WO2021109169A1 - 一种振动波形的设计方法及振动马达 - Google Patents

一种振动波形的设计方法及振动马达 Download PDF

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Publication number
WO2021109169A1
WO2021109169A1 PCT/CN2019/124057 CN2019124057W WO2021109169A1 WO 2021109169 A1 WO2021109169 A1 WO 2021109169A1 CN 2019124057 W CN2019124057 W CN 2019124057W WO 2021109169 A1 WO2021109169 A1 WO 2021109169A1
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vibration
waveform
signal
segment
vibration waveform
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PCT/CN2019/124057
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English (en)
French (fr)
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郑亚军
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瑞声声学科技(深圳)有限公司
瑞声科技(新加坡)有限公司
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Publication of WO2021109169A1 publication Critical patent/WO2021109169A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system

Definitions

  • the present invention relates to the technical field of vibration motors, in particular to a vibration waveform design method and a vibration motor.
  • Vibration experience as a new type of auxiliary effect experience, is quickly popularized in terms of game immersive experience, touch feedback, and information reminders. And for different application scenarios, a variety of different vibration waveforms are required to provide a variety of vibration sensations. Vibration waveforms include: displacement waveform, velocity waveform, and acceleration waveform. The vibration waveform is mainly determined by three factors: the strength of the vibration signal, the frequency of the vibration signal, and the duration of the vibration signal. Among them, the frequency of the vibration signal has an important influence on the vibration experience. Therefore, the design of multiple vibration experiences can be realized by generating multiple vibration signals of different frequencies.
  • the motor As a generator that provides vibration and tactile sensation, the motor is subject to hardware limitations in practical applications, such as voltage limitation, power limitation, etc. At present, there is no effective vibration waveform design method, and the designed vibration waveform is similar to the actual vibration waveform of the motor. .
  • the technical problem to be solved by the present invention is to provide a vibration waveform design method, a motor electrical signal production method, and a vibration motor, aiming to solve "there is no effective vibration waveform design method, so that the designed vibration waveform and the motor "The actual vibration waveform is relatively similar”.
  • a vibration waveform design method includes the following steps:
  • Determining the amplitudes of the start time and the end time of each segment of the segmented signal, and the waveform curve of the segmented signal is a second-order derivable curve
  • the amplitude at the end time of the Nth segment signal is equal to the amplitude at the start time of the N+1th segment signal.
  • amplitudes at the end moments of the adjacent segment signals are real numbers with different positive and negative values.
  • the amplitude of the initial moment of the vibration waveform is zero.
  • the slope of the waveform curve of each segment of the segment signal at the start time and the end time is 0.
  • the slope of the waveform curve of the Nth segment signal first increases and then decreases, and the slope of the waveform curve of the N+1th segment signal first decreases and then increases.
  • the slope of the waveform curve of the Nth segment signal first decreases and then increases, and the slope of the waveform curve of the N+1th segment signal first increases and then decreases.
  • the slope of the waveform curve of the first segment signal first increases and then decreases.
  • the waveform curve of the segmented signal is a sine wave or a similar square wave.
  • the time length of the first segment signal of the vibration waveform is 0.25/fn, and starting from the second segment signal, the time length of each segment signal is 0.5/fn, where fn is the Frequency of demand.
  • a vibration motor adopts the vibration waveform designed by the above-mentioned design method for excitation.
  • the present invention has the beneficial effect that the present invention sets the time length, amplitude and curve form of each segment signal of the vibration waveform according to the required frequency.
  • the definition of amplitude and curve form play a decisive role in the feasibility of motor realization.
  • the time length definition of each segmented signal plays a decisive role in the unity of vibration signal frequency.
  • the present invention provides designers with an efficient and reasonable design framework, under which the frequency of the vibration signal can be strictly specified, and any motor can be matched by adjusting the parameters defined under the framework.
  • the vibration waveform designed by the present invention is consistent with the actual The vibration waveform is similar, and the feasibility of the designed vibration signal is greatly improved when the motor capacity is certain.
  • Fig. 1 is a flowchart of an embodiment of a vibration waveform design method.
  • Fig. 2 is a diagram of an embodiment of the vibration waveform of the present invention.
  • the vibration waveform is the acceleration waveform by default.
  • the present invention provides an embodiment of a vibration waveform design method. Referring to FIG. 1, the method includes the following steps:
  • the vibration waveform is divided into N+1 segmented signals and defined separately.
  • the time length of each segmented signal depends on the specific frequency fn required.
  • the vibration waveform is divided into successively connected peaks and peaks from the starting point. Wave trough, wave crest,..., termination point, or N+1 segmented signals connecting troughs, crests, troughs, ... from the starting point in sequence, the end point.
  • Figure 2 is an example of a vibration waveform.
  • the first segmented signal is Vibration waveform starting point t0 to the end of the first segment signal at t1 (peak); the second segment signal is from the end of the first segment signal at time t1 to the end of the second segment signal at time t2 (trough), The third segment signal is from the end of the second segment signal at time t2 to the end of the third segment signal at time t3 (peak).
  • Time t1 can also be a wave trough, and the subsequent ones correspond to wave crests, wave troughs...
  • the present invention designs the vibration waveform based on the model, and sets the time length of each segment signal of the vibration waveform according to the required frequency fn.
  • the amplitude of the vibration waveform at the initial time t0 is zero.
  • the first segment signal ends at time t1, and the amplitude is specified as a1; the second segment signal ends at time t2, and the amplitude is specified as a2; At time t3 when the segment signal ends, the amplitude is specified as a3, and so on.
  • the amplitudes a1, a2, a3... are real numbers with different positive and negative values. This ensures that the peaks and troughs of the vibration waveform are alternately positive and negative, which ensures the back and forth use of the motor vibrator near the equilibrium position, and maximizes the performance of the motor.
  • a second-order derivable smooth curve is used to sequentially connect the start point and the end point of the N+1 segmented signals, and the smooth curve may be a sine wave or a square wave.
  • the invention sets the time length, amplitude and curve form of each segment signal of the vibration waveform according to the required frequency.
  • the definition of amplitude and curve form play a decisive role in the feasibility of motor realization.
  • the time length definition of each segmented signal plays a decisive role in the unity of vibration signal frequency.
  • the present invention provides designers with an efficient and reasonable design framework, under which the frequency of the vibration signal can be strictly specified, and any motor can be matched by adjusting the parameters defined under the framework.
  • the vibration waveform designed by the present invention is consistent with the actual The vibration waveform is similar, and the feasibility of the designed vibration signal is greatly improved when the motor capacity is certain.
  • the present invention provides an embodiment of a more detailed vibration waveform design method. Specifically, the time length of each segmented signal depends on the required specific frequency fn. After the required vibration frequency fn is determined, each The time length of the segment signal is set. In an embodiment of the present invention, the time length of the first segment signal is 0.25/fn, starting from the second segment signal, the time length of each segment signal is 0.5/fn, and the time length of the first segment signal is 0.5/fn. The time length is short, which can enable the motor to vibrate quickly.
  • the initial slope of the waveform curve of the first segment signal is designed to be 0, the end slope is 0, the slope first increases and then decreases, and is A smooth second-order curve, such as a sine wave or a square wave, etc., to ensure the continuity of the motor state and avoid sudden changes when calculating the voltage;
  • the waveform curve of the second segment signal is also designed to have an initial slope of 0 , The end slope is 0, the slope first decreases and then increases, and it is a second-order derivable smooth curve;
  • the waveform curve of the third segment signal is designed to have an initial slope of 0, an end slope of 0, and the slope to increase first When it is large, it decreases, and it is a smooth curve with second-order derivable.
  • the change rule of the curve form can be summarized as follows: the slope of the fluctuation curve of each segment signal at the start time and the end time is 0, and the fluctuation curve is a second-order derivable smooth curve, but two adjacent ones
  • the change trend of the slope of the fluctuation curve in the segment is opposite. If the change trend of the curve slope in the odd-numbered segment first increases and then decreases, the change trend of the curve slope in the even-numbered segment first decreases and then increases.
  • the specific number of segments of the segmented signal is determined by the time length of the expected vibration signal.
  • the present invention also provides a vibration motor, which adopts the vibration waveform designed by the above-mentioned design method for excitation.
  • the vibration motor of the present invention can strictly specify the frequency information of the vibration signal, and can present different vibration sensations by adjusting the parameters of the defined content under the framework, thereby being able to adapt to different application scenarios.

