comparator is connected with the negative output end of the OP2, thereby comparing a differential component of the second sine wave signal with a preset voltage value Vcm to obtain a square wave. Signal; since the forward output and the negative output of the OP2 output a pair of differential signals, in actual implementation, the forward input of the comparator can also be connected to the forward output of the OP2, thereby making the second sine Another differential component of the wave signal is compared to a preset voltage value Vcm to obtain a square wave signal.
图9所示终端900可视为图3所示终端300的一个具体示例,图9中未详尽解释和描述的实现方式可参见图3所示终端300的相关描述。The terminal 900 shown in FIG. 9 can be regarded as a specific example of the terminal 300 shown in FIG. 3. The implementation of the terminal 300 shown in FIG. 3 can be referred to the related description of the terminal 300 shown in FIG.
基于以上实施例,本申请还提供一种线性马达的驱动方法,该方法可应用于终端,该终端包括处理器、信号放大电路、线性马达以及检测电路,也就是说,该终端可以是图3所示的终端300。如图10所示,该方法包括如下步骤:Based on the above embodiments, the present application further provides a driving method of a linear motor, which is applicable to a terminal, the terminal includes a processor, a signal amplifying circuit, a linear motor, and a detecting circuit, that is, the terminal may be FIG. Terminal 300 is shown. As shown in FIG. 10, the method includes the following steps:
S1001:处理器产生第一激励信号,并输出该第一激励信号至信号放大电路。S1001: The processor generates a first excitation signal, and outputs the first excitation signal to the signal amplification circuit.
S1002:信号放大电路将第一激励信号放大第一设定倍数后得到第二激励信号,并将第二激励信号输出至线性马达。S1002: The signal amplifying circuit amplifies the first excitation signal by a first set multiple to obtain a second excitation signal, and outputs the second excitation signal to the linear motor.
其中,该激励信号用于使线性马达储能后产生反电动势。Wherein, the excitation signal is used to generate a counter electromotive force after the linear motor stores energy.
S1003:线性马达采用第二激励信号进行储能,以产生反电动势。S1003: The linear motor uses a second excitation signal to store energy to generate a counter electromotive force.
S1004:线性马达将产生的反电动势转换成第一正弦波信号输出。S1004: The linear motor converts the generated back electromotive force into a first sine wave signal output.
S1005:检测电路获取第一正弦波信号的频率。S1005: The detection circuit acquires the frequency of the first sine wave signal.
其中,第一正弦波信号的频率即为线性马达的谐振频率。The frequency of the first sine wave signal is the resonant frequency of the linear motor.
S1006:处理器产生具有该谐振频率的驱动信号,并采用该驱动信号驱动线性马达。S1006: The processor generates a driving signal having the resonant frequency, and uses the driving signal to drive the linear motor.
其中,检测电路在获取第一正弦波信号的频率时,可通过如下方式实现:将第一正弦波信号箝位在预设电压值,得到第二正弦波信号;将第二正弦波信号与预设电压值进行比较,得到方波信号;获取方波信号的频率,方波信号的频率与第一正弦波信号的频率相同。Wherein, when the detection circuit acquires the frequency of the first sine wave signal, the method can be implemented by clamping the first sine wave signal to a preset voltage value to obtain a second sine wave signal; and the second sine wave signal and the pre- The voltage value is compared to obtain a square wave signal; the frequency of the square wave signal is obtained, and the frequency of the square wave signal is the same as the frequency of the first sine wave signal.
由于在实际实现时,正弦波信号的频率不易于检测,因此可将第一正弦波信号经过箝位和比较操作后转换为方波信号,转换得到的方波信号的频率与第一正弦波信号的频率相同,且方波信号的频率更易于检测,因此采用上述实现方式可更加方便地获取到第一正弦波信号的频率。Since the frequency of the sine wave signal is not easy to detect in actual implementation, the first sine wave signal can be converted into a square wave signal after being clamped and compared, and the frequency of the converted square wave signal and the first sine wave signal can be converted. The frequency is the same, and the frequency of the square wave signal is easier to detect, so the frequency of the first sine wave signal can be more conveniently obtained by the above implementation.
