WO2020125533A1 - 一种线性谐振装置及其刹车方法 - Google Patents

一种线性谐振装置及其刹车方法 Download PDF

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Publication number
WO2020125533A1
WO2020125533A1 PCT/CN2019/124781 CN2019124781W WO2020125533A1 WO 2020125533 A1 WO2020125533 A1 WO 2020125533A1 CN 2019124781 W CN2019124781 W CN 2019124781W WO 2020125533 A1 WO2020125533 A1 WO 2020125533A1
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WIPO (PCT)
Prior art keywords
braking
waveform
linear resonance
pulse
motor
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PCT/CN2019/124781
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English (en)
French (fr)
Inventor
赵观星
吴绍夫
吴大军
孟志俊
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上海艾为电子技术股份有限公司
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Application filed by 上海艾为电子技术股份有限公司 filed Critical 上海艾为电子技术股份有限公司
Priority to KR1020217016330A priority Critical patent/KR102627735B1/ko
Priority to US17/293,377 priority patent/US11876474B2/en
Priority to EP19900112.4A priority patent/EP3901735A4/en
Publication of WO2020125533A1 publication Critical patent/WO2020125533A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/02—Details of stopping control
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/032—Reciprocating, oscillating or vibrating motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
    • B06B1/0207—Driving circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
    • H02P2209/13—Different type of waveforms depending on the mode of operation

Definitions

  • the present application relates to the technical field of motors, in particular to a linear resonance device and a braking method thereof.
  • Tactile feedback technology can produce different tactile experiences according to different application scenarios, and can enable users to interact more deeply with electronic products. It is an important direction for future smart terminal upgrades. As the direction of smartphones, which is an important application field of haptic feedback technology, through the haptic feedback engine, you can simulate the subtle vibration of the clock dial and the heart beat. In some games, you can even simulate the shooting effect, the punching and other vibration effects. Game experience.
  • Linear resonance motor Linear Resonance Actuator, LRA for short
  • LRA Linear Resonance Actuator
  • the spring suspends the coil inside the linear resonant motor.
  • the coil When current flows through the coil, the coil generates a magnetic field.
  • the coil is connected with a magnetic mass.
  • the current flowing through the coil changes, the direction and strength of the magnetic field will also change, and the mass will move up and down in the changing magnetic field. This movement is perceived by people to produce a sense of touch Feedback effect. It can be seen that the use of the above linear resonance motor can generate vibrations with different intensities on the electronic device to achieve tactile feedback with different intensities.
  • the embodiments of the present application provide a linear resonance device and a braking method thereof to achieve fast and effective braking.
  • the linear resonance device includes a linear resonance motor and a driving chip.
  • the driving chip stores a driving waveform and at least one first braking waveform in advance.
  • the braking method includes:
  • the driving chip is controlled to stop outputting the first braking waveform, and the braking of the linear resonance motor is completed;
  • the first braking waveform includes at least two pulse waveforms, and the amplitude of each of the at least two pulse waveforms gradually decreases along the playback direction of the first braking waveform.
  • the first braking waveform includes a first pulse waveform and a second pulse waveform, wherein, when the driving chip uses the first braking waveform to drive the linear resonance motor, the first pulse is played first Waveform, and then play the second pulse waveform, the amplitude AMP(i) of the first pulse waveform and the amplitude AMP(i+1) of the second pulse waveform satisfy the following relationship:
  • AMP(i+1) floor(N*AMP(i)/2 m );
  • i is an integer not less than 1
  • N represents the pulse amplitude attenuation factor
  • m represents the number of pulse amplitude attenuation factor stored in the register
  • the floor function is a downward rounding function.
  • the second condition includes:
  • the number of pulses of the driving chip playing the first braking waveform reaches a first preset value.
  • At least one second braking waveform is also pre-stored in the driving chip, and the method further includes:
  • the driving chip is controlled to drive the linear resonance motor using the first braking waveform, and the first braking process is performed on the linear resonance motor;
  • the driving chip is controlled to stop outputting the first braking waveform, and the braking of the linear resonance motor is completed;
  • the second braking waveform includes at least one pulse waveform, and the amplitude of the pulse waveform in the second braking waveform is not less than the amplitude of the pulse waveform in the first braking waveform.
  • the second braking waveform includes at least two pulse waveforms, and the amplitude of each pulse waveform in the second braking waveform is the same.
  • the maximum value of the amplitude of each pulse waveform in the first braking waveform is the same as the amplitude of the pulse waveform in the second braking waveform.
  • the pulse waveform in the second braking waveform has the same shape as the pulse waveform in the first braking waveform.
  • the method further includes:
  • the frequency at which the driving chip plays the first braking waveform is adjusted.
  • the method further includes:
  • a linear resonance device includes a linear resonance motor, a driving chip and a processor, wherein the driving chip prestores a driving waveform and at least one first braking waveform, and the processor is used to execute:
  • the driving chip is controlled to stop outputting the first braking waveform, and the braking of the linear resonance motor is completed;
  • the first braking waveform includes at least two pulse waveforms, and the amplitude of each pulse waveform in the at least two pulse waveforms gradually decreases along the playback direction of the first braking waveform.
  • the drive chip includes a register, a static random access memory, and a drive controller, wherein the static random access memory pre-stores the at least one first braking waveform, and the processor When the vibration of the linear resonance motor satisfies the first condition, a first control command is output, and the register triggers the drive controller to read the first stored in the static random access memory in response to the first control command.
  • a braking waveform performs the first braking process on the linear resonance motor.
  • the first braking waveform includes a first pulse waveform and a second pulse waveform, wherein, when the driving chip uses the first braking waveform to drive the linear resonance motor, the first pulse is played first Waveform, and then play the second pulse waveform, the amplitude AMP(i) of the first pulse waveform and the amplitude AMP(i+1) of the second pulse waveform satisfy the following relationship:
  • AMP(i+1) floor(N*AMP(i)/2 m );
  • i is an integer not less than 1
  • N represents the pulse amplitude attenuation factor
  • m represents the number of pulse amplitude attenuation factor stored in the register
  • the floor function is a downward rounding function.
  • the second condition includes:
  • the number of pulses of the driving chip playing the first braking waveform reaches a first preset value.
  • At least one second braking waveform is also pre-stored in the static random access memory, and the processor is further used to execute:
  • a second control command is output, and the register triggers the drive chip to use the second braking waveform to drive the linear resonance motor in response to the second control command , Performing a second braking process on the linear resonance motor;
  • the processor is further configured to output a first control command when the second braking process meets the third condition, and the register triggers the driving chip to use the first braking waveform in response to the first control command , Driving the linear resonance motor, and performing a first braking process on the linear resonance motor;
  • the driving chip is controlled to stop outputting the first braking waveform, and the braking of the linear resonance motor is completed;
  • the second braking waveform includes at least one pulse waveform, and the amplitude of the pulse waveform in the second braking waveform is not less than the amplitude of the pulse waveform in the first braking waveform.
  • the second braking waveform includes at least two pulse waveforms, and the amplitude of each pulse waveform in the second braking waveform is the same.
  • the maximum value of the amplitude of each pulse waveform in the first braking waveform is the same as the amplitude of the pulse waveform in the second braking waveform.
  • the pulse waveform in the second braking waveform has the same shape as the pulse waveform in the first braking waveform.
  • the linear resonance device further includes a clock chip
  • the processor is further configured to execute: adjust the sampling of the clock chip based on the vibration frequency of the linear resonance motor driven by the driving waveform The frequency reaches a preset frequency, so that the driving chip reads the first braking waveform stored in the static random access memory at the preset frequency and plays the frequency of the first braking waveform.
  • the first braking waveform includes at least two pulse waveforms, and the amplitude of each of the at least two pulse waveforms is along the playback direction of the first braking waveform Gradually decrease to reduce the vibration according to the current vibration amplitude of the linear resonance motor, thereby avoiding that the amplitude of the first brake waveform is larger than the vibration amplitude of the linear resonance motor, resulting in an over-braking phenomenon, resulting in The linear resonant motor vibrates in the opposite direction to achieve fast and effective braking.
  • FIG. 1 is a flowchart of a braking method of a linear resonance device provided by an embodiment of this application;
  • FIG. 2 is a schematic diagram of a first braking waveform in a braking method of a linear resonance device provided by an embodiment of this application;
  • FIG. 3 is a flowchart of a braking method of a linear resonance device provided by another embodiment of this application.
  • FIG. 4 is a schematic diagram of a driving waveform, a first braking waveform, and a second braking waveform in a braking method of a linear resonance device provided by an embodiment of this application;
  • FIG. 5 is a flowchart of a braking method of a linear resonance device according to another embodiment of this application.
  • FIG. 6 is a schematic structural diagram of a linear resonance device provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a linear resonance device provided by another embodiment of the present application.
  • the embodiments of the present application provide a braking method of a linear resonance device.
  • the linear resonance device includes a linear resonance motor and a driving chip, and a driving waveform and at least one first braking waveform are pre-stored in the driving chip
  • the braking method includes:
  • the vibration of the linear resonance motor satisfies the first condition includes that the vibration of the linear resonance motor is short vibration, in this embodiment, the first condition is the The vibration time of the linear resonance motor is less than the first time; in another embodiment of the present application, the first condition may also be that the vibration of the linear resonance motor satisfies other parameters, which is not limited in this application, specific It depends.
  • the phase of the first braking waveform is opposite to the phase of the driving waveform, so as to use the first braking waveform to provide the linear resonance motor with the linear resonance motor
  • the driving force with the opposite vibration direction reduces the vibration amplitude of the linear resonance motor and realizes braking of the linear resonance motor.
  • the first braking waveform includes at least two pulse waveforms, and the amplitude of each of the at least two pulse waveforms is along the playback direction of the first braking waveform Gradually decrease to reduce the vibration according to the current vibration amplitude of the linear resonance motor, thereby avoiding that the amplitude of the first brake waveform is larger than the vibration amplitude of the linear resonance motor, resulting in an over-braking phenomenon, resulting in The linear resonance motor vibrates in the opposite direction.
  • the first braking waveform includes a first pulse waveform and a second pulse waveform, wherein the driving chip When the linear resonance motor is used, the first pulse waveform is played first, and then the second pulse waveform is played, then the amplitude AMP(i) of the first pulse waveform and the amplitude AMP( i+1) Meet the following relationship:
  • AMP(i+1) floor(N*AMP(i)/2 m );
  • i is an integer not less than 1
  • N represents the pulse amplitude attenuation factor
  • m represents the number of pulse amplitude attenuation factor stored in the register
  • the floor function is a downward rounding function.
  • the setting of the pulse amplitude attenuation factor N can be optimized for different waveform effects to achieve a better braking effect, but the specifics of N and m in the embodiment of the present application The value is not limited, depending on the situation.
  • the first pulse waveform and the second pulse waveform are two adjacent pulse waveforms in the first braking waveform, but this The application does not limit this, depending on the situation.
  • the pulse amplitude attenuation factor N is an integer
  • m is also an integer.
  • m can be set to 8 (that is, the pulse amplitude attenuation factor is a value stored in an 8-bit register)
  • the amplitude AMP(i) of the first pulse waveform and the amplitude AMP(i) of the second pulse waveform +1) is any two adjacent pulse waveforms in the first braking waveform
  • the amplitude AMP(i) of the first pulse waveform and the amplitude AMP(i+1) of the second pulse waveform Meet the following relationships:
  • AMP(i+1) floor(N*AMP(i)/ 2m ).
  • FIG. 2 shows a schematic diagram of the first braking waveform stored in the driving chip in the braking method provided by an embodiment of the present application.
  • the amplitude of the first pulse waveform in the first braking waveform is the same as the amplitude of the driving waveform, but this application is not limited thereto, depending on the situation It depends.
  • the second condition includes that the number of pulses of the driving chip playing the first braking waveform reaches a first preset value, when the driving chip plays the When the number of pulses of the first braking waveform reaches the first preset value, the driving chip is controlled to stop outputting the first braking waveform, and the braking of the linear resonance motor is completed.
