WO2021119932A1

WO2021119932A1 - Vibration signal generation method and device for motor, terminal, and storage medium

Info

Publication number: WO2021119932A1
Application number: PCT/CN2019/125684
Authority: WO
Inventors: 郑亚军; 向征
Original assignee: 瑞声声学科技(深圳)有限公司; 瑞声科技(新加坡)有限公司
Priority date: 2019-12-16
Filing date: 2019-12-16
Publication date: 2021-06-24

Abstract

A vibration signal generation method for a motor (200) comprises: acquiring an input target vibration intensity reference value; determining a corresponding target absolute vibration intensity according to a preset maximum absolute vibration intensity of a load (300) and the target vibration intensity reference value; and generating, according to the target absolute vibration intensity, a target drive voltage corresponding to the target vibration intensity reference value, the target drive voltage being used to control the motor so as to drive the load to vibrate. Also provided are a vibration signal generation device for a motor, a terminal, and a computer readable storage medium.

Description

Method, device, terminal and storage medium for generating motor vibration signal

【Technical Field】

This application relates to the field of signal processing technology, and in particular to a method, device, terminal, and storage medium for generating a vibration signal of a motor.

【Background technique】

Today, with the rapid development of machinery manufacturing technology, portable electronic devices are more and more widely used. As a vibration generator based on the principle of electromagnetic induction, linear motors have brought great improvements in tactile experience to users in the application of ever-changing electronic devices. The development of linear motors has enabled traditional electronic devices to provide users with a richer, more immersive, and more wonderful experience in addition to visual and auditory sensory experiences.

However, the tactile experience is the same as other sensory experiences. It is also affected by objective physical parameters and subjective reflections of the human body. Even with the same vibration signal, different people will have different feelings, and each person’s preferences are also different. It can be seen that how to determine the vibration signal strength of the motor according to the needs of users is an urgent problem to be solved.

【Content of Application】

In view of this, the present application provides a method, device, terminal, and storage medium for generating a vibration signal of a motor, so as to obtain a corresponding tactile experience according to the user's subjective image and personal preference.

The specific technical solutions of the embodiments of this application are:

In a first aspect, an embodiment of the present application provides a method for generating a vibration signal of a motor, including:

Obtain the input target vibration intensity reference value;

Determine the corresponding target absolute vibration intensity according to the maximum absolute vibration intensity preset by the load and the target vibration intensity reference value;

A target driving voltage corresponding to the target vibration intensity reference value is generated according to the target absolute vibration intensity, and the target driving voltage is used to control a motor to drive a load to vibrate.

Further, before acquiring the input target vibration intensity reference value, the method further includes:

Determining the first maximum displacement of the vibrator of the motor according to the electromechanical equation;

Obtain the maximum absolute vibration intensity of the load driven by a preset maximum driving voltage.

Further, the obtaining the maximum absolute vibration intensity of the load driven by a preset maximum driving voltage includes:

Determining the target frequency of the maximum driving voltage;

The second maximum displacement of the load is calculated based on the target frequency, the first maximum displacement, and the maximum drive voltage.

Further, the calculating the second maximum displacement of the load based on the target frequency, the first maximum displacement and the maximum driving voltage includes:

Determine the relationship between the target frequency and a first frequency threshold and a second frequency threshold, wherein the first frequency threshold is smaller than the second frequency threshold;

When the target frequency is less than the first frequency threshold or greater than the second frequency threshold, calculating the second maximum displacement according to the maximum driving voltage, the mass of the motor, and the mass of the load;

When the target frequency is greater than or equal to the first frequency threshold and less than or equal to the second frequency threshold, the second frequency is calculated according to the first maximum displacement, the mass of the motor, and the mass of the load. Maximum displacement.

Further, the judging the relationship between the target frequency and the first frequency threshold and the second frequency threshold includes:

According to the formula:

Calculating the first frequency threshold f ₁ ;

According to the formula:

Calculate the second frequency threshold f ₂ ; where ω ₁ and ω ₂ are the angular frequencies of the motor under the voltage drive of the first frequency threshold and the second frequency threshold, respectively.

