WO2021174580A1 - Vibration control method, storage medium, and device - Google Patents
Vibration control method, storage medium, and device Download PDFInfo
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- WO2021174580A1 WO2021174580A1 PCT/CN2020/079255 CN2020079255W WO2021174580A1 WO 2021174580 A1 WO2021174580 A1 WO 2021174580A1 CN 2020079255 W CN2020079255 W CN 2020079255W WO 2021174580 A1 WO2021174580 A1 WO 2021174580A1
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- 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
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- the present invention relates to the technical field of shock generation, in particular to a vibration control method, storage medium and equipment.
- a haptic actuator with a linear motor (hereinafter referred to as LRA) as a carrier can obtain a customized haptic experience by designing its specific waveform, which greatly enriches the user's perception.
- LRA linear motor
- different devices may use different LRA devices.
- different waveforms need to be designed and stored to adapt to the effects of different devices.
- the purpose of the present invention is to provide a vibration control method, storage medium, and equipment to store vibration waveforms (such as acceleration waveforms) using a unified tactile feedback, and use a conversion model to convert various LRA excitation signals so that they can be used in different A method for obtaining the same or similar tactile experience between devices.
- vibration waveforms such as acceleration waveforms
- the present invention provides a vibration control method, which is applied to different types of vibration devices to achieve the same preset tactile feedback, and the vibration control method includes:
- the vibration device vibrates to generate preset tactile feedback.
- the vibration waveform of the preset haptic feedback is an acceleration waveform.
- test to obtain the difference parameters of the vibration equipment is specifically: fixing the vibration equipment to the tooling, applying an excitation voltage to the vibration equipment, and the vibration equipment drives the tooling to vibrate in the opposite direction, which is measured and collected by an accelerometer
- the vibration acceleration of the tooling obtains the difference parameter of the vibration device based on the excitation voltage and the vibration acceleration.
- the vibration device comprises a DC parameter differences due to the different types of vibrating equipment configuration and a difference in impedance R e, voice coil inductance L e, coefficient BL electromagnetic force, the vibrator mass M ms, the stiffness of the resilient element One or more of the coefficient K ms , the resistance coefficient of the damping element R ms , and the resonance frequency W 0.
- the conversion model includes one or more of a white box model and a black box model.
- the conversion model converts the vibration waveform of the preset haptic feedback into an excitation signal based on the difference parameter of the vibration device, and specifically includes the matching of the conversion model and the difference parameter of the vibration device;
- the conversion model is a white box model; when the difference parameter of the vibration device is a transfer function or a kernel function, the conversion model is a black box model .
- the vibration waveform of the preset haptic feedback is converted into an excitation signal by a linear equalization method or a nonlinear equalization method.
- the vibration waveform of the preset haptic feedback is converted into an excitation signal by a Wiener filtering method or a kernel function filtering method.
- the present invention also provides a storage medium with a vibration control program stored on the computer-readable storage medium, and the vibration control program executes the steps of the above vibration control method when the vibration control program is run by a processor.
- the present invention also provides an electronic device, the electronic device including a memory, a processor, and a vibration control program stored on the memory and running on the processor, the vibration control program When executed by the processor, the steps of the above-mentioned vibration control method are realized.
- vibration waveforms such as acceleration waveforms
- Fig. 1 is a flowchart of a vibration control method provided by an embodiment of the present invention.
- Fig. 2 is a specific flowchart of a vibration control method provided by an embodiment of the present invention.
- FIG. 3 is a specific flowchart of a vibration control method provided by another embodiment of the present invention.
- Fig. 4 is a schematic diagram of a vibration device provided by an embodiment of the present invention.
- an embodiment of the present invention provides a vibration control method, which is applied to different types of vibration devices to achieve the same preset haptic feedback, and the vibration control method includes:
- Step S10 Store the preset haptic feedback vibration waveform in the cloud
- the preset haptic feedback vibration waveform is an acceleration waveform
- Step S20 Test and obtain the difference parameter of the vibration device
- the step of obtaining the difference parameters of the vibration device by the test includes: fixing the vibration device to the tooling, applying an excitation voltage to the vibration device, and the vibration device drives the tooling to vibrate in the opposite direction, and the vibration device is driven by the acceleration
- the meter measures and collects the vibration acceleration of the tooling, and obtains the difference parameters of the vibration device based on the excitation voltage and the vibration acceleration; counter electromotive force induced U pendulum motion, the electromagnetic force F., a voice coil motor current I, Ma Dazhen sub displacement X, Ma Dazhen sub velocity V, the motor current resistance R e, the motor coil inductance L e, Mada Zhen sub mass M ms, the electromagnetic motor Force coefficient BL, elastic element stiffness coefficient K ms , damping element resistance coefficient R ms, etc.
- the difference parameters that distinguish each vibration device from other vibration devices include the motor DC that may be different due to the difference in the type and structure of the vibration device impedance R e, the motor coil inductance L e, the electromagnetic force of the motor coefficient BL, Mada Zhen sub mass M ms, the elastic element stiffness coefficient K ms, the damping coefficient mechanical resistance element R ms, a resonance frequency W 0 or more parameters
- the resonant frequency W 0 is taken as an example.