Abstract

本发明提供了一种振动波形的设计方法及振动马达，其中，振动波形的设计方法，包括步骤：根据需求频率，确定N+1个分段信号的时间长度；确定每段所述分段信号的起始时刻与终止时刻的幅值，所述分段信号的波形曲线均为二阶可导曲线；依次连接N+1个所述分段信号得到基于需求频率的振动波形；其中，第N个所述分段信号终止时刻的幅值与所述第N+1个所述分段信号起始时刻的幅值相等。本发明为设计者提供了一种高效合理的设计框架，该框架下能够严格的指定振动信号的频率，且可以通过调节框架下定义内容的参数来匹配任意马达，本发明设计的振动波形与实际振动波形相似，在马达能力一定情况下，大大提高设计的振动信号的可行性。

Description

一种振动波形的设计方法及振动马达 技术领域
本发明涉及振动马达技术领域，尤其涉及一种振动波形的设计方法及振动马达。
 背景技术
振感体验作为一种新型的辅助效果体验，在游戏沉浸式体验，触摸反馈、信息提醒等方面快速的普及运用。且对于不同的应用场景，需要有多种不同的振动波形来提供多种振感。振动波形包括：位移波形、速度波形、加速度波形。振动波形主要由三个决定因素：振动信号的强度、振动信号的频率及振动信号的时长。其中，振动信号的频率对振感体验有着重要的影响，因此通过生成多种不同频率的振动信号即可实现多种振感体验的设计。
马达作为提供振动触感的发生器，在实际运用中受到硬件的限制，如电压限制，功率限制等，目前还没有一种有效的振动波形设计方法，设计出的振动波形与马达实际振动波形较为相似。
因此，现有技术还有待发展。
 技术问题
本发明所要解决的技术问题在于提供一种振动波形的设计方法、马达电信号制作方法及振动马达，旨在解决“目前还没有一种有效的振动波形设计方法，使设计出的振动波形与马达实际振动波形较为相似”的问题。
 技术解决方案
为解决上述技术问题，本发明是这样实现的，一种振动波形的设计方法，包括以下步骤：
根据需求频率，确定N+1个分段信号的时间长度，其中，N为正整数；
确定每段所述分段信号的起始时刻与终止时刻的幅值，所述分段信号的波形曲线均为二阶可导曲线；
依次连接N+1个所述分段信号得到基于需求频率的振动波形；
其中，第N个所述分段信号终止时刻的幅值与所述第N+1个所述分段信号起始时刻的幅值相等。
进一步地，相邻所述分段信号结束时刻的幅值为正负不同的实数。
进一步地，所述振动波形的起始时刻的幅值为0。
进一步地，每段所述分段信号的波形曲线在起始时刻与终止时刻处的斜率均为0。
进一步地，第N个所述分段信号的波形曲线的斜率先增大后减小，第N+1个所述分段信号的波形曲线的斜率先减小后增大。
进一步地，第N个所述分段信号的波形曲线的斜率先减小后增大，第N+1个所述分段信号的波形曲线的斜率先增大后减小。
进一步地，第一个所述分段信号的波形曲线的斜率先增大后减小。
进一步地，所述分段信号的波形曲线为正弦波或类方波。
进一步地，所述振动波形的第一个分段信号的时间长度为0.25/fn，从第二个分段信号开始，每一个分段信号的时间长度为0.5/fn，其中，fn为所述需求频率。
一种振动马达，采用如上所述的设计方法设计的振动波形进行激励。
 有益效果
本发明与现有技术相比，有益效果在于：本发明根据需求频率设定振动波形的每一个分段信号的时间长度、幅值以及曲线形式。其中幅值及曲线形式定义，在马达实现的可行上起决定性作用，每段分段信号的时间长度定义对振动信号频率的单一性起决定性作用。本发明为设计者提供了一种高效合理的设计框架，该框架下能够严格的指定振动信号的频率，且可以通过调节框架下定义内容的参数来匹配任意马达，本发明设计的振动波形与实际振动波形相似，在马达能力一定情况下，大大提高设计的振动信号的可行性。
 附图说明
图1是一种振动波形的设计方法实施例的流程图。
图2是本发明的一种振动波形实施例图。
 本发明的实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。为了方便描述，以下在没有特别说明的情况下，振动波形默认为加速度波形。