此外,将第二正弦波信号与预设电压值进行比较,得到方波信号,具体可通过如下方 式实现:将第二正弦波信号与预设电压值进行比较,在第二正弦波信号的幅值大于或等于预设电压值时输出高电平,在第二正弦波信号的幅值小于预设电压值时输出低电平,从而得到上述方波信号。In addition, the second sine wave signal is compared with a preset voltage value to obtain a square wave signal, which can be specifically as follows Implementation: comparing the second sine wave signal with a preset voltage value, and outputting a high level when the amplitude of the second sine wave signal is greater than or equal to the preset voltage value, and the amplitude of the second sine wave signal is less than When the voltage value is set, a low level is output, thereby obtaining the above square wave signal.
在执行S1005之后,还可由终端包含的存储器存储该第一正弦波信号的频率(线性马达的谐振频率);那么,处理器在产生具有该谐振频率的驱动信号时,可先读取存储器中存储的谐振频率,然后再产生具有读取到的谐振频率的驱动信号。After performing S1005, the frequency of the first sine wave signal (resonance frequency of the linear motor) may also be stored by a memory included in the terminal; then, when the processor generates the driving signal having the resonant frequency, the processor may first read the memory for storage. The resonant frequency then produces a drive signal with the read resonant frequency.
在S1001中,处理器产生第一激励信号。一般地,触发处理器产生第一激励信号的条件是:处理器接收到指示信息,该指示信息用于指示:终端接收到开机信号,该开机信号用于触发终端进行开机;或者,终端接收到关机信号,该关机信号用于触发终端进行关机;或者,终端接收到振动功能开启信号,该振动功能开启信号用于指示终端开启振动功能;或者,终端接收到触发信号,该触发信号用于指示用户触发终端获取线性马达的谐振频率。In S1001, the processor generates a first excitation signal. Generally, the condition that the triggering processor generates the first excitation signal is that the processor receives the indication information, where the indication information is used to indicate that the terminal receives the power-on signal, and the power-on signal is used to trigger the terminal to be powered on; or, the terminal receives a shutdown signal, the shutdown signal is used to trigger the terminal to shut down; or the terminal receives the vibration function on signal, the vibration function on signal is used to indicate that the terminal turns on the vibration function; or the terminal receives the trigger signal, the trigger signal is used to indicate The user triggers the terminal to acquire the resonant frequency of the linear motor.
图10所示方法可视为终端300所执行的方法,图10所示的线性马达的驱动方法中未详尽解释和描述的实现方式参见图3所示终端300中的相关描述。The method shown in FIG. 10 can be regarded as the method performed by the terminal 300. The implementation method not fully explained and described in the driving method of the linear motor shown in FIG. 10 is referred to the related description in the terminal 300 shown in FIG.
在图10所示方法中,由于信号放大电路将第二激励信号输出至线性马达后,线性马达可采用第二激励信号对自身进行储能,从而产生反电动势;根据前述仿真实验可知,线性马达在释放自身的储能时,线性马达输出的第一正弦波信号的频率即为线性马达的谐振频率。通过检测电路获取第一正弦波信号的频率(线性马达的谐振频率)后,处理器将线性马达的驱动信号的频率配置为获取的谐振频率,可以增强线性马达的振动强度。因此,采用图10所示方法驱动线性马达时,利用线性马达自身储能产生反电动势以及释放储能的固有特点,可准确、便捷地获取线性马达的谐振频率,从而将获取到的谐振频率作为线性马达的驱动信号的频率去驱动线性马达,增强了线性马达的振动强度,提升了用户体验。In the method shown in FIG. 10, after the signal amplifying circuit outputs the second excitation signal to the linear motor, the linear motor can store itself by using the second excitation signal to generate a counter electromotive force; according to the foregoing simulation experiment, the linear motor can be known. When releasing its own energy storage, the frequency of the first sine wave signal output by the linear motor is the resonant frequency of the linear motor. After the frequency of the first sine wave signal (the resonant frequency of the linear motor) is obtained by the detecting circuit, the processor configures the frequency of the driving signal of the linear motor to the acquired resonant frequency, which can enhance the vibration intensity of the linear motor. Therefore, when the linear motor is driven by the method shown in FIG. 10, the inherent characteristics of the back-EMF and the stored energy storage by the linear motor itself are stored, and the resonant frequency of the linear motor can be accurately and conveniently obtained, thereby taking the obtained resonant frequency as The frequency of the drive signal of the linear motor drives the linear motor, which enhances the vibration strength of the linear motor and enhances the user experience.