  • the present application does not limit the specific value of the first preset value, depending on the vibration amplitude of the linear resonance motor driven by the driving waveform, the linear The braking effect requirements of the resonant motor depend on the situation.
  • the shape of the pulse waveform in the first braking waveform may be a sine waveform, a cosine waveform, or a square or other shapes.
  • the application does not limit this, depending on the situation.
  • the vibration of the linear resonance motor can simulate the vibration of an incoming call of a mobile phone, the vibration of a short message, the vibration of an alarm clock, the vibration of a clock dial, the heart beat, and certain Vibration effects in various scenes such as shooting and punching in the game to provide feedback in various scenes.
  • a first braking waveform is stored in the driving chip, and in an embodiment of the present application, the driving chip is controlled to use the first braking waveform
  • Driving the linear resonant motor and performing the first braking process on the linear resonant motor includes: controlling the drive chip to use the same first braking waveform to drive the linear resonant motor and perform the first braking on the linear resonant motor The process uses the same first braking waveform to brake the vibration of the linear resonant motor in various scenarios.
  • At least two first braking waveforms are stored in the driving chip.
  • the driving chip is controlled to use the first braking waveform to drive the linear resonance Motor
  • performing the first braking process on the linear resonant motor includes controlling the drive chip to drive the linear resonant motor using the first braking waveform corresponding to the current scene based on the scene of the vibration application of the linear resonant motor.
  • the linear resonant motor performs a first braking process to brake the vibration of the linear resonant motor in the current scene by using the first braking process that matches the current scene.
  • a scenario corresponds to a first braking waveform.
  • a first braking waveform also corresponds to a scenario, that is, in this embodiment, the scene applied by the linear vibration motor and the first brake
  • the waveforms correspond one-to-one to execute the first braking process with different first braking waveforms for different scenarios, so as to obtain a faster, shorter, and more timely braking effect, but this application does not limit this , Depending on the situation.
  • controlling the driving chip to drive the linear resonance motor using the first braking waveform, and performing the first braking process on the linear resonance motor includes:
  • Controlling the driving chip to drive the linear resonant motor using the first braking waveform corresponding to the current scene, and performing a first braking process on the linear resonant motor, so as to adopt the first braking waveform matching the current scene The vibration of the linear resonance motor under the scene brakes.
  • obtaining the first braking waveform corresponding to the currently applied scene includes: based on the For the scene of the linear resonance motor vibration application, query the first database to obtain the first braking waveform corresponding to the currently applied scene.
  • this application does not limit this, depending on the situation.
  • At least one parameter of different first brake waveforms is different, where the difference in the at least one parameter may include the shape, number, amplitude, and period of the pulse waveforms included therein At least one of these is not limited in this application, depending on the situation.
  • the linear resonance motor is driven by the driving waveform, the vibration amplitude is small or the vibration time is short, then the above braking method can achieve a better braking effect, if the When the linear resonance motor is driven by the driving waveform and the vibration amplitude is large or the vibration time is long, when the linear resonance motor is braked by the above braking method, a longer braking time is required.
  • the driving chip further stores at least one second braking waveform.
  • the method further includes:
  • the driving chip is controlled to drive the linear resonance motor using the first braking waveform, and the first braking process is performed on the linear resonance motor;
  • the driving chip is controlled to stop outputting the first braking waveform, and the braking of the linear resonance motor is completed.
  • the driving chip if the vibration of the linear resonant motor satisfies the first condition, the driving chip is controlled to directly use the first braking waveform to drive the linear resonant motor.
  • the resonant motor performs a first braking process; and when the first braking process satisfies the second condition, the driving chip is controlled to stop outputting the first braking waveform to complete the braking of the linear resonant motor.
  • the phase of the second braking waveform is opposite to the phase of the driving waveform, so as to use the second braking waveform to provide the linear resonance motor with the linear resonance
  • the driving force in the opposite direction of the vibration of the motor reduces the vibration amplitude of the linear resonance motor to achieve braking of the linear resonance motor.
  • the second braking waveform includes at least one pulse waveform, and the amplitude of the pulse waveform in the second braking waveform is not less than the amplitude of the pulse waveform in the first braking waveform, in order to utilize
  • the second braking waveform quickly brakes the linear resonant motor, and then uses the first braking waveform to fine-tune the aftershock of the linear resonant motor to eliminate the aftershock of the linear resonant motor as much as possible and avoid always using a large amplitude
  • the pulse waveform of the value brakes the linear resonance motor, causing an overbraking phenomenon.
  • the second braking process meeting the third condition includes that the number of pulses of the driving chip playing the second braking waveform reaches a second preset value,
  • this application does not limit this.
  • the second braking process may satisfy other conditions, which may be other conditions, depending on the situation.
  • the application of the second preset value is not limited, and can be set according to the specific conditions of the linear resonance motor.
  • the second preset value ranges from 0 to 15, including the right end point value, but this application does not limit this, depending on the situation.
  • the period of the first braking waveform is the same as the period of the second braking waveform.
  • the pulse waveform in the second braking waveform is a sine waveform, a cosine waveform, a square shape, or other shapes. It is not limited, depending on the situation.
  • FIG. 4 shows a schematic diagram of waveforms of a driving waveform, a first braking waveform, and a second braking waveform in the braking method provided by an embodiment of the present application.
  • the second braking waveform includes at least two pulse waveforms, and the amplitude of each pulse waveform in the second braking waveform is the same, but This application does not limit this, depending on the situation.
  • the maximum value of the amplitude of each pulse waveform in the first braking waveform and the amplitude of the pulse waveform in the second braking waveform may also be smaller than the amplitude of the pulse waveform in the second braking waveform. Limited, depending on the situation.
  • the amplitude AMP of the pulse waveform in the second braking waveform and the maximum amplitude AMP1 of the pulse waveform in the first braking waveform satisfy the following relationship:
  • AMP1 floor(N*AMP/2 m );
  • N represents the pulse amplitude attenuation factor
  • m represents the number of stored pulse amplitude attenuation factors in the register
  • the floor function is a downward rounding function.
  • the shape of the pulse waveform in the first braking waveform and the shape of the pulse waveform in the second braking waveform may be the same or different.
  • the application does not limit this, depending on the situation.
  • the vibration of the linear resonance motor can simulate a variety of scenarios such as phone call vibration, short message vibration, alarm clock vibration, clock dial vibration, heart beat, shooting in some games, and punching people. To provide feedback in various scenarios.
  • a second braking waveform is stored in the driving chip, and in an embodiment of the present application, the driving chip is controlled to use the second braking waveform
  • Driving the linear resonant motor and performing the second braking process on the linear resonant motor includes: controlling the drive chip to use the same second braking waveform to drive the linear resonant motor and perform second braking on the linear resonant motor The process uses the same second braking waveform to perform the second braking process on the vibration of the linear resonant motor in various scenarios.
  • the driving chip stores at least two second braking waveforms.
  • the driving chip is controlled to use the second braking waveform to drive the linear resonance Motor, performing the second braking process on the linear resonant motor includes controlling the drive chip to drive the linear resonant motor using the second braking waveform corresponding to the current scene based on the scene of the vibration application of the linear resonant motor.
  • the linear resonant motor performs a second braking process to use a second braking waveform that matches the current scene to perform a second braking process on the vibration of the linear resonant motor in the current scene.
  • one scenario corresponds to one second braking waveform.
  • a second brake waveform also corresponds to a scenario, that is, in this embodiment, the scene applied by the linear vibration motor and the second brake Waveforms correspond to each other to execute the second braking process with different second braking waveforms for different scenarios, so as to obtain a faster, shorter, and more timely braking effect, but this application does not limit this , Depending on the situation.
  • controlling the driving chip to drive the linear resonance motor using the second braking waveform, and performing the second braking process on the linear resonance motor includes:
  • the vibration of the linear resonant motor under the scene performs the second braking process.
  • obtaining the second braking waveform corresponding to the currently applied scene includes: based on the For the scenario of the linear resonance motor vibration application, query the second database to obtain the second braking waveform corresponding to the currently applied scenario.
  • this application does not limit this, depending on the situation.
  • At least one parameter of different second brake waveforms is different, where the difference in the at least one parameter may include the shape, number, amplitude, and period of the pulse waveforms included therein At least one of these is not limited in this application, depending on the situation.
  • the first braking waveform and all The second braking waveforms correspond one-to-one.
  • a first braking waveform corresponds to a second braking waveform
  • a second braking waveform also corresponds to a first braking waveform. There is no one-to-one correspondence between the first braking waveform and the second braking waveform.
  • each of the first braking waveform and each of the second braking waveforms forms multiple combined waveforms, and the combination relationship is fixed, but this application does not do this
  • each of the first braking waveform and each of the second braking waveforms are stored separately, and do not form a combined waveform, that is, the driving chip may be based on the current application of the linear vibration motor
  • the scene selects any one of the at least one second braking waveform and a second braking waveform corresponding to the currently applied scene performs a second braking process, and selects one of the at least one first braking waveform and the current
  • the first braking waveform corresponding to the applied scenario performs the first braking process, which is not limited in this application, depending on the situation.
  • the braking method further includes: at the end of the driving waveform playback, determining whether a braking command is received, and if received A braking command, in response to the braking command, brakes the linear resonance motor, and if no braking command is received, does not brake the linear resonance motor.
  • the method further includes:
  • the frequency of the first braking waveform played by the driving chip is adjusted to calibrate the frequency of the first braking waveform so that the The difference between the frequency of the first braking waveform and the vibration frequency of the linear resonance motor is less than a third preset value, which reduces the deviation between the frequency of the first braking waveform and the vibration frequency of the linear resonance motor.
  • the driving chip is adjusted to play the first
  • the frequency of the braking waveform is adjusted to the period corresponding to the vibration frequency of the linear resonance motor with the period corresponding to the frequency after the first braking waveform is output, to further improve the tactile feedback experience of the linear resonance device.
  • the third preset value may also be other values, depending on the situation.
  • the method further includes:
  • the frequency of the second braking waveform played by the driving chip is adjusted to calibrate the frequency of the second braking waveform so that the The difference between the frequency of the second braking waveform and the vibration frequency of the linear resonance motor is less than the fourth preset value, reducing the deviation between the frequency of the second braking waveform and the vibration frequency of the linear resonance motor.
  • the driving chip is adjusted to play the second
  • the frequency of the braking waveform is adjusted to a period corresponding to the vibration frequency of the linear resonance motor with a period corresponding to the frequency after the output of the second braking waveform to further improve the tactile feedback experience of the linear resonance device.
  • the fourth preset value may also be other values, depending on the situation.
  • the braking method can use the first braking process for braking only or a combination of the first braking process and the second braking process for braking according to the specific vibration situation and application scenario of the linear resonance motor
  • the braking method provided by the embodiments of the present application can realize rapid and effective braking of the linear resonance motor driven by the driving waveform in various application scenarios through the flexible setting of the braking waveform and braking process parameters.
  • the linear resonance device includes a linear resonance motor 100, a driving chip 200, and a processor 300, wherein the driving chip 200 stores The driving waveform and the first braking waveform, the processor 300 is used to:
  • the driving chip is controlled to stop outputting the first braking waveform, and the braking of the linear resonance motor is completed;
  • the first braking waveform includes at least two pulse waveforms, and the amplitude of each pulse waveform in the at least two pulse waveforms gradually decreases along the playback direction of the first braking waveform, according to the linear resonance
  • the current vibration amplitude of the motor is damped, thereby avoiding that the amplitude of the first braking waveform is larger than the vibration amplitude of the linear resonant motor, resulting in overbraking and causing the linear resonant motor to vibrate in the opposite direction .
  • the phase of the first braking waveform is opposite to the phase of the driving waveform, so as to use the first braking waveform to provide the linear resonance motor with the linear resonance motor
  • the driving force with the opposite vibration direction reduces the vibration amplitude of the linear resonance motor and realizes braking of the linear resonance motor.