本发明提供了一种振动波形的设计方法的实施例，参照图1，包括以下步骤：
S101、根据需求频率，确定N+1个分段信号的时间长度，其中，N为正整数。
将振动波形分为N+1个分段信号，分别进行定义，每段分段信号的时间长度的设定取决于需求特定频率fn，具体地，将振动波形分为从起始点依次连接波峰、波谷、波峰，…，终止点，或者从起始点依次连接波谷、波峰、波谷，…，终止点的N+1个分段信号，图2为一种振动波形实例，第1个分段信号为振动波形起始点t0时刻至第1个分段信号结束t1时刻（波峰）；第2个分段信号为第1个分段信号结束t1时刻至第2个分段信号结束t2时刻（波谷），第3个分段信号为第2个分段信号结束t2时刻至第3个分段信号结束t3时刻（波峰）。t1时刻也可以是波谷，后续的则对应为波峰、波谷……。本发明依据该模型进行振动波形的设计，根据需求频率fn设定振动波形的每一个分段信号的时间长度。
S102、确定每段所述分段信号的起始时刻与终止时刻的幅值，所述分段信号的波形曲线均为二阶可导曲线。
本发明的一个实施例中，振动波形起始时刻t0点的幅值为0。基于该实施例，本发明的另一个实施例中，第1个分段信号结束t1时刻，幅值规定为a1；第2个分段信号结束t2时刻，幅值规定为a2；第3个分段信号结束t3时刻，幅值规定为a3，以此类推。较佳地，这里的幅值a1、a2、a3…为正负不同的实数。这样保证振动波形的波峰与波谷正负交替，保证了马达振子在平衡位置附近的来回运用，最大化的发挥马达的性能。
S103、依次连接N+1个所述分段信号得到基于需求频率的振动波形；其中，第N个所述分段信号终止时刻的幅值与所述第N+1个所述分段信号起始时刻的幅值相等。
具体的，采用二阶可导光滑曲线依次连接N+1个分段信号的起始点与终止点，所述光滑曲线可以是正弦波或类方波。
本发明根据需求频率设定振动波形的每一个分段信号的时间长度、幅值以及曲线形式。其中幅值及曲线形式定义，在马达实现的可行上起决定性作用，每段分段信号的时间长度定义对振动信号频率的单一性起决定性作用。本发明为设计者提供了一种高效合理的设计框架，该框架下能够严格的指定振动信号的频率，且可以通过调节框架下定义内容的参数来匹配任意马达，本发明设计的振动波形与实际振动波形相似，在马达能力一定情况下，大大提高设计的振动信号的可行性。
本发明提供了一种更为详细的振动波形的设计方法的实施例，具体的，每一个分段信号的时间长度取决于需求的特定频率fn，在确定需求的振动频率fn后，对每一个分段信号的时间长度进行设定。本发明的一个实施例中，第1个分段信号的时间长度为0.25/fn，从第二个分段信号开始，每一个分段信号的时长为0.5/fn，第一个分段信号的时间长度较短，可以使马达能够快速起振。
对振动曲线的波峰波谷的幅值进行定义，同前述步骤S102，不再赘述。
对振动波形的每一段曲线形式进行定义：本发明的一个实施例中，第1个分段信号的波形曲线起始斜率设计为0，终止斜率为0，斜率先增大后减小，且为二阶可导的光滑曲线，例如正弦波或类方波等，这样保证马达状态的连续性，避免计算电压时的突变状况；第2个分段信号的波形曲线同样设计为起始斜率为0，终止斜率为0，斜率先减小后增大，且为二阶可导的光滑曲线；第3个分段信号的波形曲线设计为起始斜率为0，终止斜率为0，且斜率先增大后减小，为二阶可导的光滑曲线。曲线形式变化规律可以总结为：每段所述分段信号的波动曲线在起始时刻与终止时刻的斜率均为0，且所述波动曲线均为二阶可导的光滑曲线，但相邻两段内的波动曲线斜率变化趋势相反，如第奇数段内的曲线斜率变化趋势为先增大后减小，则第偶数段内的曲线斜率变化趋势为先减小后增大。分段信号的具体段数由期望的振动信号的时间长度决定。
本发明还提供了一种振动马达，采用如上所述的设计方法设计的振动波形进行激励。本发明的振动马达能够严格的指定振动信号的频率信息，且可以通过调节框架下定义内容的参数来呈现不同的振感，从而能够适应不同的应用场景。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (9)