When the target frequency is less than the first frequency threshold or greater than the second frequency threshold, calculating the maximum absolute vibration intensity according to the maximum driving voltage, the mass of the motor, and the mass of the load;

When the target frequency is greater than or equal to the first frequency threshold and less than or equal to the second frequency threshold, the maximum absolute value is calculated according to the first maximum displacement, the mass of the motor, and the mass of the load Vibration intensity.

Further, the determining the target absolute vibration intensity corresponding to the target absolute vibration intensity according to the preset maximum absolute vibration intensity and the target vibration intensity reference value includes:

According to the formula:

Absolute target vibration intensity=reference value of target vibration intensity×maximum absolute vibration intensity,

Wherein, the value range of the target vibration intensity reference value is between 0 and 1.

In a second aspect, an embodiment of the present application provides an apparatus for generating a vibration signal of a motor, including:

The intensity acquisition module is used to acquire the input target vibration intensity reference value;

An intensity conversion module, configured to determine a target absolute vibration intensity corresponding to the target absolute vibration intensity according to a preset maximum absolute vibration intensity and the target vibration intensity reference value;

A displacement calculation module for calculating the first maximum displacement of the vibrator according to the electromechanical equation of the motor; and determining the load according to the first maximum displacement, the maximum drive voltage of the motor, and the target frequency of the maximum drive voltage The second largest displacement.

In a third aspect, an embodiment of the present application also provides a terminal, including a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and the processor executes the computer program when the computer program is executed. The steps of the method for generating the vibration signal of the motor as described above.

In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium, including computer instructions, which when run on a computer, cause the computer to execute the steps of the method for generating a vibration signal of a motor as described above.

Implementing the embodiments of this application will have the following beneficial effects:

After adopting the above-mentioned method, device, terminal and storage medium of the motor vibration signal, based on the maximum absolute vibration intensity of the motor, after determining the target vibration intensity reference value, the corresponding target absolute vibration intensity is obtained according to the target vibration reference value and the maximum absolute vibration intensity. The vibration intensity is used to obtain the target driving voltage corresponding to the reference value of the target vibration intensity, so as to control the motor-driven load to vibrate. In this embodiment, based on the target vibration intensity reference value, the corresponding target absolute vibration intensity and the corresponding driving voltage for controlling the vibration of the motor-driven load can be obtained, so that different degrees of vibration intensity can be generated according to different requirements.

【Explanation of the drawings】

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

among them:

FIG. 1 is a schematic diagram of the position structure of the motor and the load in an embodiment;

FIG. 2 is a schematic flowchart of the method for generating a vibration signal of the motor in an embodiment;

FIG. 3 is a schematic diagram of the relative vibration intensity reference value in an embodiment;

Fig. 4 is a schematic diagram of the process of obtaining the maximum absolute vibration intensity in an embodiment;

Fig. 5 is a schematic diagram of a process for acquiring the second maximum displacement in an embodiment;

Fig. 6 is a schematic diagram of a process for obtaining the second maximum displacement in another embodiment;

FIG. 7 is a schematic diagram of the structure of the vibration signal generating device in an embodiment;

FIG. 8 is a schematic diagram of the internal structure of a computer device that runs the above-mentioned method for generating a vibration signal of a motor in an embodiment.

【Detailed ways】

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without any creative labor fall within the protection scope of this application.

In order to solve the problem of how to determine the strength of the vibration signal of the motor according to the needs of the user in the traditional technology, in this embodiment, a method for generating the vibration signal of the motor is specially proposed. The implementation of the method can rely on a computer program, which can run on a computer system based on the von Neumann system.

The method for generating a motor vibration signal in this embodiment is applicable to a linear motor, and is specifically applicable to driving a load through the linear motor, so that the load generates a corresponding tactile experience according to the vibration intensity of the linear motor. For example, by pressing the screen to get vibration feedback.

Specifically, as shown in FIG. 1, the diagram shows a schematic diagram of the position structure between the linear motor and the load; wherein, after the linear motor 200 receives the driving signal provided by the external input device, the linear motor 200 is controlled to drive the load 300 to vibrate, thereby When in contact with the load 300, the corresponding vibration experience can be obtained. Among them, the input device can be a device that can provide a power source for the motor, such as a charger or a battery, and the load 300 can be a screen or the like.

As shown in FIG. 2, the method for generating vibration intensity of a motor provided by this embodiment includes steps S11-S13:

Step S11: Obtain the input target vibration intensity reference value.