  • the vibration of the linear resonance motor satisfies the first condition includes: the vibration of the linear resonance motor is short vibration.
  • the first condition is The vibration time of the linear resonance motor is less than the first time; in another embodiment of the present application, the first condition may also be that the vibration of the linear resonance motor satisfies other parameters, which is not limited in this application, It depends on the situation.
  • the driver chip includes a register 201, a static random access memory (SRAM, Static Random-Access Memory) 202, and a driver A controller 203, wherein a first braking waveform is pre-stored in the static random access memory 202, the processor 300 outputs a first instruction when the vibration of the linear resonance motor meets a first condition, and the register 201 In response to the first control instruction, output a first enable signal, trigger the drive controller to read the first braking waveform stored in the static random access memory, and execute the first on the linear resonant motor The braking process.
  • SRAM Static Random-Access Memory
  • the first braking waveform stored in the static random access memory is pre-adjusted according to the vibration of the linear resonance motor and the application scenario after debugging It is provided that when the vibration situation of the linear resonance motor and the application scenario change, the first braking waveform stored in the static random access memory may be adjusted or rewritten.
  • the first braking waveform is stored in a static random access memory. If the linear resonance device is powered off, the first stored in the static random access memory The braking waveform needs to be rewritten, but this application does not limit this. In other embodiments of this application, the first braking waveform may also be stored in other storage elements, depending on the situation.
  • the first braking waveform includes a first pulse waveform and a second pulse waveform, wherein the driving chip When the linear resonance motor is used, the first pulse waveform is played first, and then the second pulse waveform is played, then the amplitude AMP(i) of the first pulse waveform and the amplitude AMP( i+1) Meet the following relationship:
  • AMP(i+1) floor(N*AMP(i)/2 m );
  • i is an integer not less than 1
  • N represents the pulse amplitude attenuation factor
  • m represents the number of pulse amplitude attenuation factor stored in the register
  • the floor function is a downward rounding function.
  • N and m are not limited in the embodiments of the present application, depending on the situation.
  • the first pulse waveform and the second pulse waveform are two adjacent pulse waveforms in the first braking waveform, but this The application does not limit this, depending on the situation.
  • the pulse amplitude attenuation factor N is an integer
  • m is also an integer.
  • m can be set to 8 (that is, the pulse amplitude attenuation factor is the value of the 8-bit register)
  • the amplitude AMP(i) of the first pulse waveform and the amplitude AMP(i+1) of the second pulse waveform Are any two adjacent pulse waveforms in the first braking waveform, then the amplitude AMP(i) of the first pulse waveform and the amplitude AMP(i+1) of the second pulse waveform satisfy the following relationship :
  • AMP(i+1) floor(N*AMP(i)/ 2m ).
  • the amplitude of the first pulse waveform in the first braking waveform is the same as the amplitude of the driving waveform, but this application is not limited thereto, depending on the situation It depends.
  • the second condition includes that the number of pulses of the driving chip playing the first braking waveform reaches a first preset value, when the driving chip plays the When the number of pulses of the first braking waveform reaches the first preset value, the driving chip is controlled to stop outputting the first braking waveform, and the braking of the linear resonance motor is completed.
  • the present application does not limit the specific value of the first preset value, depending on the vibration amplitude of the linear resonance motor driven by the driving waveform, the linear The braking effect requirements of the resonant motor depend on the situation.
  • the shape of the pulse waveform in the first braking waveform may be a sine waveform, a cosine waveform, or a square or other shapes.
  • the application does not limit this, depending on the situation.
  • the vibration of the linear resonance motor can simulate the vibration of an incoming call of a mobile phone, the vibration of a short message, the vibration of an alarm clock, the vibration of a clock dial, the heart beat, and certain Vibration effects in various scenes such as shooting and punching in the game to provide feedback in various scenes.
  • a first braking waveform is stored in the static random access memory.
  • the driving chip is controlled to use the first braking waveform A braking waveform, driving the linear resonance motor, and performing the first braking process on the linear resonance motor includes: controlling the driving chip to use the same first braking waveform to drive the linear resonance motor, and executing the linear resonance motor In the first braking process, the same first braking waveform is used to brake the vibration of the linear resonance motor in various scenarios.
  • the static random access memory stores at least two first braking waveforms.
  • the driving chip is controlled to use the first braking waveform to drive The linear resonant motor, and performing the first braking process on the linear resonant motor includes: based on a scene of the linear resonant motor vibration application, controlling the drive chip to drive the linear resonance using a first braking waveform corresponding to the current scene The motor performs a first braking process on the linear resonance motor to brake the vibration of the linear resonance motor in the current scene by using the first braking process that matches the current scene.
  • a scenario corresponds to a first braking waveform.
  • a first braking waveform also corresponds to a scenario, that is, in this embodiment, the scene applied by the linear vibration motor and the first brake
  • the waveforms correspond one-to-one to execute the first braking process with different first braking waveforms for different scenarios, so as to obtain a faster, shorter, and more timely braking effect, but this application does not limit this , Can be set according to the actual situation through the register.
  • controlling the driving chip to drive the linear resonance motor using the first braking waveform, and performing the first braking process on the linear resonance motor includes:
  • Controlling the driving chip to drive the linear resonant motor using the first braking waveform corresponding to the current scene, and performing a first braking process on the linear resonant motor, so as to adopt the first braking waveform matching the current scene The vibration of the linear resonance motor under the scene brakes.
  • the processor executes a scene based on the linear resonance motor vibration application to obtain a first brake corresponding to the currently applied scene
  • the waveform is specifically used to: query the first database based on the scene of the vibration application of the linear resonance motor to obtain the first braking waveform corresponding to the scene of the current application.
  • this application does not limit this, depending on the situation.
  • At least one parameter of different first brake waveforms is different, where the difference in the at least one parameter may include the shape, number, amplitude, and period of the pulse waveforms included therein At least one of these is not limited in this application, depending on the situation.
  • the linear resonance motor is driven by the driving waveform, the vibration amplitude is small or the vibration time is short, then the above linear resonance device can achieve a better braking effect.
  • the linear resonance motor is driven by the driving waveform and the vibration amplitude is large or the vibration time is long, when the linear resonance device is used to brake the linear resonance motor, a longer braking time is required.
  • the static random access memory further stores at least one second braking waveform in advance
  • the processor is further configured to execute:
  • a second control command is output, and the register generates a second enable signal in response to the second control command, triggering the drive chip to use the second braking waveform , Driving the linear resonance motor, and performing a second braking process on the linear resonance motor;
  • the processor is further configured to output a first control instruction when the second braking process meets the third condition, and the register generates a first enable signal in response to the first control instruction to trigger the driving chip Using the first braking waveform to drive the linear resonant motor and perform a first braking process on the linear resonant motor;
  • the driving chip is controlled to stop outputting the first braking waveform, and the braking of the linear resonance motor is completed.
  • the processor is further configured to: if the vibration of the linear resonance motor satisfies the first condition, output a third control instruction and a first control instruction, and the register responds to the The third control instruction and the first control instruction generate a third enable signal and a first enable signal, and control the drive controller not to execute the second braking process, but directly execute the first braking process to perform the linear resonance motor brake.
  • the first enable signal is 1, the second enable signal is 1, and the third enable signal is 0, but the application does not do this Limited, depending on the situation.
  • the second braking waveform includes at least one pulse waveform
  • the amplitude of the pulse waveform in the second braking waveform is not less than the amplitude of the pulse waveform in the first braking waveform Value to use the second braking waveform to quickly brake the linear resonance motor, and then use the first braking waveform to fine-tune the aftershock of the linear resonance motor to eliminate the aftershock of the linear resonance motor as much as possible to avoid
  • the linear resonance motor is always braked with a pulse waveform of a larger amplitude, causing an over-braking phenomenon.
  • the second braking process meeting the third condition includes that the number of pulses of the driving chip playing the second braking waveform reaches a second preset value,
  • this application does not limit this.
  • the second braking process may satisfy other conditions, which may be other conditions, depending on the situation.
  • the application of the second preset value is not limited, and can be set according to the specific conditions of the linear resonance motor.
  • the second preset value ranges from 0 to 15, including the right end point value, but this application does not limit this, depending on the situation.
  • the period of the first braking waveform is the same as the period of the second braking waveform.
  • the pulse waveform in the second braking waveform is a sine waveform, a cosine waveform, a square shape, or other shapes. It is not limited, depending on the situation.
  • the second braking waveform includes at least two pulse waveforms, and the amplitude of each pulse waveform in the second braking waveform is the same, but This application does not limit this, depending on the situation.
  • the maximum value of the amplitude of each pulse waveform in the first braking waveform and the amplitude of the pulse waveform in the second braking waveform may also be smaller than the amplitude of the pulse waveform in the second braking waveform. Limited, depending on the situation.
  • the amplitude AMP of the pulse waveform in the second braking waveform and the maximum amplitude AMP1 of the pulse waveform in the first braking waveform satisfy the following relationship:
  • AMP1 floor(N*AMP/2 m );
  • N represents the pulse amplitude attenuation factor
  • m represents the number of stored pulse amplitude attenuation factors in the register
  • the floor function is a downward rounding function.
  • the shape of the pulse waveform in the first braking waveform and the shape of the pulse waveform in the second braking waveform may be the same or different.
  • the application does not limit this, depending on the situation.
  • a second braking waveform is stored in the static random access memory.
  • the driving chip is controlled to use the second A braking waveform, driving the linear resonance motor, and performing a second braking process on the linear resonance motor includes: controlling the drive chip to use the same second braking waveform to drive the linear resonance motor, and executing the linear resonance motor
  • the second braking process uses the same second braking waveform to perform the second braking process on the vibration of the linear resonance motor in various scenarios.
  • the static random access memory stores at least two second braking waveforms.
  • the driving chip is controlled to use the second braking waveform to drive the The linear resonant motor, and performing the second braking process on the linear resonant motor includes: based on a scene of the linear resonant motor vibration application, controlling the drive chip to drive the linear resonance using a second braking waveform corresponding to the current scene The motor performs a second braking process on the linear resonance motor to adopt a second braking waveform matching the current scene to perform a second braking process on the vibration of the linear resonance motor in the current scene.
  • one scenario corresponds to one second braking waveform.
  • a second brake waveform also corresponds to a scenario, that is, in this embodiment, the scene applied by the linear vibration motor and the second brake Waveforms correspond to each other to execute the second braking process with different second braking waveforms for different scenarios, so as to obtain a faster, shorter, and more timely braking effect, but this application does not limit this , Can be set according to specific conditions through the register.
  • controlling the driving chip to drive the linear resonance motor using the second braking waveform, and performing the second braking process on the linear resonance motor includes:
  • the vibration of the linear resonant motor under the scene performs the second braking process.
  • obtaining the second braking waveform corresponding to the currently applied scene includes: based on the For the scenario of the linear resonance motor vibration application, query the second database to obtain the second braking waveform corresponding to the currently applied scenario.
  • this application does not limit this, depending on the situation.
  • At least one parameter of different second brake waveforms is different, where the difference in the at least one parameter may include the shape, number, amplitude, and period of the pulse waveforms included therein At least one of these is not limited in this application, depending on the situation.
  • the first braking waveform and all The second braking waveforms correspond one-to-one.
  • a first braking waveform corresponds to a second braking waveform
  • a second braking waveform also corresponds to a first braking waveform.
  • the processor is further used to determine whether a brake command is received at the end of the driving waveform playback, and if the brake command is received, respond to all According to the braking command, the linear resonance motor is braked, and if no braking command is received, the linear resonance motor is not braked.
  • the processor if no braking command is received at the end of the driving waveform playback, the processor generates a third control command and a fourth control command, and the register responds to the third control And a fourth control instruction to generate the third enable signal and the fourth enable signal, and control the drive controller not to perform the first braking process and the second braking process on the linear resonance motor.
  • the third enable signal is 0, and the fourth enable signal is 0.
  • the frequency of the brake waveform may be between the vibration frequency of the linear resonance motor There is a certain deviation, under typical circumstances, a deviation of 5 Hz can occur.