综上,本发明实施例提供一种线性马达的驱动方法及终端。采用本发明实施例提供的线性马达的驱动方法及终端,可以准确地获取线性马达的谐振频率,从而将线性马达的驱动信号的频率设置为获取到的谐振频率,增强线性马达的振动强度,提升用户体验。In summary, an embodiment of the present invention provides a driving method and a terminal for a linear motor. The driving method and the terminal of the linear motor provided by the embodiment of the invention can accurately acquire the resonant frequency of the linear motor, thereby setting the frequency of the driving signal of the linear motor to the obtained resonant frequency, enhancing the vibration intensity of the linear motor, and improving user experience.
本领域内的技术人员应明白,本申请实施例可提供为方法、系统、或计算机程序产品。因此,本发明实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且,本发明实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art will appreciate that embodiments of the present application can be provided as a method, system, or computer program product. Thus, embodiments of the invention may be in the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, embodiments of the invention may take the form of a computer program product embodied on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
本申请是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器,使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中,使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品,该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。 The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上,使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理,从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.
显然,本领域的技术人员可以对本发明实施例进行各种改动和变型而不脱离本发明实施例的精神和范围。这样,倘若本发明实施例的这些修改和变型属于本申请权利要求及其等同技术的范围之内,则本申请也意图包含这些改动和变型在内。 It is apparent that those skilled in the art can make various modifications and variations to the embodiments of the invention without departing from the spirit and scope of the embodiments of the invention. Thus, it is intended that the present invention cover the modifications and variations of the embodiments of the invention.

Claims (14)

  1. 一种终端,其特征在于,包括:A terminal, comprising:
    处理器,用于产生第一激励信号,并输出所述第一激励信号至信号放大电路;a processor, configured to generate a first excitation signal, and output the first excitation signal to a signal amplification circuit;
    所述信号放大电路,与所述处理器连接,用于接收所述处理器输出的所述第一激励信号,并将所述第一激励信号放大第一设定倍数后得到第二激励信号,并输出所述第二激励信号至线性马达;The signal amplifying circuit is connected to the processor, and configured to receive the first excitation signal output by the processor, and amplify the first excitation signal by a first set multiple to obtain a second excitation signal, And outputting the second excitation signal to the linear motor;
    所述线性马达,与所述信号放大电路连接,用于采用所述第二激励信号进行储能并产生反电动势,以及将所述反电动势转换成第一正弦波信号输出;The linear motor is connected to the signal amplifying circuit for storing energy by using the second excitation signal and generating a counter electromotive force, and converting the counter electromotive force into a first sine wave signal output;
    检测电路,与所述线性马达连接,用于获取所述第一正弦波信号的频率,所述第一正弦波信号的频率为所述线性马达的谐振频率;a detection circuit coupled to the linear motor for acquiring a frequency of the first sine wave signal, the frequency of the first sine wave signal being a resonant frequency of the linear motor;
    所述处理器,还用于产生具有所述谐振频率的驱动信号,并采用所述驱动信号驱动所述线性马达。The processor is further configured to generate a driving signal having the resonant frequency and drive the linear motor with the driving signal.
  2. 如权利要求1所述的终端,其特征在于,所述检测电路在获取所述第一正弦波信号的频率时,具体用于:The terminal according to claim 1, wherein the detecting circuit is configured to: when acquiring the frequency of the first sine wave signal:
    将所述第一正弦波信号箝位在预设电压值,得到第二正弦波信号;Clamping the first sine wave signal to a preset voltage value to obtain a second sine wave signal;
    将所述第二正弦波信号与所述预设电压值进行比较,得到方波信号;Comparing the second sine wave signal with the preset voltage value to obtain a square wave signal;
    获取所述方波信号的频率,所述方波信号的频率与所述第一正弦波信号的频率相同。Obtaining a frequency of the square wave signal, the frequency of the square wave signal being the same as the frequency of the first sine wave signal.