Among them, the target vibration intensity reference value is used to reflect the strength and weakness of the motor vibration intensity. Exemplarily, as shown in FIG. 3, when the vibration intensity of the motor gradually increases from weaker, the target vibration intensity reference value gradually increases from 0 to 1; it can be explained that the target vibration intensity reference value can be very intuitive The strength of the vibration intensity of the electrode is concisely determined, so as to facilitate the generation of the corresponding actual vibration intensity.

In this embodiment, the target vibration intensity reference value is beneficial to reflect the strength and weakness of the motor vibration intensity. According to the target vibration intensity reference value, the load can be driven by the motor to different degrees, so that the load vibrates according to different intensities to meet different levels of vibration. Vibration intensity requirements.

Step S12: Determine the corresponding target absolute vibration intensity according to the maximum absolute vibration intensity preset by the load and the target vibration intensity reference value.

Among them, the maximum absolute vibration intensity refers to the maximum value of the vibration intensity that the motor can generate to the drive load under the control of any drive signal. Practically, the maximum absolute vibration intensity is limited by the hardware device that inputs the drive signal and the displacement of the vibrator in the motor. The hardware device refers to voltage input devices such as chargers and batteries.

Since the vibration intensity of the load can be obtained by dividing the acceleration by the gravitational acceleration, the acceleration can be obtained by the second derivative of the displacement generated by the load driven by the motor. Combining the positional connection relationship between the linear motor 200 and the load 300 again, as shown in FIG. 1, in the process of controlling the linear motor 200 to drive the load 300 to vibrate, the displacement of the vibrator of the linear motor 200 corresponds to the vibration displacement of the load 300; The displacement of the vibrator of the linear motor 200 can be specifically determined according to the electromechanical equation and the driving signal of the linear motor 200. Therefore, as shown in Figures 4, 5 and 6, the obtaining of the maximum absolute vibration intensity in this embodiment includes the following steps:

Step S21: Determine the first maximum displacement of the vibrator of the motor according to the electromechanical equation.

Among them, the electromechanical equation corresponding to the motor is:

Wherein, m is the mass of the oscillator, c is the damping coefficient, k is a spring coefficient of elasticity, R _e is the static resistance, L _e is the inductance, BL electromagnetic coefficient; x is a displacement transducer,

Is the vibrator speed,

Is the vibrator acceleration, i is the current, u is the sinusoidal voltage, and t is the time. Then the Laplace transform of the electromechanical equation can be performed to obtain the displacement response function corresponding to the motor:

In the formula, s=jω, j is the imaginary number, ω is the angular frequency, c _t is the value of the current transformer in the motor, and c is the damping coefficient,

Then the frequency domain conversion of the displacement response function can be performed, and the corresponding expression is:

The frequency domain conversion of the displacement response function can reflect the response relationship of the motor at different frequencies; and then it can be calculated that under the control of a sinusoidal voltage with an _{amplitude of V p} , the vibrator in the motor corresponds to _{any frequency point ω n} The expression of the steady-state amplitude response of displacement is:

Simplifying the expression of the steady-state amplitude response of this displacement can be obtained:

Among them, a and b are constants,

In this embodiment, the maximum displacement of the vibrator under the driving action of the driving voltage is recorded as the first maximum displacement.

Step S22: Obtain the maximum absolute vibration intensity of the load driven by a preset maximum driving voltage.

Among them, when the driving voltage of the linear motor 200 is larger, the intensity of the vibration of the driveable load 300 is stronger, and it can be known that the displacement generated by the load 300 is larger. Therefore, in this embodiment, in order to obtain the maximum absolute vibration intensity of the load, it is necessary to calculate the maximum absolute vibration intensity generated by the linear motor 200 driving the load 300 under the control of the maximum driving voltage.

Specifically, as shown in FIG. 5, obtaining the maximum absolute vibration intensity of the load 300 under the control of the preset maximum driving voltage in this embodiment specifically includes the following steps:

Step S31: Determine the target frequency of the maximum driving voltage.

Among them, the expression based on the steady-state amplitude response of the linear motor's displacement:

It can be known that in the process of controlling the linear motor 200 to drive the load 300 to vibrate with the driving voltage signal of the preset frequency, the expression for the displacement of the load 300 is:

Among them, f is the frequency of the driving voltage, V _max is the maximum driving voltage, X _max is the first maximum displacement, m _d is the mass of the linear motor 200, and m _f is the mass of the load 300.