  • the linear resonance device further includes: a clock chip, so The processor is further configured to adjust the sampling frequency of the clock chip to a preset frequency based on the vibration frequency of the linear resonant motor driven by the drive waveform, so that the drive chip uses the preset Frequency to read the first braking waveform stored in the static random access memory and play the first braking waveform to calibrate the frequency of the first braking waveform so that the frequency of the first braking waveform is The difference between the vibration frequencies of the linear resonance motor is less than a third preset value, which reduces the deviation between the frequency of the first braking waveform and the vibration frequency of the linear resonance motor.
  • the processor is specifically configured to adjust the vibration frequency of the linear resonant motor based on the vibration frequency of the linear resonance motor driven by the driving waveform Sampling frequency of the clock chip to a preset frequency, so that the driving chip reads the first braking waveform stored in the static random access memory at the preset frequency, plays the first braking waveform to The period corresponding to the frequency after the output of the first braking waveform is adjusted to the period corresponding to the vibration frequency of the linear resonance motor to further improve the tactile feedback experience of the linear resonance device.
  • the third preset value may also be other values, depending on the situation.
  • the processor is also used to perform: based on the vibration frequency of the linear resonance motor driven by the driving waveform , Adjust the sampling frequency of the clock chip to a preset frequency, the drive chip reads the second braking waveform stored in the static random access memory at the preset frequency, and plays the second braking waveform to adjust the frequency Calibrate the frequency of the second braking waveform so that the difference between the frequency of the second braking waveform and the vibration frequency of the linear resonant motor is less than the fourth preset value, and reduce the frequency of the second braking waveform and The deviation between the vibration frequencies of the linear resonance motor.
  • the processor is specifically configured to adjust the vibration frequency of the linear resonant motor based on the vibration frequency of the linear resonance motor driven by the driving waveform Sampling frequency of the clock chip to a preset frequency, the driver chip reads the second braking waveform stored in the static random access memory at the preset frequency, plays the second braking waveform to change the second The period corresponding to the frequency after the output of the braking waveform is adjusted to the period corresponding to the vibration frequency of the linear resonance motor to further improve the haptic feedback experience of the linear resonance motor.
  • the fourth preset value may also be other values, depending on the situation.
  • the linear resonance device provided in the embodiments of the present application can be braked using only the first braking process or a combination of the first braking process and the second braking process according to the specific vibration situation and application scenario of the linear resonance motor Braking, and in the specific execution of each braking process, you can also set the brake waveform, the number of pulses included in the brake waveform, the pulse amplitude and the pulse attenuation factor according to the specific vibration of the linear resonance motor and the application scenario. So that the braking method can achieve a better braking effect according to the specific vibration situation and application scenario of the linear resonance motor. It can be seen that the linear resonance device provided by the embodiments of the present application can realize rapid and effective braking of the linear resonance motor driven by the driving waveform in various application scenarios through the flexible setting of the braking waveform and the braking process parameters.
  • the linear resonance device and the braking method provided in the embodiments of the present application can realize rapid and effective braking of the linear resonance motor in the linear resonance device, regardless of whether the linear resonance motor is in a short vibration state or in In the long vibration state, the brake effect of short time, fast speed, and aftershock stop brittleness is achieved to avoid the vibration tailing phenomenon of the linear resonance motor.

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Abstract

一种线性谐振装置及其刹车方法，线性谐振装置包括线性谐振马达（100）和驱动芯片（200），驱动芯片（200）中预先存储有驱动波形和至少一种第一刹车波形，该方法包括：响应刹车指令，判断在驱动波形的驱动下，线性谐振马达（100）的振动是否满足第一条件；如果线性谐振马达（100）的振动满足第一条件，控制驱动芯片（200）利用第一刹车波形，驱动线性谐振马达（100），对线性谐振马达（100）执行第一刹车过程，其中，第一刹车波形包括至少两个脉冲波形，且至少两个脉冲波形中各脉冲波形的幅值沿第一刹车波形的播放方向逐渐减小，以根据线性谐振马达（100）当前的振动幅度进行减振，实现快速、有效的刹车。

Description

一种线性谐振装置及其刹车方法
本申请要求于2018年12月20日提交中国专利局、申请号为201811567088.X、发明名称为“一种线性谐振装置及其刹车方法”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。
技术领域
本申请涉及马达技术领域，尤其涉及一种线性谐振装置及其刹车方法。
背景技术
触觉反馈技术可以根据不同的应用场景，产生不同的触觉体验，能够让用户和电子产品进行更深入的交互，是未来智能终端升级的重要方向。作为触觉反馈技术重要应用领域的智能手机方向，通过触觉反馈引擎，可以模拟时钟拨盘的细微震动，心脏跳动，在某些游戏中甚至还能模拟开枪射击、出拳打人等震动效果提升游戏体验。
目前触觉反馈技术一般是通过马达振动来实现。线性谐振马达(Linear Resonance Actuator，简称LRA)包括弹簧、带有磁性的质量块和线圈。弹簧将线圈悬浮在线性谐振马达内部，当线圈中有电流流过时，线圈会产生磁场。线圈和带有磁性的质量块相连，当流过线圈的电流改变时，磁场的方向和强弱也会改变，质量块就会在变化的磁场中上下移动，这种运动被人们感知从而产生触觉反馈效果。由此可见，采用上述线性谐振马达可以在电子设备上可产生强度不同的振动，以实现不同强度触觉反馈。
随着电子技术的发展，利用线性谐振马达实现触觉反馈的方式越来越多，用户体验需求也越来越高，因此，在线性谐振马达实现振动反馈后， 如何实现快速有效的刹车，成为本领域技术人员亟待解决的技术问题。
发明内容
为解决上述技术问题，本申请实施例提供了一种线性谐振装置及其刹车方法，以实现快速有效的刹车。