- the motor can be excited by a single frequency signal of several cycles, allowing the motor vibrator to oscillate freely after deviating from the equilibrium position, and detecting the frequency of free oscillation, that is, the resonant frequency.
- LRA type the value of its resonance frequency is different. Therefore, by inputting the difference parameters including the resonance frequency, the vibration waveform of the unified tactile feedback can be converted into an excitation voltage signal suitable for different LRA types;
- Step S30 Input the difference parameter of the vibration device and the vibration waveform of the preset haptic feedback to a conversion model, and the conversion model converts the vibration waveform of the preset haptic feedback into an excitation based on the difference parameter of the vibration device Signal;
- the step of converting the preset haptic feedback vibration waveform into an excitation signal by the conversion model based on the difference parameter of the vibration device specifically includes step S31 or step S32;
- Step S31 When the difference parameter of the vibration device is a linear parameter or a non-linear parameter, the conversion model is a white box model;
- step S32 when the difference parameter of the vibration device is a transfer function or a kernel function, the conversion model is a black box model;
- the kernel function filtering method uses the kernel function filtering method as an example to introduce the method of converting the identified vibration device parameters and preset haptic feedback waveforms into the corresponding excitation signal of the identified vibration device: the kernel function model, which is specifically:
- y(n) represents the amount of motor vibration
- x(ni) represents the motor drive signal
- h p represents the P-order kernel function
- M p represents the total number of sampling points corresponding to the p-order kernel function
- i represents the sampling point coordinates of the kernel function h ;
- Step S40 In response to the excitation signal, the vibration device vibrates to generate preset tactile feedback.
- the present invention also provides an electronic device, the electronic device includes a memory, a processor, and a vibration control program stored on the memory and running on the processor When the vibration control program is executed by the processor, the steps of the above vibration control method are realized.
- the present invention also provides a storage medium with a vibration control program stored on the computer-readable storage medium, and the vibration control program executes the steps of the above vibration control method when the vibration control program is run by a processor.
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Abstract
Provided are a vibration control method which is applied to vibration devices of different models to realize the same preset tactile feedback. The vibration control method comprises: storing a vibration waveform of a preset tactile feedback in a cloud end; performing testing to acquire a difference parameter of a vibration device; inputting the difference parameter of the vibration device and the vibration waveform of the preset tactile feedback into a conversion model, wherein the conversion model converts the vibration waveform of the preset tactile feedback into an excitation signal on the basis of the difference parameter of the vibration device; and in response to the excitation signal, the vibration device vibrating to generate the preset tactile feedback. According to the vibration control method, the storage medium and the device provided in the present invention, a unified tactile feedback vibration waveform (such as an acceleration waveform) is used and stored, and a conversion model is used to convert the vibration waveform into various LRA excitation signals, such that the same or a similar tactile experience can be obtained between different devices.
Description
本发明涉及震感生成技术领域，尤其涉及一种振动控制方法、存储介质及设备。The present invention relates to the technical field of shock generation, in particular to a vibration control method, storage medium and equipment.
如今触觉体验已经广泛渗透到了科技活动中的各种设备，如手机、游戏机、平板电脑等。以线性马达(以下简称LRA)为载体的触觉致动器，通过设计其特定波形，可以获得定制化的触觉体验，极大程度地丰富了用户感知。受限于各种设备的尺寸和空间，不同的设备可能会采用不同的LRA器件。针对不同的LRA和设备参数，需要设计并存储不同的波形，以适配不同设备的效果。随着配备LRA器件的设备越来越多，这对设计人员的设计工作量和设备中的波形存储空间都是一个很大的挑战。Nowadays, tactile experience has widely penetrated into various devices in technological activities, such as mobile phones, game consoles, and tablets. A haptic actuator with a linear motor (hereinafter referred to as LRA) as a carrier can obtain a customized haptic experience by designing its specific waveform, which greatly enriches the user's perception. Limited by the size and space of various devices, different devices may use different LRA devices. For different LRA and device parameters, different waveforms need to be designed and stored to adapt to the effects of different devices. As more and more devices are equipped with LRA devices, this poses a big challenge to the designer's design workload and the waveform storage space in the device.
因此，亟需一种应用于不同型号振动设备上实现同一预设触觉反馈的振动控制方法。Therefore, there is an urgent need for a vibration control method that is applied to different types of vibration devices to achieve the same preset tactile feedback.
【发明内容】[Summary of the invention]
本发明的目的在于提供一种振动控制方法、存储介质及设备，以采用统一的触觉反馈的振动波形(如加速度波形)存储，并利用转换模型转换出各种LRA的激励信号，以便在不同的设备之间获得相同或者相似的触觉体验的方法。The purpose of the present invention is to provide a vibration control method, storage medium, and equipment to store vibration waveforms (such as acceleration waveforms) using a unified tactile feedback, and use a conversion model to convert various LRA excitation signals so that they can be used in different A method for obtaining the same or similar tactile experience between devices.