Actually, combined with the displacement expression of the load 300, it can be known that the displacement generated by the load 300 is related to the frequency of the drive signal. Therefore, it is necessary to determine the target frequency of the maximum drive voltage to realize that the load 300 can be driven by the linear motor to generate the first Maximum displacement to obtain the maximum absolute vibration intensity of the corresponding load.

Step S32: Calculate a second maximum displacement of the load based on the target frequency, the first maximum displacement, and the maximum driving voltage.

In a specific embodiment, because the linear motor 200 drives the load 300 to vibrate, and the linear motor 200 is controlled by the driving voltage, when the vibrator generates the first maximum displacement, it can be based on the maximum driving voltage, the first maximum displacement, and the target The frequency is calculated to obtain the vibration displacement of the load 300, which is recorded as the second maximum displacement.

In addition, according to the expression that the load 300 can produce displacement, it can be known that the first maximum displacement of the vibrator is related to the target frequency of the maximum driving voltage. Specifically, when the frequency of the driving voltage is too low (f<f ₁ ) or too high (f ₂ <f), the linear motor is limited by the maximum driving voltage V _max and cannot reach the first maximum displacement X _max ; If the frequency is within a certain range (f ₁ ≤f≤f ₂ ), the vibrator of the linear motor can reach the first maximum displacement X _max . At the same time, in the actual operation process, in order to protect the linear motor, it is also necessary to ensure that the driving voltage should not be too large. In this embodiment, the range of the driving voltage V of the linear motor 200 is limited to:

In a specific embodiment, based on the influence of the target frequency on the second maximum displacement, as shown in FIG. 6, the process of calculating the second maximum based on the target frequency, the first maximum displacement, and the maximum driving voltage further includes the following steps:

Step S41: Determine the relationship between the target frequency and the first frequency threshold and the second frequency threshold, wherein the first frequency threshold is smaller than the second frequency threshold.

Among them, the target frequency refers to the frequency that can ensure that the displacement of the vibrator reaches the first maximum displacement during the process of controlling the linear motor 200 to drive the load 300 by the maximum driving voltage; the first frequency threshold refers to the process of controlling the motor 200 to drive the load 300 by the maximum driving voltage , Because the target frequency is too small, the displacement of the vibrator cannot reach the frequency boundary value of the first maximum displacement; the second frequency threshold refers to the maximum driving voltage in the process of controlling the motor 200 to drive the load 300, and the displacement of the vibrator cannot be reached due to the excessive target frequency The frequency boundary value of the first maximum displacement.

It should be noted that the first frequency threshold and the second frequency threshold are related to the properties of the linear motor, and can be determined by controlling the angular frequency generated by the linear motor according to the maximum driving voltage. Specifically, this embodiment is based on the formula:

Calculate the first frequency threshold f ₁ ;

According to the formula:

Calculate the second frequency threshold f ₂ ; where ω ₁ and ω ₂ are the angular frequencies of the motor driven by the voltage of the first frequency threshold f ₁ and the second frequency threshold f _{2, which can be specifically determined by the following formula:}

Calculate ω ₁ and ω ₂ , where V _max is the maximum drive voltage, X _max is the first maximum displacement, and c _t is the value of the current transformer in the motor,

c is the damping coefficient, m _d is the mass of the motor.

Step S42: When the target frequency is less than the first frequency threshold or greater than the second frequency threshold, calculate the second maximum displacement according to the maximum drive voltage, the mass of the motor, and the mass of the load And step S43: when the target frequency is greater than or equal to the first frequency threshold and less than or equal to the second frequency threshold, according to the first maximum displacement, the mass of the motor and the mass of the load Calculate the second maximum displacement.

Specifically, based on the maximum driving voltage of the linear motor 200 and the first maximum displacement X _{max of the} vibrator, and the expressions of the first threshold frequency and the second threshold frequency determined in step S41, this embodiment is based on the formula:

Calculate the second maximum displacement X(f) of the load 300 driven by the linear motor 200; where m _f is the mass of the load.