为解决上述问题，本申请实施例提供了如下技术方案：
一种线性谐振装置的刹车方法，所述线性谐振装置包括线性谐振马达和驱动芯片，所述驱动芯片中预先存储有驱动波形和至少一种第一刹车波形，该刹车方法包括：
响应刹车指令，判断在所述驱动波形的驱动下，所述线性谐振马达的振动是否满足第一条件；
如果所述线性谐振马达的振动满足第一条件，控制所述驱动芯片利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程；
在所述第一刹车过程满足第二条件时，控制所述驱动芯片停止输出所述第一刹车波形，完成对所述线性谐振马达的刹车；
其中，所述第一刹车波形包括至少两个脉冲波形，且所述至少两个脉冲波形的中各脉冲波形的幅值沿所述第一刹车波形的播放方向逐渐减小。
可选的，所述第一刹车波形包括第一脉冲波形和第二脉冲波形，其中，所述驱动芯片在利用所述第一刹车波形驱动所述线性谐振马达时，先播放所述第一脉冲波形，再播放所述第二脉冲波形，则所述第一脉冲波形的幅值AMP(i)和所述第二脉冲波形的幅值AMP(i+1)满足以下关系：
AMP(i+1)＝floor(N*AMP(i)/2 m)；
其中，i为不小于1的整数，N表示脉冲幅值衰减因子，m表示脉冲幅值衰减因子在寄存器中的存储位数，floor函数为向下取整函数。
可选的，所述第二条件包括：
所述驱动芯片播放所述第一刹车波形的脉冲个数达到第一预设值。
可选的，所述驱动芯片中还预先存储有至少一种第二刹车波形，该方法还包括：
如果所述线性谐振马达的振动不满足第一条件，控制所述驱动芯片利用所述第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第二刹车过程；
在所述第二刹车过程满足第三条件时，控制所述驱动芯片利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程；
在所述第一刹车过程满足第二条件时，控制所述驱动芯片停止输出所述第一刹车波形，完成对所述线性谐振马达的刹车；
其中，所述第二刹车波形包括至少一个脉冲波形，所述第二刹车波形中脉冲波形的幅值不小于所述第一刹车波形中脉冲波形的幅值。
可选的，所述第二刹车波形包括至少两个脉冲波形，所述第二刹车波形中各脉冲波形的幅值相同。
可选的，所述第一刹车波形中各脉冲波形的幅值中的最大值与所述第二刹车波形中脉冲波形的幅值相同。
可选的，所述第二刹车波形中的脉冲波形与所述第一刹车波形中的脉冲波形形状相同。
可选的，该方法还包括：
基于在所述驱动波形的驱动下，所述线性谐振马达的振动频率，调节所述驱动芯片播放所述第一刹车波形的频率。
可选的，该方法还包括：
在所述驱动波形播放结束时，判断是否接收到刹车指令。
一种线性谐振装置，包括线性谐振马达、驱动芯片和处理器，其中，所述驱动芯片中预先存储有驱动波形和至少一种第一刹车波形，所述处理器用于执行：
响应刹车指令，判断在所述驱动波形的驱动下，所述线性谐振马达的振动是否满足第一条件；
如果所述线性谐振马达的振动满足第一条件，控制所述驱动芯片利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程；
在所述第一刹车过程满足第二条件时，控制所述驱动芯片停止输出所述第一刹车波形，完成对所述线性谐振马达的刹车；
其中，所述第一刹车波形包括至少两个脉冲波形，且所述至少两个脉冲波形中各脉冲波形的幅值沿所述第一刹车波形的播放方向逐渐减小。
可选的，所述驱动芯片包括寄存器、静态随机存取存储器和驱动控制器，其中，所述静态随机存取存储器中预先存储有所述至少一种第一刹车波形，所述处理器在所述线性谐振马达的振动满足第一条件时，输出第一控制指令，所述寄存器响应所述第一控制指令，触发所述驱动控制器读取所述静态随机存取存储器中存储的所述第一刹车波形，对所述线性谐振马达执行第一刹车过程。
可选的，所述第一刹车波形包括第一脉冲波形和第二脉冲波形，其中，所述驱动芯片在利用所述第一刹车波形驱动所述线性谐振马达时，先播放所述第一脉冲波形，再播放所述第二脉冲波形，则所述第一脉冲波形的幅值AMP(i)和所述第二脉冲波形的幅值AMP(i+1)满足以下关系：
AMP(i+1)＝floor(N*AMP(i)/2 m)；
其中，i为不小于1的整数，N表示脉冲幅值衰减因子，m表示脉冲幅值衰减因子在寄存器中的存储位数，floor函数为向下取整函数。
可选的，所述第二条件包括：
所述驱动芯片播放所述第一刹车波形的脉冲个数达到第一预设值。
可选的，所述静态随机存取存储器中还预先存储有至少一种第二刹车波形，所述处理器还用于执行：
如果所述线性谐振马达的振动不满足第一条件，输出第二控制指令，所述寄存器响应所述第二控制指令，触发所述驱动芯片利用所述第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第二刹车过程；
所述处理器还用于执行在所述第二刹车过程满足第三条件时，输出第 一控制指令，所述寄存器响应所述第一控制指令，触发所述驱动芯片利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程；
在所述第一刹车过程满足第二条件时，控制所述驱动芯片停止输出所述第一刹车波形，完成对所述线性谐振马达的刹车；
其中，所述第二刹车波形包括至少一个脉冲波形，所述第二刹车波形中脉冲波形的幅值不小于所述第一刹车波形中脉冲波形的幅值。
可选的，所述第二刹车波形包括至少两个脉冲波形，所述第二刹车波形中各脉冲波形的幅值相同。
可选的，所述第一刹车波形中各脉冲波形的幅值中的最大值与所述第二刹车波形中脉冲波形的幅值相同。
可选的，所述第二刹车波形中的脉冲波形与所述第一刹车波形中的脉冲波形形状相同。
可选的，所述线性谐振装置还包括：时钟芯片，所述处理器还用于执行：基于在所述驱动波形的驱动下，所述线性谐振马达的振动频率，调节所述时钟芯片的采样频率至预设频率，使得所述驱动芯片以所述预设频率读取所述静态随机存取存储器中存储的第一刹车波形，播放所述第一刹车波形的频率。
与现有技术相比，上述技术方案具有以下优点：
本申请实施例所提供的技术方案中，所述第一刹车波形包括至少两个脉冲波形，且所述至少两个脉冲波形中的各脉冲波形的幅值沿所述第一刹车波形的播放方向逐渐减小，以根据所述线性谐振马达当前的振动幅度进行减振，从而避免所述第一刹车波形的幅值相较于所述线性谐振马达的振动幅度较大，产生过刹现象，造成所述线性谐振马达反方向振动，实现快速、有效的刹车。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对 实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请一个实施例所提供的线性谐振装置的刹车方法的流程图；
图2为本申请一个实施例所提供的线性谐振装置的刹车方法中，第一刹车波形的示意图；
图3为本申请另一个实施例所提供的线性谐振装置的刹车方法的流程图；
图4为本申请一个实施例所提供的线性谐振装置的刹车方法中，驱动波形、第一刹车波形和第二刹车波形的示意图；
图5为本申请又一个实施例所提供的线性谐振装置的刹车方法的流程图；
图6为本申请一个实施例所提供的线性谐振装置的结构示意图；
图7为本申请另一个实施例所提供的线性谐振装置的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在下面的描述中阐述了很多具体细节以便于充分理解本申请，但是本申请还可以采用其他不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本申请内涵的情况下做类似推广，因此本申请不受下面公开 的具体实施例的限制。
正如背景技术部分所述，在线性谐振马达实现振动反馈后，如何实现快速有效的刹车，成为本领域技术人员亟待解决的技术问题。
有鉴于此，本申请实施例提供了一种线性谐振装置的刹车方法，所述线性谐振装置包括线性谐振马达和驱动芯片，所述驱动芯片中预先存储有驱动波形和至少一种第一刹车波形，如图1所述，该刹车方法包括：
S1：响应刹车指令，判断在所述驱动波形的驱动下，所述线性谐振马达的振动是否满足第一条件。
可选的，在本申请的一个实施例中，所述线性谐振马达的振动满足第一条件包括所述线性谐振马达的振动为短振，在本实施例中，所述第一条件为所述线性谐振马达的振动时间小于第一时间；在本申请的另一个实施例中，所述第一条件还可以为所述线性谐振马达的振动满足其他参数，本申请对此并不做限定，具体视情况而定。
S2：如果所述线性谐振马达的振动满足第一条件，控制所述驱动芯片利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程。
需要说明的是，在本申请实施例中，所述第一刹车波形的相位与所述驱动波形的相位相反，以利用所述第一刹车波形给所述线性谐振马达提供与所述线性谐振马达振动方向相反的驱动力，减小所述线性谐振马达的振动幅度，实现对所述线性谐振马达的刹车。
可选的，在本申请实施例中，所述第一刹车波形包括至少两个脉冲波形，且所述至少两个脉冲波形中的各脉冲波形的幅值沿所述第一刹车波形的播放方向逐渐减小，以根据所述线性谐振马达当前的振动幅度进行减振，从而避免所述第一刹车波形的幅值相较于所述线性谐振马达的振动幅度较大，产生过刹现象，造成所述线性谐振马达反方向振动。
在上述实施例的基础上，在本申请的一个实施例中，所述第一刹车波 形包括第一脉冲波形和第二脉冲波形，其中，所述驱动芯片在利用所述第一刹车波形驱动所述线性谐振马达时，先播放所述第一脉冲波形，再播放所述第二脉冲波形，则所述第一脉冲波形的幅值AMP(i)和所述第二脉冲波形的幅值AMP(i+1)满足以下关系：
AMP(i+1)＝floor(N*AMP(i)/2 m)；
其中，i为不小于1的整数，N表示脉冲幅值衰减因子，m表示脉冲幅值衰减因子在寄存器中的存储位数，floor函数为向下取整函数。
需要说明的是，在本申请实施例中，脉冲幅值衰减因子N的设置，可以针对不同的波形效果进行优化设置，以实现更好的刹车效果，但本申请实施例对N和m的具体数值并不做限定，具体视情况而定。
在上述实施例的基础上，在本申请的一个可选实施例中，所述第一脉冲波形和所述第二脉冲波形为所述第一刹车波形中相邻的两个脉冲波形，但本申请对此并不做限定，具体视情况而定。
可选的，在本申请的一个实施例中，所述脉冲幅值衰减因子N为整数，m也为整数。如m可以设为8(即脉冲幅值衰减因子是存储在8位寄存器中的值)，所述第一脉冲波形的幅值AMP(i)和所述第二脉冲波形的幅值AMP(i+1)为所述第一刹车波形中任意两个相邻的脉冲波形，则所述第一脉冲波形的幅值AMP(i)和所述第二脉冲波形的幅值AMP(i+1)满足以下关系：
AMP(i+1)＝floor(N*AMP(i)/2 m)。
以此类推，直至所述驱动芯片停止输出所述第一刹车波形。如图2所示，图2示出了本申请一个实施例所提供的刹车方法中，存储在所述驱动芯片中的第一刹车波形的示意图。在图2中，第一个脉冲波形的幅值AMP1和第二个脉冲波形的幅值AMP2满足：AMP2＝floor(N*AMP1/2 m)；第二个脉冲波形的幅值AMP2和第三个脉冲波形的幅值AMP3满足：AMP3＝floor(N*AMP2/2 m)；第三个脉冲波形的幅值AMP3和第四个脉冲波形的幅值AMP4满足：AMP4＝floor(N*AMP3/2 m)。
具体的，在本申请的一个实施例中，所述第一刹车波形中第一个脉冲波形的幅值与所述驱动波形的幅值相同，但本申请对此并不做限定，具体视情况而定。
S3：在所述第一刹车过程满足第二条件时，控制所述驱动芯片停止输出所述第一刹车波形，完成对所述线性谐振马达的刹车。
可选的，在本申请的一个实施例中，所述第二条件包括所述驱动芯片播放所述第一刹车波形的脉冲个数达到第一预设值，则当所述驱动芯片播放所述第一刹车波形的脉冲个数达到第一预设值时，控制所述驱动芯片停止输出所述第一刹车波形，完成对所述线性谐振马达的刹车。
需要说明的是，在本申请实施例中，本申请对所述第一预设值的具体数值不做限定，具体视所述线性谐振马达在所述驱动波形驱动下的振动幅度、所述线性谐振马达的刹车效果要求等情况而定。
在上述任一实施例的基础上，在本申请的一个实施例中，所述第一刹车波形中脉冲波形的形状可以为正弦波形，也可以为余弦形，还可以为方形或其他形状，本申请对此并不做限定，具体视情况而定。
在上述任一实施例的基础上，在本申请的一个实施例中，所述线性谐振马达的振动可以模拟手机来电振动、短信息振动、闹钟振动、时钟拨盘的振动、心脏跳动以及某些游戏中的开枪射击以及出拳打人等多种场景的振动效果，以提供多种场景下的反馈。
在上述实施例的基础上，在本申请的一个实施例中，所述驱动芯片中存储有一种第一刹车波形，在本申请实施例中，控制所述驱动芯片利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程包括：控制所述驱动芯片利用同一种第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程，以采用同一第一刹车波形，对多种场景下的线性谐振马达的振动进行刹车。
在本申请的另一个实施例中，所述驱动芯片中存储有至少两种第一刹车波形，在本申请实施例中，控制所述驱动芯片利用所述第一刹车波形， 驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程包括：基于所述线性谐振马达振动应用的场景，控制所述驱动芯片利用与当前场景对应的第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程，以采用与当前场景相匹配的第一刹车过程，对当前场景下的线性谐振马达的振动进行刹车。可选的，在本申请实施例中，一种场景对应一种第一刹车波形。