  3. 如权利要求1或2所述的终端,其特征在于,还包括:存储器,用于存储所述谐振频率;The terminal according to claim 1 or 2, further comprising: a memory for storing the resonant frequency;
    所述处理器在产生具有所述谐振频率的驱动信号时,具体用于:读取所述存储器中存储的所述谐振频率;产生具有读取到的所述谐振频率的驱动信号。The processor is configured to: read the resonant frequency stored in the memory when generating a driving signal having the resonant frequency; and generate a driving signal having the read resonant frequency.
  4. 如权利要求1~3任一项所述的终端,其特征在于,还包括:The terminal according to any one of claims 1 to 3, further comprising:
    开关单元,与所述线性马达和所述检测电路连接,用于使所述线性马达和所述检测电路断开或闭合;a switching unit connected to the linear motor and the detecting circuit for disconnecting or closing the linear motor and the detecting circuit;
    控制逻辑单元,与所述开关单元连接,用于在所述线性马达进行储能时控制所述开关单元使所述线性马达和所述检测电路断开,在所述线性马达储能完成后控制所述开关单元使所述线性马达和所述检测电路闭合。a control logic unit coupled to the switch unit for controlling the switch unit to disconnect the linear motor and the detection circuit when the linear motor performs energy storage, and controlling the linear motor after energy storage is completed The switching unit closes the linear motor and the detection circuit.
  5. 如权利要求2~4任一项所述的终端,其特征在于,所述检测电路包括:The terminal according to any one of claims 2 to 4, wherein the detecting circuit comprises:
    运算放大电路,用于将所述第一正弦波信号放大第二设定倍数并箝位在所述预设电压值,得到第二正弦波信号;An operation amplifying circuit, configured to amplify the first sine wave signal by a second set multiple and clamp the preset voltage value to obtain a second sine wave signal;
    比较器,与所述运算放大电路连接,用于将所述第二正弦波信号与所述预设电压值进行比较,得到所述方波信号。And a comparator connected to the operational amplifier circuit for comparing the second sine wave signal with the preset voltage value to obtain the square wave signal.
  6. 如权利要求5所述的终端,其特征在于,所述比较器具体用于:The terminal according to claim 5, wherein the comparator is specifically configured to:
    将所述第二正弦波信号与所述预设电压值进行比较,在所述第二正弦波信号的幅值大于或等于所述预设电压值时输出高电平,在所述第二正弦波信号的幅值小于所述预设电压值时输出低电平,得到所述方波信号。Comparing the second sine wave signal with the preset voltage value, and outputting a high level when the amplitude of the second sine wave signal is greater than or equal to the preset voltage value, in the second sine When the amplitude of the wave signal is less than the preset voltage value, a low level is output, and the square wave signal is obtained.
  7. 如权利要求1~6任一项所述的终端,其特征在于,所述信号放大电路包括第一电阻、第二电阻、第三电阻、第四电阻、第一电容、第二电容和第一全差分运算放大器,其中: The terminal according to any one of claims 1 to 6, wherein the signal amplifying circuit comprises a first resistor, a second resistor, a third resistor, a fourth resistor, a first capacitor, a second capacitor, and a first Fully differential op amps, where:
    所述第一电阻的第一端用于接收所述第一激励信号中的第一差分激励信号,所述第一电阻的第二端与所述第一全差分运算放大器的负向输入端连接;a first end of the first resistor is configured to receive a first differential excitation signal in the first excitation signal, and a second end of the first resistor is coupled to a negative input terminal of the first fully differential operational amplifier ;
    所述第二电阻的第一端用于接收所述第一激励信号中第二差分激励信号,所述第二电阻的第二端与所述第一全差分运算放大器的正向输入端连接;a first end of the second resistor is configured to receive a second differential excitation signal in the first excitation signal, and a second end of the second resistor is coupled to a forward input end of the first fully differential operational amplifier;
    所述第三电阻和所述第一电容并联后跨接在所述第一全差分运算放大器的负向输入端和正向输出端之间;The third resistor and the first capacitor are connected in parallel and connected between the negative input terminal and the forward output terminal of the first fully differential operational amplifier;
    所述第四电阻和所述第二电容并联后跨接在所述第一全差分运算放大器的正向输入端和负向输出端之间;The fourth resistor and the second capacitor are connected in parallel and connected between a forward input terminal and a negative output terminal of the first fully differential operational amplifier;
    所述第一全差分运算放大器的正向输出端和负向输出端分别与所述线性马达的第一端和第二端连接。The forward and negative outputs of the first fully differential operational amplifier are coupled to the first and second ends of the linear motor, respectively.