Among them, based on the influence of the target frequency f on the second maximum displacement X(f), based on the above formula for calculating the second maximum displacement X(f), it can be determined that when the target frequency f is less than the first frequency threshold f ₁ and When greater than the second frequency threshold f ₂ , calculate the second maximum displacement X(f) according to the maximum drive voltage V _max , the mass m _{d of the} motor and the mass m _f of the load; when the target frequency f is greater than or equal to the first frequency threshold f _{When the} sum of 1 is less than or equal to the second frequency threshold f ₁ , the second maximum displacement X(f) is calculated according to the first maximum displacement X _max , the mass m _{d of the} motor, and the mass m _{f of the load.}

In a specific embodiment, based on the calculation formula of the second maximum displacement X(f), the calculation formula of the maximum absolute vibration intensity can be obtained as:

Among them, g is the acceleration due to gravity, and HSF(f) is the maximum absolute vibration intensity. According to the influence of the target frequency f on the second maximum displacement X(f), in this embodiment, when the target frequency f is less than the first frequency threshold f ₁ and greater than the second frequency threshold f ₂ , according to the maximum driving voltage V _max , the motor Calculate the maximum absolute vibration intensity HSF(f) with the mass m _d of the load and the mass m _{f of the} load; when the target frequency f is greater than or equal to the first frequency threshold f ₁ and less than or equal to the second frequency threshold f ₁ , according to the first maximum displacement X _max , the mass of the motor m _d and the mass of the load m _f calculate the maximum absolute vibration intensity HSF(f).

In one embodiment, after obtaining the maximum absolute vibration intensity HSF(f) of the load 300, the target absolute vibration intensity of the load can be calculated according to the input target vibration intensity reference value and the maximum absolute vibration intensity. Specifically, this embodiment is based on the formula:

Calculate the target absolute vibration intensity of the load. Among them, as shown in Figure 3, the value range of the target vibration intensity reference value is between 0 and 1. Illustratively, assuming that the target absolute vibration intensity is represented by Vib(f) and the target vibration intensity reference value is represented by α, the calculation formula for calculating the target absolute vibration intensity is calculated based on the maximum absolute vibration intensity HSF(f) and the target vibration intensity reference value α for:

Vib(f)=α·HSL(f)

Among them, the value range of α is between 0 and 1.

In this embodiment, the second maximum displacement X(f) generated by the load vibrating under the drive of the linear motor is calculated to determine the maximum absolute vibration intensity HSF(f) of the load under the drive of the linear motor, so that the target vibration can be achieved. When the intensity reference value α is determined, the corresponding target absolute vibration intensity Vib(f) is obtained. That is, in this embodiment, under the condition that the maximum absolute vibration intensity remains unchanged, the vibrations of different intensities of the load driven by the linear motor are obtained.

Step S13: Generate a target driving voltage corresponding to the target vibration intensity reference value according to the target absolute vibration intensity, and the target driving voltage is used to control the motor to drive the load to vibrate.

Among them, the target drive voltage is the drive signal input to the linear motor through the hardware device, such as a sinusoidal voltage signal. In order to realize in practice, according to the target absolute vibration intensity Vib(f), the drive signal of the corresponding size is input to the linear motor to achieve the preset vibration intensity, this embodiment generates the target vibration according to the target absolute vibration intensity Vib(f) The target driving voltage corresponding to the intensity reference value α specifically includes the following steps:

First, determine the target vibration intensity reference value α according to the demand; then, based on the maximum absolute vibration intensity determined by the electromechanical equation corresponding to the linear motor and the target vibration intensity reference value α, the target absolute vibration intensity Vib(f) can be obtained, according to the target The absolute vibration intensity Vib(f) determines the second maximum displacement X(f) of the load 300 and the first maximum displacement X _{max of the} linear motor 200 vibrator; finally, based on the electromechanical equation of the linear motor and the first maximum displacement X of the vibrator _max can determine the size of the drive signal u, that is, the size of the drive voltage of the linear motor.

Specifically, when the first maximum displacement X _{max of the} vibrator is obtained, the acceleration of the vibrator can be obtained correspondingly, where, according to the target absolute vibration intensity Vib(f), motor mass m _d , load mass m _f and gravitational acceleration g, it can be known that The acceleration of the vibrator can be based on the formula:

Calculated; recombination current i of the linear motor, static resistance R _e, BL electromagnetic coefficient, inductance L _e, the equation based on the organic and the linear motor can be obtained a value corresponding to the driving voltage corresponding to u.