在上述实施例的基础上，在本申请的一个实施例中，一种第一刹车波形也对应一种场景，即在本实施例中，所述线性振动马达应用的场景与所述第一刹车波形一一对应，以针对不同的场景，采用不同的第一刹车波形执行第一刹车过程，从而获得速度更快、时间更短、刹车更及时的刹车效果，但本申请对此并不做限定，具体视情况而定。
在上述实施例的基础上，在本申请的一个实施例中，控制所述驱动芯片利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程包括：
基于所述线性谐振马达振动应用的场景，获得与当前应用的场景相对应的第一刹车波形；
控制所述驱动芯片利用与当前场景对应的第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程，以采用与当前场景相匹配的第一刹车波形，对当前场景下的线性谐振马达的振动进行刹车。
可选的，在上述实施例的基础上，在本申请的一个实施例中，基于所述线性谐振马达振动应用的场景，获得与当前应用的场景相对应的第一刹车波形包括：基于所述线性谐振马达振动应用的场景，查询第一数据库，获得与当前应用的场景相对应的第一刹车波形。但本申请对此并不做限定，具体视情况而定。
需要说明的是，在上述任一实施例中，不同第一刹车波形的至少一个参数不同，其中，所述至少一个参数不同可以包括其所包括的脉冲波形的形状、个数、幅值、周期等中至少一个，本申请对此并不做限定，具体视 情况而定。
还需要说明的是，如果所述线性谐振马达在所述驱动波形下的驱动下，振动幅度较小或所述振动时间较短，则利用上述刹车方法可以实现较好的刹车效果，如果所述线性谐振马达在所述驱动波形的驱动下，振动幅度较大或振动时间较长，则利用上述刹车方法对所述线性谐振马达进行刹车时，所需要的刹车时间较长。
故在上述实施例的基础上，在本申请的一个实施例中，所述驱动芯片中还存储有至少一种第二刹车波形，如图3所示，该方法还包括：
如果所述线性谐振马达的振动不满足第一条件，控制所述驱动芯片利用所述第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第二刹车过程；
在所述第二刹车过程满足第三条件时，控制所述驱动芯片利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程；
在所述第一刹车过程满足第二条件时，控制所述驱动芯片停止输出所述第一刹车波形，完成对所述线性谐振马达的刹车。
需要说明的是，在上述实施例中，如果所述线性谐振马达的振动满足第一条件，则控制所述驱动芯片直接利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程；并在所述第一刹车过程满足第二条件时，控制所述驱动芯片停止输出所述第一刹车波形，完成对所述线性谐振马达的刹车。
还需要说明的是，在本申请实施例中，所述第二刹车波形的相位与所述驱动波形的相位相反，以利用所述第二刹车波形给所述线性谐振马达提供与所述线性谐振马达振动方向相反的驱动力，减小所述线性谐振马达的振动幅度，实现对所述线性谐振马达的刹车。
而且，在本申请实施例中，所述第二刹车波形包括至少一个脉冲波形，所述第二刹车波形中脉冲波形的幅值不小于所述第一刹车波形中脉冲波形 的幅值，以利用所述第二刹车波形对所述线性谐振马达进行快速的刹车，再利用所述第一刹车波形对所述线性谐振马达的余震进行微调刹车，尽量消除线性谐振马达的余震，避免始终利用较大幅值的脉冲波形对所述线性谐振马达进行刹车，引起过刹现象。
在上述实施例的基础上，在本申请的一个实施例中，所述第二刹车过程满足第三条件包括所述驱动芯片播放所述第二刹车波形的脉冲个数达到第二预设值，但本申请对此并不做限定，在本申请的其他实施例中，所述第二刹车过程满足第三条件还可以为其他条件，具体视情况而定。
需要说明的是，当所述第二刹车过程满足第三条件包括所述驱动芯片播放所述第二刹车波形的个数达到第二预设值时，本申请对所述第二预设值的具体数值并不做限定，具体可根据所述线性谐振马达的具体情况进行设定。可选的，在本申请的一个实施例中，所述第二预设值的取值范围为0～15，包括右端点值，但本申请对此并不做限定，具体视情况而定。
可选的，在本申请实施例中，所述第一刹车波形的周期与所述第二刹车波形的周期相同。
在上述实施例的基础上，在本申请的一个实施例中，所述第二刹车波形中脉冲波形的形状为正弦波形，也可以为余弦形，还可以为方形或其他形状，本申请对此并不做限定，具体视情况而定。如图4所示，图4示出了本申请一个实施例所提供的刹车方法中，驱动波形、第一刹车波形和第二刹车波形的波形示意图。
可选的，在上述实施例的基础上，在本申请的一个实施例中，所述第二刹车波形包括至少两个脉冲波形，所述第二刹车波形中各脉冲波形的幅值相同，但本申请对此并不做限定，具体视情况而定。
具体的，在上述实施例的基础上，在本申请的一个实施例中，所述第一刹车波形中各脉冲波形的幅值中的最大值与所述第二刹车波形中脉冲波形的幅值相同，在本申请的另一个实施例中，所述第一刹车波形中各脉冲波形幅值中的最大值也可以小于所述第二刹车波形中脉冲波形的幅值，本 申请对此并不做限定，具体视情况而定。
可选的，在本申请的一个实施例中，所述第二刹车波形中脉冲波形的幅值AMP和所述第一刹车波形中脉冲波形的幅值最大值AMP1满足以下关系：
AMP1＝floor(N*AMP/2 m)；
其中，N表示脉冲幅值衰减因子，m表示脉冲幅值衰减因子在寄存器中的存储位数，floor函数为向下取整函数。
在上述任一实施例的基础上，在本申请的一个实施例中，所述第一刹车波形中脉冲波形的形状与所述第二刹车波形中脉冲波形的形状可以相同，也可以不同，本申请对此并不做限定，具体视情况而定。
由前述可知，所述线性谐振马达的振动可以模拟手机来电振动、短信息振动、闹钟振动、时钟拨盘的振动、心脏跳动以及某些游戏中的开枪射击以及出拳打人等多种场景的振动效果，以提供多种场景下的反馈。
在上述实施例的基础上，在本申请的一个实施例中，所述驱动芯片中存储有一种第二刹车波形，在本申请实施例中，控制所述驱动芯片利用所述第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第二刹车过程包括：控制所述驱动芯片利用同一种第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第二刹车过程，以采用同一第二刹车波形，对多种场景下的线性谐振马达的振动执行第二刹车过程。
在本申请的另一个实施例中，所述驱动芯片中存储有至少两种第二刹车波形，在本申请实施例中，控制所述驱动芯片利用所述第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第二刹车过程包括：基于所述线性谐振马达振动应用的场景，控制所述驱动芯片利用与当前场景对应的第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第二刹车过程，以采用与当前场景相匹配的第二刹车波形，对当前场景下的线性谐振马达的振动进行第二刹车过程。可选的，在本申请实施例中，一种场景对应一种第二刹车波形。
在上述实施例的基础上，在本申请的一个实施例中，一种第二刹车波形也对应一种场景，即在本实施例中，所述线性振动马达应用的场景与所述第二刹车波形一一对应，以针对不同的场景，采用不同的第二刹车波形执行第二刹车过程，从而获得速度更快、时间更短、刹车更及时的刹车效果，但本申请对此并不做限定，具体视情况而定。
在上述实施例的基础上，在本申请的一个实施例中，控制所述驱动芯片利用所述第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第二刹车过程包括：
基于所述线性谐振马达振动应用的场景，获得与当前应用的场景相对应的第二刹车波形；
控制所述驱动芯片利用与当前场景对应的第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第二刹车过程，以采用与当前场景相匹配的第二刹车波形，对当前场景下的线性谐振马达的振动进行第二刹车过程。
可选的，在上述实施例的基础上，在本申请的一个实施例中，基于所述线性谐振马达振动应用的场景，获得与当前应用的场景相对应的第二刹车波形包括：基于所述线性谐振马达振动应用的场景，查询第二数据库，获得与当前应用的场景相对应的第二刹车波形。但本申请对此并不做限定，具体视情况而定。
需要说明的是，在上述任一实施例中，不同第二刹车波形的至少一个参数不同，其中，所述至少一个参数不同可以包括其所包括的脉冲波形的形状、个数、幅值、周期等中至少一个，本申请对此并不做限定，具体视情况而定。
在上述任一实施例的基础上，当所述驱动芯片中存储有多种第一刹车波形和多种第二刹车波形时，在本申请的一个实施例中，所述第一刹车波形与所述第二刹车波形一一对应，在本申请的另一个实施例中，一种第一刹车波形对应一种第二刹车波形，一种第二刹车波形也对应一种第一刹车 波形，但所述第一刹车波形和所述第二刹车波形并不存在一一对应的关系。
可选的，在本申请的一个实施例中，各所述第一刹车波形和各所述第二刹车波形形成多种组合波形，且该组合关系为固定的，但本申请对此并不做限定，在本申请的其他实施例中，各所述第一刹车波形和各所述第二刹车波形单独存储，并不组成组合波形，即所述驱动芯片可以基于所述线性振动马达当前应用的场景从所述至少一种第二刹车波形中任选一种与当前应用的场景相对应的第二刹车波形执行第二刹车过程，并从至少一种第一刹车波形中任选一种与当前应用的场景相对应的第一刹车波形执行第一刹车过程，本申请对此并不做限定，具体视情况而定。
在上述任一实施例的基础上，在本申请的一个实施例中，如图5所示，该刹车方法还包括：在所述驱动波形播放结束时，判断是否接收到刹车指令，如果接收到刹车指令，响应所述刹车指令，对所述线性谐振马达进行刹车，如果没有接收到刹车指令，则不对所述线性谐振马达进行刹车。
需要说明的是，由于不同线性谐振马达的振动频率不同，如果采用相同的频率的刹车波形对不同振动频率的线性谐振马达进行刹车，可能会使得刹车波形的频率与线性谐振马达的振动频率之间有一定的偏差，典型情况下，可产生5Hz的偏差。为了使得本申请实施例所提供的刹车方法具有更好的刹车效果，故在上述任一实施例的基础上，在本申请的一个实施例中，该方法还包括：
基于在所述驱动波形的驱动下，所述线性谐振马达的振动频率，调节所述驱动芯片播放所述第一刹车波形的频率，以对所述第一刹车波形的频率进行校准，使得所述第一刹车波形的频率与所述线性谐振马达的振动频率之间差值小于第三预设值，减小所述第一刹车波形的频率与所述线性谐振马达的振动频率之间的偏差。
可选的，在上述实施例的基础上，在本申请的一个实施例中，基于在所述驱动波形的驱动下，所述线性谐振马达的振动频率，调节所述驱动芯片播放所述第一刹车波形的频率，以将所述第一刹车波形输出后的频率对 应的周期调整到所述线性谐振马达的振动频率对应的周期上，进一步提高所述线性谐振装置的触觉反馈体验。但本申请对此并不做限定，在本申请的其他实施例中，所述第三预设值还可以为其他值，具体视情况而定。
需要说明的是，当所述驱动芯片中还存储有第二刹车波形时，该方法还包括：
基于在所述驱动波形的驱动下，所述线性谐振马达的振动频率，调节所述驱动芯片播放所述第二刹车波形的频率，以对所述第二刹车波形的频率进行校准，使得所述第二刹车波形的频率与所述线性谐振马达的振动频率之间差值小于第四预设值，减小所述第二刹车波形的频率与所述线性谐振马达的振动频率之间的偏差。
可选的，在上述实施例的基础上，在本申请的一个实施例中，基于在所述驱动波形的驱动下，所述线性谐振马达的振动频率，调节所述驱动芯片播放所述第二刹车波形的频率，以将所述第二刹车波形输出后的频率对应的周期调整到所述线性谐振马达的振动频率对应的周期上，进一步提高所述线性谐振装置的触觉反馈体验。但本申请对此并不做限定，在本申请的其他实施例中，所述第四预设值还可以为其他值，具体视情况而定。
由上可知，本申请实施例所提供的刹车方法，可以根据线性谐振马达的具体振动情况和应用场景，仅采用第一刹车过程进行刹车还是采用第一刹车过程和第二刹车过程相结合进行刹车，而且，在具体执行各刹车过程时，还可以根据线性谐振马达的具体振动情况和应用场景进行刹车波形、刹车波形所包括的脉冲个数、脉冲幅值以及脉冲衰减因子等参数的设置，以使得该刹车方法可以根据线性谐振马达的具体振动情况和应用场景实现更好的刹车效果。
由此可见，本申请实施例所提供的刹车方法，通过对刹车波形和刹车过程参数的灵活设置，可以实现对各种应用场景下的驱动波形驱动的线性谐振马达实现快速有效的刹车。
相应的，本申请实施例还提供了一种线性谐振装置，如图6所示，该 线性谐振装置包括线性谐振马达100、驱动芯片200和处理器300，其中，所述驱动芯片200中存储有驱动波形和第一刹车波形，所述处理器300用于：
响应刹车指令，判断在所述驱动波形的驱动下，所述线性谐振马达的振动是否满足第一条件；
如果所述线性谐振马达的振动满足第一条件，控制所述驱动芯片利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程；
在所述第一刹车过程满足第二条件时，控制所述驱动芯片停止输出所述第一刹车波形，完成对所述线性谐振马达的刹车；