  8. 如权利要求5~7任一项所述的终端,其特征在于,所述运算放大电路包括第五电阻、第六电阻、第七电阻、第八电阻和第二全差分运算放大器,其中:The terminal according to any one of claims 5 to 7, wherein the operational amplifier circuit comprises a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, and a second fully differential operational amplifier, wherein:
    所述第五电阻的第一端与所述第二全差分运算放大器的正向输入端连接,所述第五电阻的第二端与所述开关单元连接;a first end of the fifth resistor is connected to a forward input end of the second fully differential operational amplifier, and a second end of the fifth resistor is connected to the switch unit;
    所述第六电阻的第一端与所述第二全差分运算放大器的负向输入端连接,所述第六电阻的第二端与所述开关单元连接;a first end of the sixth resistor is connected to a negative input terminal of the second fully differential operational amplifier, and a second end of the sixth resistor is connected to the switch unit;
    所述第七电阻跨接在所述第二全差分运算放大器的正向输入端和负向输出端之间,所述第八电阻跨接在所述第二全差分运算放大器的负向输入端和正向输出端之间;The seventh resistor is connected across a forward input terminal and a negative output terminal of the second fully differential operational amplifier, and the eighth resistor is connected across a negative input terminal of the second fully differential operational amplifier Between the forward output and the forward output;
    所述比较器的正向输入端与所述第二全差分运算放大器的负向输出端或正向输出端连接,所述比较器的负向输出端用于输入所述预设电压值,所述比较器的输出端用于输出所述方波信号。a forward input terminal of the comparator is connected to a negative output terminal or a forward output terminal of the second fully differential operational amplifier, and a negative output terminal of the comparator is configured to input the preset voltage value, The output of the comparator is used to output the square wave signal.
  9. 如权利要求8所述的终端,其特征在于,所述开关单元包括第一开关、第二开关、第三开关和第四开关,其中:The terminal according to claim 8, wherein the switching unit comprises a first switch, a second switch, a third switch, and a fourth switch, wherein:
    所述第一开关的一端与所述线性马达的第一端连接,另一端与所述第五电阻的第二端连接;所述第二开关的一端与所述线性马达的第二端连接,另一端与所述第六电阻的第二端连接;所述第三开关的一端与所述第五电阻的第二端连接,另一端接地;所述第四开关的一端与所述第六电阻的第二端连接,另一端接地;One end of the first switch is connected to the first end of the linear motor, and the other end is connected to the second end of the fifth resistor; one end of the second switch is connected to the second end of the linear motor, The other end is connected to the second end of the sixth resistor; one end of the third switch is connected to the second end of the fifth resistor, and the other end is grounded; one end of the fourth switch and the sixth resistor The second end is connected and the other end is grounded;
    所述控制逻辑单元,具体用于:在所述线性马达进行储能时控制所述第一开关和第二开关断开,控制所述第三开关和所述第四开关闭合;在所述线性马达储能完成后控制所述第一开关和所述第二开关闭合,控制所述第三开关和所述第四开关断开。The control logic unit is specifically configured to: control the first switch and the second switch to be turned off when the linear motor performs energy storage, and control the third switch and the fourth switch to be closed; After the motor energy storage is completed, the first switch and the second switch are controlled to be closed, and the third switch and the fourth switch are controlled to be disconnected.
  10. 一种线性马达的驱动方法,其特征在于,所述方法应用于终端,所述终端包括处理器、信号放大电路、线性马达以及检测电路,所述方法包括:A driving method of a linear motor, characterized in that the method is applied to a terminal, the terminal comprising a processor, a signal amplifying circuit, a linear motor and a detecting circuit, the method comprising:
    所述处理器产生第一激励信号,并输出所述第一激励信号至所述信号放大电路;The processor generates a first excitation signal and outputs the first excitation signal to the signal amplification circuit;
    所述信号放大电路将第一激励信号放大第一设定倍数后得到第二激励信号,并输出所述第二激励信号至所述线性马达;The signal amplifying circuit amplifies the first excitation signal by a first set multiple to obtain a second excitation signal, and outputs the second excitation signal to the linear motor;
    所述线性马达采用所述第二激励信号进行储能并产生反电动势,以及将所述反电动势转换成第一正弦波信号输出;The linear motor uses the second excitation signal to store energy and generate a counter electromotive force, and convert the back electromotive force into a first sine wave signal output;
    所述检测电路获取所述第一正弦波信号的频率,所述第一正弦波信号的频率为所述线性马达的谐振频率;The detecting circuit acquires a frequency of the first sine wave signal, and a frequency of the first sine wave signal is a resonant frequency of the linear motor;
    所述处理器产生具有所述谐振频率的驱动信号,并采用所述驱动信号驱动所述线性马 达。The processor generates a drive signal having the resonant frequency and drives the linear horse with the drive signal Da.