In this embodiment, the target absolute vibration intensity Vib(f) of the linear motor can be determined by combining the target vibration intensity reference value α and the maximum absolute vibration intensity HSF(f), and the target absolute vibration intensity Vib(f) is combined with the electromechanical equation corresponding to the linear motor The size of the corresponding drive signal can be obtained by reverse deduction, that is, the size of the drive voltage of the linear motor is controlled. Therefore, in practical applications, the input voltage of the linear motor can be determined according to the target vibration intensity reference value α, and then the linearity can be determined according to the actual demand. The vibration of the motor-driven load is strong or weak.

Based on the same application concept, an embodiment of the present application provides an apparatus 100 for generating a vibration signal. As shown in FIG. 7, the apparatus 100 for generating a vibration signal includes an intensity obtaining module 101 for obtaining an input target vibration intensity reference value; The intensity conversion module 102 is used to determine the corresponding target absolute vibration intensity according to the preset maximum absolute vibration intensity and the target vibration intensity reference value; the displacement calculation module 103 is used to calculate the first maximum displacement of the vibrator according to the electromechanical equation of the motor; And the second maximum displacement of the load is determined according to the first maximum displacement, the maximum drive voltage of the motor, and the target frequency of the maximum drive voltage.

Specifically, the vibration signal generating device 100 of this embodiment realizes the acquisition of the target vibration intensity reference value through the intensity acquisition module 101 to determine the actual vibration intensity requirements of the user, and then the intensity conversion module 102 determines the maximum absolute vibration intensity of the motor. Under the premise of, the target absolute vibration intensity is determined based on the target vibration intensity reference value; wherein, in the process of determining the maximum absolute vibration intensity, the displacement calculation module 103 obtains the first maximum displacement of the vibrator based on the electromechanical equation, so as to obtain the first maximum displacement of the vibrator based on the first maximum displacement , The maximum driving voltage and the target frequency determine the second maximum displacement of the load, that is, the displacement generated by driving the load under the control of the motor with the maximum absolute vibration intensity, and the maximum absolute vibration intensity can be determined according to the second maximum displacement.

It should be noted that the realization of the vibration signal generation device in this embodiment is consistent with the realization idea of the above-mentioned motor vibration signal generation method, and its realization principle will not be repeated here. For details, please refer to the corresponding content in the above method.

After adopting the above-mentioned method, device, terminal and storage medium of the motor vibration signal, based on the maximum absolute vibration intensity of the motor, after determining the target vibration intensity reference value, the corresponding target absolute vibration intensity is obtained according to the target vibration reference value and the maximum absolute vibration intensity. The vibration intensity is used to obtain the target driving voltage corresponding to the reference value of the target vibration intensity, so as to control the motor-driven load to vibrate. In this embodiment, the vibration intensities of the motor with different intensities can be generated according to the different needs of users, so as to adapt to different vibration requirements.

Fig. 8 shows an internal structure diagram of a computer device in an embodiment. The computer device may specifically be a server or a terminal. As shown in Figure 8, the computer device includes a processor, a memory, and a network interface connected through a system bus. Among them, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can enable the processor to implement a method for generating a vibration signal of the motor. A computer program can also be stored in the internal memory, and when the computer program is executed by the processor, the processor can execute the method for generating the vibration signal of the motor. Those skilled in the art can understand that the structure shown in FIG. 8 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may Including more or fewer components than shown in FIG. 8, or combining some components, or having a different component arrangement.

In an embodiment, the method for generating a vibration signal of a motor provided in the present application can be implemented in the form of a computer program, and the computer program can be run on a computer device as shown in FIG. 8. The memory of the computer device can store various program modules that make up the vibration signal generating device. For example, the intensity conversion module 102 and so on.