其中，所述第一刹车波形包括至少两个脉冲波形，且所述至少两个脉冲波形中各脉冲波形的幅值沿所述第一刹车波形的播放方向逐渐减小，以根据所述线性谐振马达当前的振动幅度进行减振，从而避免所述第一刹车波形的幅值相较于所述线性谐振马达的振动幅度较大，产生过刹现象，造成所述线性谐振马达反方向振动的现象。
需要说明的是，在本申请实施例中，所述第一刹车波形的相位与所述驱动波形的相位相反，以利用所述第一刹车波形给所述线性谐振马达提供与所述线性谐振马达振动方向相反的驱动力，减小所述线性谐振马达的振动幅度，实现对所述线性谐振马达的刹车。
可选的，在本申请的一个实施例中，所述线性谐振马达的振动满足第一条件包括：所述线性谐振马达的振动为短振，在本实施例中，所述第一条件为所述线性谐振马达的振动时间小于第一时间；在本申请的另一个实施例中，所述第一条件还可以为所述线性谐振马达的振动满足其他参数，本申请对此并不做限定，具体视情况而定。
在上述任一实施例的基础上，在本申请的一个实施例中，如图7所示，所述驱动芯片包括寄存器201、静态随机存取存储器(SRAM，Static Random-Access Memory)202和驱动控制器203，其中，所述静态随机存 取存储器202中预先存储有第一刹车波形，所述处理器300在所述线性谐振马达的振动满足第一条件时，输出第一指令，所述寄存器201响应所述第一控制指令，输出第一使能信号，触发所述驱动控制器读取所述静态随机存取存储器中存储的所述第一刹车波形，对所述线性谐振马达执行第一刹车过程。
在上述实施例的基础上，在本申请的一个实施例中，所述静态随机存取存储器中存储的第一刹车波形是根据所述线性谐振马达的振动情况和应用场景经过调试后，进行预先设置的，当所述线性谐振马达的振动情况和应用场景发生变化时，可以对所述静态随机存取存储器中存储的第一刹车波形进行调整或重新写入。
还需要说明的是，在本申请实施例中，所述第一刹车波形存储在静态随机存取存储器中，如果所述线性谐振装置掉电后，所述静态随机存取存储器中存储的第一刹车波形需要重新写入，但本申请对此并不做限定，在本申请的其他实施例中，所述第一刹车波形还可以存储在其他存储元件中，具体视情况而定。
在上述实施例的基础上，在本申请的一个实施例中，所述第一刹车波形包括第一脉冲波形和第二脉冲波形，其中，所述驱动芯片在利用所述第一刹车波形驱动所述线性谐振马达时，先播放所述第一脉冲波形，再播放所述第二脉冲波形，则所述第一脉冲波形的幅值AMP(i)和所述第二脉冲波形的幅值AMP(i+1)满足以下关系：
AMP(i+1)＝floor(N*AMP(i)/2 m)；
其中，i为不小于1的整数，N表示脉冲幅值衰减因子，m表示脉冲幅值衰减因子在寄存器中的存储位数，floor函数为向下取整函数。
需要说明的是，在本申请实施例中，本申请实施例对N和m的具体数值并不做限定，具体视情况而定。
在上述实施例的基础上，在本申请的一个可选实施例中，所述第一脉冲波形和所述第二脉冲波形为所述第一刹车波形中相邻的两个脉冲波形， 但本申请对此并不做限定，具体视情况而定。
可选的，在本申请的一个实施例中，所述脉冲幅值衰减因子N为整数，m也为整数。如m可以设为8(即脉冲幅值衰减因子是8位寄存器的值)，所述第一脉冲波形的幅值AMP(i)和所述第二脉冲波形的幅值AMP(i+1)为所述第一刹车波形中任意两个相邻的脉冲波形，则所述第一脉冲波形的幅值AMP(i)和所述第二脉冲波形的幅值AMP(i+1)满足以下关系：
AMP(i+1)＝floor(N*AMP(i)/2 m)。
以此类推，直至所述驱动芯片停止输出所述第一刹车波形。
具体的，在本申请的一个实施例中，所述第一刹车波形中第一个脉冲波形的幅值与所述驱动波形的幅值相同，但本申请对此并不做限定，具体视情况而定。
可选的，在本申请的一个实施例中，所述第二条件包括所述驱动芯片播放所述第一刹车波形的脉冲个数达到第一预设值，则当所述驱动芯片播放所述第一刹车波形的脉冲个数达到第一预设值时，控制所述驱动芯片停止输出所述第一刹车波形，完成对所述线性谐振马达的刹车。
需要说明的是，在本申请实施例中，本申请对所述第一预设值的具体数值不做限定，具体视所述线性谐振马达在所述驱动波形驱动下的振动幅度、所述线性谐振马达的刹车效果要求等情况而定。
在上述任一实施例的基础上，在本申请的一个实施例中，所述第一刹车波形中脉冲波形的形状可以为正弦波形，也可以为余弦形，还可以为方形或其他形状，本申请对此并不做限定，具体视情况而定。
在上述任一实施例的基础上，在本申请的一个实施例中，所述线性谐振马达的振动可以模拟手机来电振动、短信息振动、闹钟振动、时钟拨盘的振动、心脏跳动以及某些游戏中的开枪射击以及出拳打人等多种场景的振动效果，以提供多种场景下的反馈。
在上述实施例的基础上，在本申请的一个实施例中，所述静态随机存取存储器中存储有一种第一刹车波形，在本申请实施例中，控制所述驱动 芯片利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程包括：控制所述驱动芯片利用同一种第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程，以采用同一第一刹车波形，对多种场景下的线性谐振马达的振动进行刹车。
在本申请的另一个实施例中，所述静态随机存取存储器中存储有至少两种第一刹车波形，在本申请实施例中，控制所述驱动芯片利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程包括：基于所述线性谐振马达振动应用的场景，控制所述驱动芯片利用与当前场景对应的第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程，以采用与当前场景相匹配的第一刹车过程，对当前场景下的线性谐振马达的振动进行刹车。可选的，在本申请实施例中，一种场景对应一种第一刹车波形。
在上述实施例的基础上，在本申请的一个实施例中，一种第一刹车波形也对应一种场景，即在本实施例中，所述线性振动马达应用的场景与所述第一刹车波形一一对应，以针对不同的场景，采用不同的第一刹车波形执行第一刹车过程，从而获得速度更快、时间更短、刹车更及时的刹车效果，但本申请对此并不做限定，具体可通过寄存器根据实际情况进行设定。
在上述实施例的基础上，在本申请的一个实施例中，控制所述驱动芯片利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程包括：
基于所述线性谐振马达振动应用的场景，获得与当前应用的场景相对应的第一刹车波形；
控制所述驱动芯片利用与当前场景对应的第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程，以采用与当前场景相匹配的第一刹车波形，对当前场景下的线性谐振马达的振动进行刹车。
可选的，在上述实施例的基础上，在本申请的一个实施例中，所述处理器在执行基于所述线性谐振马达振动应用的场景，获得与当前应用的场 景相对应的第一刹车波形时具体用于：基于所述线性谐振马达振动应用的场景，查询第一数据库，获得与当前应用的场景相对应的第一刹车波形。但本申请对此并不做限定，具体视情况而定。
需要说明的是，在上述任一实施例中，不同第一刹车波形的至少一个参数不同，其中，所述至少一个参数不同可以包括其所包括的脉冲波形的形状、个数、幅值、周期等中至少一个，本申请对此并不做限定，具体视情况而定。
还需要说明的是，如果所述线性谐振马达在所述驱动波形下的驱动下，振动幅度较小或所述振动时间较短，则利用上述线性谐振装置可以实现较好的刹车效果，如果所述线性谐振马达在所述驱动波形的驱动下，振动幅度较大或振动时间较长，则利用上述线性谐振装置对所述线性谐振马达进行刹车时，所需要的刹车时间较长。
故在上述实施例的基础上，在本申请的一个实施例中，所述静态随机存取存储器中还预先存储有至少一种第二刹车波形，所述处理器还用于执行：
如果所述线性谐振马达的振动不满足第一条件，输出第二控制指令，所述寄存器响应所述第二控制指令，生成第二使能信号，触发所述驱动芯片利用所述第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第二刹车过程；
所述处理器还用于执行在所述第二刹车过程满足第三条件时，输出第一控制指令，所述寄存器响应所述第一控制指令，生成第一使能信号，触发所述驱动芯片利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程；
在所述第一刹车过程满足第二条件时，控制所述驱动芯片停止输出所述第一刹车波形，完成对所述线性谐振马达的刹车。
需要说明的是，在上述实施例中，所述处理器还用于执行：如果所述线性谐振马达的振动满足第一条件，输出第三控制指令和第一控制指令，所述寄存器响应所述第三控制指令和第一控制指令，生成第三使能信号和 第一使能信号，控制所述驱动控制器不执行第二刹车过程，直接执行第一刹车过程，对所述线性谐振马达进行刹车。
具体的，在本申请的一个实施例中，所述第一使能信号为1，所述第二使能信号为1，所述第三使能信号为0，但本申请对此并不做限定，具体视情况而定。
还需要说明的是，在本申请实施例中，所述第二刹车波形包括至少一个脉冲波形，所述第二刹车波形中脉冲波形的幅值不小于所述第一刹车波形中脉冲波形的幅值，以利用所述第二刹车波形对所述线性谐振马达进行快速的刹车，再利用所述第一刹车波形对所述线性谐振马达的余震进行微调刹车，尽量消除线性谐振马达的余震，避免始终利用较大幅值的脉冲波形对所述线性谐振马达进行刹车，引起过刹现象。
在上述实施例的基础上，在本申请的一个实施例中，所述第二刹车过程满足第三条件包括所述驱动芯片播放所述第二刹车波形的脉冲个数达到第二预设值，但本申请对此并不做限定，在本申请的其他实施例中，所述第二刹车过程满足第三条件还可以为其他条件，具体视情况而定。
需要说明的是，当所述第二刹车过程满足第三条件包括所述驱动芯片播放所述第二刹车波形的个数达到第二预设值时，本申请对所述第二预设值的具体数值并不做限定，具体可根据所述线性谐振马达的具体情况进行设定。可选的，在本申请的一个实施例中，所述第二预设值的取值范围为0～15，包括右端点值，但本申请对此并不做限定，具体视情况而定。
可选的，在本申请实施例中，所述第一刹车波形的周期与所述第二刹车波形的周期相同。
在上述实施例的基础上，在本申请的一个实施例中，所述第二刹车波形中脉冲波形的形状为正弦波形，也可以为余弦形，还可以为方形或其他形状，本申请对此并不做限定，具体视情况而定。
可选的，在上述实施例的基础上，在本申请的一个实施例中，所述第二刹车波形包括至少两个脉冲波形，所述第二刹车波形中各脉冲波形的幅 值相同，但本申请对此并不做限定，具体视情况而定。
具体的，在上述实施例的基础上，在本申请的一个实施例中，所述第一刹车波形中各脉冲波形的幅值中的最大值与所述第二刹车波形中脉冲波形的幅值相同，在本申请的另一个实施例中，所述第一刹车波形中各脉冲波形幅值中的最大值也可以小于所述第二刹车波形中脉冲波形的幅值，本申请对此并不做限定，具体视情况而定。
可选的，在本申请的一个实施例中，所述第二刹车波形中脉冲波形的幅值AMP和所述第一刹车波形中脉冲波形的幅值最大值AMP1满足以下关系：
AMP1＝floor(N*AMP/2 m)；
其中，N表示脉冲幅值衰减因子，m表示脉冲幅值衰减因子在寄存器中的存储位数，floor函数为向下取整函数。
在上述任一实施例的基础上，在本申请的一个实施例中，所述第一刹车波形中脉冲波形的形状与所述第二刹车波形中脉冲波形的形状可以相同，也可以不同，本申请对此并不做限定，具体视情况而定。
在上述实施例的基础上，在本申请的一个实施例中，所述静态随机存取存储器中存储有一种第二刹车波形，在本申请实施例中，控制所述驱动芯片利用所述第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第二刹车过程包括：控制所述驱动芯片利用同一种第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第二刹车过程，以采用同一第二刹车波形，对多种场景下的线性谐振马达的振动执行第二刹车过程。
在本申请的另一个实施例中，所述静态随机存取存储器中存储有至少两种第二刹车波形，在本申请实施例中，控制所述驱动芯片利用所述第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第二刹车过程包括：基于所述线性谐振马达振动应用的场景，控制所述驱动芯片利用与当前场景对应的第二刹车波形，驱动所述线性谐振马达，对所述线性谐 振马达执行第二刹车过程，以采用与当前场景相匹配的第二刹车波形，对当前场景下的线性谐振马达的振动进行第二刹车过程。可选的，在本申请实施例中，一种场景对应一种第二刹车波形。
在上述实施例的基础上，在本申请的一个实施例中，一种第二刹车波形也对应一种场景，即在本实施例中，所述线性振动马达应用的场景与所述第二刹车波形一一对应，以针对不同的场景，采用不同的第二刹车波形执行第二刹车过程，从而获得速度更快、时间更短、刹车更及时的刹车效果，但本申请对此并不做限定，具体可通过寄存器根据具体情况进行设定。
在上述实施例的基础上，在本申请的一个实施例中，控制所述驱动芯片利用所述第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第二刹车过程包括：
基于所述线性谐振马达振动应用的场景，获得与当前应用的场景相对应的第二刹车波形；