  11. 如权利要求10所述的方法,其特征在于,获取所述第一正弦波信号的频率,具体包括:The method of claim 10, wherein acquiring the frequency of the first sine wave signal comprises:
    将所述第一正弦波信号箝位在预设电压值,得到第二正弦波信号;Clamping the first sine wave signal to a preset voltage value to obtain a second sine wave signal;
    将所述第二正弦波信号与所述预设电压值进行比较,得到方波信号;Comparing the second sine wave signal with the preset voltage value to obtain a square wave signal;
    获取所述方波信号的频率,所述方波信号的频率与所述第一正弦波信号的频率相同。Obtaining a frequency of the square wave signal, the frequency of the square wave signal being the same as the frequency of the first sine wave signal.
  12. 如权利要求11所述的方法,其特征在于,将所述第二正弦波信号与所述预设电压值进行比较,得到方波信号,具体包括:The method of claim 11, wherein comparing the second sine wave signal with the preset voltage value to obtain a square wave signal comprises:
    将所述第二正弦波信号与所述预设电压值进行比较,在所述第二正弦波信号的幅值大于或等于所述预设电压值时输出高电平,在所述第二正弦波信号的幅值小于所述预设电压值时输出低电平,得到所述方波信号。Comparing the second sine wave signal with the preset voltage value, and outputting a high level when the amplitude of the second sine wave signal is greater than or equal to the preset voltage value, in the second sine When the amplitude of the wave signal is less than the preset voltage value, a low level is output, and the square wave signal is obtained.
  13. 如权利要求10~12任一项所述的方法,其特征在于,所述终端还包括存储器,在所述检测电路获取所述第一正弦波信号的频率之后,还包括:The method according to any one of claims 10 to 12, further comprising: a memory, after the detecting circuit acquires the frequency of the first sine wave signal, further comprising:
    所述存储器存储所述谐振频率;The memory stores the resonant frequency;
    所述处理器产生具有所述谐振频率的驱动信号,具体包括:所述处理器读取所述存储器中存储的所述谐振频率;产生具有读取到的所述谐振频率的驱动信号。The processor generates a driving signal having the resonant frequency, specifically comprising: the processor reading the resonant frequency stored in the memory; generating a driving signal having the read resonant frequency.
  14. 如权利要求13所述的方法,其特征在于,在所述处理器产生第一激励信号之前,还包括:The method of claim 13 further comprising: before the processor generates the first excitation signal, further comprising:
    所述处理器接收到指示信息,所述指示信息用于指示:The processor receives indication information, where the indication information is used to indicate:
    所述终端接收到开机信号,所述开机信号用于触发终端进行开机;或者The terminal receives a power-on signal, and the power-on signal is used to trigger the terminal to boot; or
    所述终端接收到关机信号,所述关机信号用于触发终端进行关机;或者Receiving, by the terminal, a shutdown signal, where the shutdown signal is used to trigger the terminal to perform shutdown; or
    所述终端接收到振动功能开启信号,所述振动功能开启信号用于指示所述终端开启振动功能;或者Receiving, by the terminal, a vibration function on signal, wherein the vibration function on signal is used to indicate that the terminal starts the vibration function; or
    所述终端接收到触发信号,所述触发信号用于指示用户触发所述终端获取所述线性马达的谐振频率。 The terminal receives a trigger signal, and the trigger signal is used to instruct the user to trigger the terminal to acquire the resonant frequency of the linear motor.
PCT/CN2017/081493 2017-01-04 2017-04-21 Method for driving a linear resonant actuator, and terminal WO2018126560A1 (en)

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