In one embodiment, a computer device is provided, including a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the following steps: Obtain input The target vibration intensity reference value; the maximum absolute vibration intensity preset by the load and the target vibration intensity reference value determine the corresponding target absolute vibration intensity; according to the target absolute vibration intensity, the corresponding target vibration intensity reference value is generated The target driving voltage is used to control the motor to drive the load to vibrate.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a non-volatile computer readable storage medium. Here, when the program is executed, it may include the procedures of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database, or other media used in the embodiments provided in this application may include non-volatile and/or volatile memory. Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not a limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Channel (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

The above-disclosed are only preferred embodiments of this application, and of course the scope of rights of this application cannot be limited by this. Therefore, equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

A method for generating a vibration signal of a motor is characterized in that it includes:

Obtain the input target vibration intensity reference value;

Determine the corresponding target absolute vibration intensity according to the maximum absolute vibration intensity preset by the load and the target vibration intensity reference value;

A target driving voltage corresponding to the target vibration intensity reference value is generated according to the target absolute vibration intensity, and the target driving voltage is used to control a motor to drive a load to vibrate.
The method for generating a vibration signal of a motor according to claim 1, wherein before said obtaining the input target vibration intensity reference value, the method further comprises:

Determining the first maximum displacement of the vibrator of the motor according to the electromechanical equation;

Obtain the maximum absolute vibration intensity of the load driven by a preset maximum driving voltage.
3. The method for generating a vibration signal of a motor according to claim 2, wherein said obtaining said maximum absolute vibration intensity of said load driven by a preset maximum driving voltage comprises:

Determining the target frequency of the maximum driving voltage;

The second maximum displacement of the load is calculated based on the target frequency, the first maximum displacement, and the maximum drive voltage.
The method for generating a vibration signal of a motor according to claim 3, wherein said obtaining said maximum absolute vibration intensity of said load driven by a preset maximum driving voltage comprises:

Determine the relationship between the target frequency and a first frequency threshold and a second frequency threshold, wherein the first frequency threshold is smaller than the second frequency threshold;

When the target frequency is less than the first frequency threshold or greater than the second frequency threshold, calculating the maximum absolute vibration intensity according to the maximum driving voltage, the mass of the motor, and the mass of the load;

When the target frequency is greater than or equal to the first frequency threshold and less than or equal to the second frequency threshold, the maximum absolute value is calculated according to the first maximum displacement, the mass of the motor, and the mass of the load Vibration intensity.
The method for generating a vibration signal of a motor according to claim 3, wherein the calculating the second maximum displacement of the load based on the target frequency, the first maximum displacement, and the maximum driving voltage comprises:

When the target frequency is less than the first frequency threshold or greater than the second frequency threshold, calculating the second maximum displacement according to the maximum driving voltage, the mass of the motor, and the mass of the load;

When the target frequency is greater than or equal to the first frequency threshold and less than or equal to the second frequency threshold, the second frequency is calculated according to the first maximum displacement, the mass of the motor, and the mass of the load. Maximum displacement.
5. The method for generating a vibration signal of a motor according to claim 5, wherein said determining the relationship between the target frequency and the first frequency threshold and the second frequency threshold comprises:

According to the formula:

Calculating the first frequency threshold f 1 ;

According to the formula:

Calculate the second frequency threshold f 2 ; where ω 1 and ω 2 are the angular frequencies of the motor under the voltage drive of the first frequency threshold and the second frequency threshold, respectively.
The method for generating a vibration signal of a motor according to claim 6, wherein the target absolute vibration intensity corresponding to the target absolute vibration intensity is determined according to the preset maximum absolute vibration intensity and the target vibration intensity reference value ,include:

According to the formula:

Absolute target vibration intensity=reference value of target vibration intensity×maximum absolute vibration intensity,

Wherein, the value range of the target vibration intensity reference value is between 0 and 1.
A generating device for a vibration signal of a motor, which is characterized in that it comprises:

The intensity acquisition module is used to acquire the input target vibration intensity reference value;

An intensity conversion module, configured to determine a target absolute vibration intensity corresponding to the target absolute vibration intensity according to a preset maximum absolute vibration intensity and the target vibration intensity reference value;

A displacement calculation module for calculating the first maximum displacement of the vibrator according to the electromechanical equation of the motor; and determining the load according to the first maximum displacement, the maximum drive voltage of the motor, and the target frequency of the maximum drive voltage The second largest displacement.
A terminal, characterized by comprising a memory, a processor, and a computer program stored on the memory and running on the processor, wherein the processor implements the claims when the computer program is executed Steps of the method for generating a vibration signal of a motor according to any one of 1 to 7.
A computer-readable storage medium comprising computer instructions, when the computer instructions run on a computer, cause the computer to execute the steps of the method for generating a vibration signal of a motor according to any one of claims 1 to 7.