控制所述驱动芯片利用与当前场景对应的第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第二刹车过程，以采用与当前场景相匹配的第二刹车波形，对当前场景下的线性谐振马达的振动进行第二刹车过程。
可选的，在上述实施例的基础上，在本申请的一个实施例中，基于所述线性谐振马达振动应用的场景，获得与当前应用的场景相对应的第二刹车波形包括：基于所述线性谐振马达振动应用的场景，查询第二数据库，获得与当前应用的场景相对应的第二刹车波形。但本申请对此并不做限定，具体视情况而定。
需要说明的是，在上述任一实施例中，不同第二刹车波形的至少一个参数不同，其中，所述至少一个参数不同可以包括其所包括的脉冲波形的形状、个数、幅值、周期等中至少一个，本申请对此并不做限定，具体视情况而定。
在上述任一实施例的基础上，当所述驱动芯片中存储有多种第一刹车 波形和多种第二刹车波形时，在本申请的一个实施例中，所述第一刹车波形与所述第二刹车波形一一对应，在本申请的另一个实施例中，一种第一刹车波形对应一种第二刹车波形，一种第二刹车波形也对应一种第一刹车波形，但所述第一刹车波形和所述第二刹车波形并不存在一一对应的关系，具体可通过寄存器根据具体情况进行设定。
在上述任一实施例的基础上，在本申请的一个实施例中，所述处理器还用于在所述驱动波形播放结束时，判断是否接收到刹车指令，如果接收到刹车指令，响应所述刹车指令，对所述线性谐振马达进行刹车，如果没有接收到刹车指令，则不对所述线性谐振马达进行刹车。
具体的，在本申请实施例中，如果在所述驱动波形播放结束时，没有接收到刹车指令，所述处理器生成第三控制指令和第四控制指令，所述寄存器响应所述第三控制指令和第四控制指令，生成所述第三使能信号和第四使能信号，控制所述驱动控制器不对所述线性谐振马达执行所述第一刹车过程和第二刹车过程。可选的，所述第三使能信号为0，所述第四使能信号为0。
需要说明的是，由于不同线性谐振马达的振动频率不同，如果采用相同的频率的刹车波形对不同振动频率的线性谐振马达进行刹车，可能会使得刹车波形的频率与线性谐振马达的振动频率之间有一定的偏差，典型情况下，可产生5Hz的偏差。为了使得本申请实施例所提供的刹车方法具有更好的刹车效果，故在上述任一实施例的基础上，在本申请的一个实施例中，所述线性谐振装置还包括：时钟芯片，所述处理器还用于执行：基于在所述驱动波形的驱动下，所述线性谐振马达的振动频率，调节所述时钟芯片的采样频率至预设频率，使得所述驱动芯片以所述预设频率读取所述静态随机存取存储器中存储的第一刹车波形，播放所述第一刹车波形，以对所述第一刹车波形的频率进行校准，使得所述第一刹车波形的频率与所述线性谐振马达的振动频率之间差值小于第三预设值，减小所述第一刹车波形的频率与所述线性谐振马达的振动频率之间的偏差。
可选的，在上述实施例的基础上，在本申请的一个实施例中，所述处理器具体用于：基于在所述驱动波形的驱动下，所述线性谐振马达的振动频率，调节所述时钟芯片的采样频率至预设频率，使得所述驱动芯片以所述预设频率读取所述静态随机存取存储器中存储的第一刹车波形，播放所述第一刹车波形，以将所述第一刹车波形输出后的频率对应的周期调整到所述线性谐振马达的振动频率对应的周期上，进一步提高所述线性谐振装置的触觉反馈体验。但本申请对此并不做限定，在本申请的其他实施例中，所述第三预设值还可以为其他值，具体视情况而定。
需要说明的是，当所述静态随机存取存储器中还存储有第二刹车波形时，所述处理器还用于执行：基于在所述驱动波形的驱动下，所述线性谐振马达的振动频率，调节所述时钟芯片的采样频率至预设频率，所述驱动芯片以预设频率读取所述静态随机存取存储器中存储的第二刹车波形，播放所述第二刹车波形，以对所述第二刹车波形的频率进行校准，使得所述第二刹车波形的频率与所述线性谐振马达的振动频率之间差值小于第四预设值，减小所述第二刹车波形的频率与所述线性谐振马达的振动频率之间的偏差。
可选的，在上述实施例的基础上，在本申请的一个实施例中，所述处理器具体用于：基于在所述驱动波形的驱动下，所述线性谐振马达的振动频率，调节所述时钟芯片的采样频率至预设频率，所述驱动芯片以预设频率读取所述静态随机存取存储器中存储的第二刹车波形，播放所述第二刹车波形，以将所述第二刹车波形输出后的频率对应的周期调整到所述线性谐振马达的振动频率对应的周期上，进一步提高所述线性谐振马达的触觉反馈体验。但本申请对此并不做限定，在本申请的其他实施例中，所述第四预设值还可以为其他值，具体视情况而定。
由上可知，本申请实施例所提供的线性谐振装置，可以根据线性谐振马达的具体振动情况和应用场景，仅采用第一刹车过程进行刹车还是采用第一刹车过程和第二刹车过程相结合进行刹车，而且，在具体执行各刹车 过程时，还可以根据线性谐振马达的具体振动情况和应用场景进行刹车波形、刹车波形所包括的脉冲个数、脉冲幅值以及脉冲衰减因子等参数的设置，以使得该刹车方法可以根据线性谐振马达的具体振动情况和应用场景实现更好的刹车效果。由此可见，本申请实施例所提供的线性谐振装置，通过对刹车波形和刹车过程参数的灵活设置，可以实现对各种应用场景下的驱动波形驱动的线性谐振马达实现快速有效的刹车。
综上所述，本申请实施例所提供的线性谐振装置及其刹车方法，可以实现线性谐振装置中线性谐振马达的快速、有效的刹车，不论所述线性谐振马达是处于短振状态，还是处于长振状态，都实现时间短、速度快、余震停止脆的刹车效果，避免线性谐振马达的振动拖尾现象。
本说明书中各个部分采用递进的方式描述，每个部分重点说明的都是与其他部分的不同之处，各个部分之间相同相似部分互相参见即可。
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本申请。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本申请的精神或范围的情况下，在其它实施例中实现。因此，本申请将不会被限制于本文所示的实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。

Claims (18)

  1. 一种线性谐振装置的刹车方法，其特征在于，所述线性谐振装置包括线性谐振马达和驱动芯片，所述驱动芯片中预先存储有驱动波形和至少一种第一刹车波形，该刹车方法包括：
    响应刹车指令，判断在所述驱动波形的驱动下，所述线性谐振马达的振动是否满足第一条件；
    如果所述线性谐振马达的振动满足第一条件，控制所述驱动芯片利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程；
    在所述第一刹车过程满足第二条件时，控制所述驱动芯片停止输出所述第一刹车波形，完成对所述线性谐振马达的刹车；
    其中，所述第一刹车波形包括至少两个脉冲波形，且所述至少两个脉冲波形的中各脉冲波形的幅值沿所述第一刹车波形的播放方向逐渐减小。
  2. 根据权利要求1所述的刹车方法，其特征在于，所述第一刹车波形包括第一脉冲波形和第二脉冲波形，其中，所述驱动芯片在利用所述第一刹车波形驱动所述线性谐振马达时，先播放所述第一脉冲波形，再播放所述第二脉冲波形，则所述第一脉冲波形的幅值AMP(i)和所述第二脉冲波形的幅值AMP(i+1)满足以下关系：
    AMP(i+1)＝floor(N*AMP(i)/2 m)；
    其中，i为不小于1的整数，N表示脉冲幅值衰减因子，m表示脉冲幅值衰减因子在寄存器中的存储位数，floor函数为向下取整函数。
  3. 根据权利要求1所述的刹车方法，其特征在于，所述第二条件包括：
    所述驱动芯片播放所述第一刹车波形的脉冲个数达到第一预设值。
  4. 根据权利要求1所述的刹车方法，其特征在于，所述驱动芯片中还预先存储有至少一种第二刹车波形，该方法还包括：
    如果所述线性谐振马达的振动不满足第一条件，控制所述驱动芯片利用所述第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行 第二刹车过程；
    在所述第二刹车过程满足第三条件时，控制所述驱动芯片利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程；
    在所述第一刹车过程满足第二条件时，控制所述驱动芯片停止输出所述第一刹车波形，完成对所述线性谐振马达的刹车；
    其中，所述第二刹车波形包括至少一个脉冲波形，所述第二刹车波形中脉冲波形的幅值不小于所述第一刹车波形中脉冲波形的幅值。
  5. 根据权利要求4所述的刹车方法，其特征在于，所述第二刹车波形包括至少两个脉冲波形，所述第二刹车波形中各脉冲波形的幅值相同。
  6. 根据权利要求5所述的刹车方法，其特征在于，所述第一刹车波形中各脉冲波形的幅值中的最大值与所述第二刹车波形中脉冲波形的幅值相同。
  7. 根据权利要求4所述的刹车方法，其特征在于，所述第二刹车波形中的脉冲波形与所述第一刹车波形中的脉冲波形形状相同。
  8. 根据权利要求1所述的刹车方法，其特征在于，该方法还包括：
    基于在所述驱动波形的驱动下，所述线性谐振马达的振动频率，调节所述驱动芯片播放所述第一刹车波形的频率。
  9. 根据权利要求1所述的刹车方法，其特征在于，该方法还包括：
    在所述驱动波形播放结束时，判断是否接收到刹车指令。
  10. 一种线性谐振装置，其特征在于，包括线性谐振马达、驱动芯片和处理器，其中，所述驱动芯片中预先存储有驱动波形和至少一种第一刹车波形，所述处理器用于执行：
    响应刹车指令，判断在所述驱动波形的驱动下，所述线性谐振马达的振动是否满足第一条件；
    如果所述线性谐振马达的振动满足第一条件，控制所述驱动芯片利用所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程；
    在所述第一刹车过程满足第二条件时，控制所述驱动芯片停止输出所 述第一刹车波形，完成对所述线性谐振马达的刹车；
    其中，所述第一刹车波形包括至少两个脉冲波形，且所述至少两个脉冲波形中各脉冲波形的幅值沿所述第一刹车波形的播放方向逐渐减小。
  11. 根据权利要求10所述的线性谐振装置，其特征在于，所述驱动芯片包括寄存器、静态随机存取存储器和驱动控制器，其中，所述静态随机存取存储器中预先存储有所述至少一种第一刹车波形，所述处理器在所述线性谐振马达的振动满足第一条件时，输出第一控制指令，所述寄存器响应所述第一控制指令，触发所述驱动控制器读取所述静态随机存取存储器中存储的所述第一刹车波形，对所述线性谐振马达执行第一刹车过程。
  12. 根据权利要求10所述的线性谐振装置，其特征在于，所述第一刹车波形包括第一脉冲波形和第二脉冲波形，其中，所述驱动芯片在利用所述第一刹车波形驱动所述线性谐振马达时，先播放所述第一脉冲波形，再播放所述第二脉冲波形，则所述第一脉冲波形的幅值AMP(i)和所述第二脉冲波形的幅值AMP(i+1)满足以下关系：
    AMP(i+1)＝floor(N*AMP(i)/2 m)；
    其中，i为不小于1的整数，N表示脉冲幅值衰减因子，m表示脉冲幅值衰减因子在寄存器中的存储位数，floor函数为向下取整函数。
  13. 根据权利要求10所述的线性谐振装置，其特征在于，所述第二条件包括：
    所述驱动芯片播放所述第一刹车波形的脉冲个数达到第一预设值。
  14. 根据权利要求11所述的线性谐振装置，其特征在于，所述静态随机存取存储器中还预先存储有至少一种第二刹车波形，所述处理器还用于执行：
    如果所述线性谐振马达的振动不满足第一条件，输出第二控制指令，所述寄存器响应所述第二控制指令，触发所述驱动芯片利用所述第二刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第二刹车过程；
    所述处理器还用于执行在所述第二刹车过程满足第三条件时，输出第一控制指令，所述寄存器响应所述第一控制指令，触发所述驱动芯片利用 所述第一刹车波形，驱动所述线性谐振马达，对所述线性谐振马达执行第一刹车过程；
    在所述第一刹车过程满足第二条件时，控制所述驱动芯片停止输出所述第一刹车波形，完成对所述线性谐振马达的刹车；
    其中，所述第二刹车波形包括至少一个脉冲波形，所述第二刹车波形中脉冲波形的幅值不小于所述第一刹车波形中脉冲波形的幅值。
  15. 根据权利要求14所述的线性谐振装置，其特征在于，所述第二刹车波形包括至少两个脉冲波形，所述第二刹车波形中各脉冲波形的幅值相同。
  16. 根据权利要求15所述的线性谐振装置，其特征在于，所述第一刹车波形中各脉冲波形的幅值中的最大值与所述第二刹车波形中脉冲波形的幅值相同。
  17. 根据权利要求14所述的线性谐振装置，其特征在于，所述第二刹车波形中的脉冲波形与所述第一刹车波形中的脉冲波形形状相同。
  18. 根据权利要求11所述的线性谐振装置，其特征在于，所述线性谐振装置还包括：时钟芯片，所述处理器还用于执行：基于在所述驱动波形的驱动下，所述线性谐振马达的振动频率，调节所述时钟芯片的采样频率至预设频率，使得所述驱动芯片以所述预设频率读取所述静态随机存取存储器中存储的第一刹车波形，播放所述第一刹车波形的频率。
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US11876474B2 (en) 2024-01-16
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