  1. 一种振动波形的设计方法，其特征在于，包括以下步骤：
    根据需求频率，确定N+1个分段信号的时间长度，其中，N为正整数；
    确定每段所述分段信号的起始时刻与终止时刻的幅值，所述分段信号的波形曲线均为二阶可导曲线；
    依次连接N+1个所述分段信号得到基于需求频率的振动波形；
    其中，第N个所述分段信号终止时刻的幅值与所述第N+1个所述分段信号起始时刻的幅值相等。
  2. 如权利要求1所述的振动波形的设计方法，其特征在于，相邻所述分段信号结束时刻的幅值为正负不同的实数。
  3. 如权利要求2所述的振动波形的设计方法，其特征在于，所述振动波形的起始时刻的幅值为0。
  4. 如权利要求1所述的振动波形的设计方法，其特征在于，每段所述分段信号的波形曲线在起始时刻与终止时刻处的斜率均为0。
  5. 如权利要求3所述的振动波形的设计方法，其特征在于，第N个所述分段信号的波形曲线的斜率先增大后减小，第N+1个所述分段信号的波形曲线的斜率先减小后增大。
  6. 如权利要求3所述的振动波形的设计方法，其特征在于，第N个所述分段信号的波形曲线的斜率先减小后增大，第N+1个所述分段信号的波形曲线的斜率先增大后减小。
  7. 根据权利要求5或权利要求6所述的振动波形的设计方法，其特征在于，第一个所述分段信号的波形曲线的斜率先增大后减小。
    8如权利要求1所述的振动波形的设计方法，其特征在于，所述分段信号的波形曲线为正弦波或类方波。
  8. 如权利要求1所述的振动波形的设计方法，其特征在于，所述振动波形的第一个分段信号的时间长度为0.25/fn，从第二个分段信号开始，每一个分段信号的时间长度为0.5/fn，其中，fn为所述需求频率。
  9. 一种振动马达，其特征在于，采用如权利要求1-9任一所述的设计方法设计的振动波形进行激励。
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