本发明的技术方案如下：第一方面，本发明提供了一种振动控制方法，应用于不同型号振动设备上实现同一预设触觉反馈，所述振动控制方法包括：The technical solution of the present invention is as follows: In the first aspect, the present invention provides a vibration control method, which is applied to different types of vibration devices to achieve the same preset tactile feedback, and the vibration control method includes:
将所述预设触觉反馈的振动波形储存于云端；Storing the preset haptic feedback vibration waveform in the cloud;
测试获取所述振动设备的差异参数；Test to obtain the difference parameters of the vibration equipment;
输入所述振动设备的差异参数和所述预设触觉反馈的振动波形至转换 模型，所述转换模型基于所述振动设备的差异参数将所述预设触觉反馈的振动波形转换为激励信号；Inputting the difference parameter of the vibration device and the vibration waveform of the preset haptic feedback to a conversion model, and the conversion model converts the vibration waveform of the preset haptic feedback into an excitation signal based on the difference parameter of the vibration device;
响应于所述激励信号，所述振动设备振动，产生预设触觉反馈。In response to the excitation signal, the vibration device vibrates to generate preset tactile feedback.
进一步地，所述预设触觉反馈的振动波形为加速度波形。Further, the vibration waveform of the preset haptic feedback is an acceleration waveform.
进一步地，测试获取所述振动设备的差异参数，具体为：将所述振动设备固定于工装，施加一激励电压于所述振动设备，所述振动设备带动工装反向振动，通过加速度计测量采集所述工装的振动加速度，基于所述激励电压和振动加速度得到所述振动设备的差异参数。Further, the test to obtain the difference parameters of the vibration equipment is specifically: fixing the vibration equipment to the tooling, applying an excitation voltage to the vibration equipment, and the vibration equipment drives the tooling to vibrate in the opposite direction, which is measured and collected by an accelerometer The vibration acceleration of the tooling obtains the difference parameter of the vibration device based on the excitation voltage and the vibration acceleration.
进一步地，所述振动设备的差异参数包括因所述振动设备的型号结构的不同而产生差异的直流阻抗R
e、音圈电感L
e、电磁力系数BL、振子质量M
ms、弹性元件劲度系数K
ms、阻尼元件力阻系数R
ms、谐振频率W
0中的一个或多个。
Further, the vibration device comprises a DC parameter differences due to the different types of vibrating equipment configuration and a difference in impedance R e, voice coil inductance L e, coefficient BL electromagnetic force, the vibrator mass M ms, the stiffness of the resilient element One or more of the coefficient K ms , the resistance coefficient of the damping element R ms , and the resonance frequency W 0.
进一步地，所述转换模型包括白盒模型和黑盒模型中的一种或多种。Further, the conversion model includes one or more of a white box model and a black box model.
进一步地，所述转换模型基于所述振动设备的差异参数将所述预设触觉反馈的振动波形转换为激励信号，具体还包括所述转换模型与所述振动设备的差异参数的匹配；Further, the conversion model converts the vibration waveform of the preset haptic feedback into an excitation signal based on the difference parameter of the vibration device, and specifically includes the matching of the conversion model and the difference parameter of the vibration device;
当所述振动设备的差异参数为线性参数或非线性参数时，所述转换模型为白盒模型；当所述振动设备的差异参数为传递函数或核函数时，所述转换模型为黑盒模型。When the difference parameter of the vibration device is a linear parameter or a nonlinear parameter, the conversion model is a white box model; when the difference parameter of the vibration device is a transfer function or a kernel function, the conversion model is a black box model .
进一步地，所述转换模型为白盒模型时，通过线性均衡方法或非线性均衡方法将所述预设触觉反馈的振动波形转换为激励信号。Further, when the conversion model is a white box model, the vibration waveform of the preset haptic feedback is converted into an excitation signal by a linear equalization method or a nonlinear equalization method.
进一步地，所述转换模型为黑盒模型时，通过维纳滤波方法或核函数滤波方法将所述预设触觉反馈的振动波形转换为激励信号。Further, when the conversion model is a black box model, the vibration waveform of the preset haptic feedback is converted into an excitation signal by a Wiener filtering method or a kernel function filtering method.
第二方面，本发明的还提供了一种存储介质，所述计算机可读存储介质上存储有振动控制程序，所述振动控制程序被处理器运行时执行上述振动控制方法的步骤。In a second aspect, the present invention also provides a storage medium with a vibration control program stored on the computer-readable storage medium, and the vibration control program executes the steps of the above vibration control method when the vibration control program is run by a processor.
第三方面，本发明的还提供了一种电子设备，所述电子设备包括存储器、处理器以及存储在所述存储器上并可在所述处理器上运行的振动控制 程序，所述振动控制程序被所述处理器执行时实现如上述振动控制方法的步骤。In a third aspect, the present invention also provides an electronic device, the electronic device including a memory, a processor, and a vibration control program stored on the memory and running on the processor, the vibration control program When executed by the processor, the steps of the above-mentioned vibration control method are realized.
本发明的有益效果在于：The beneficial effects of the present invention are:
采用统一的触觉反馈的振动波形(如加速度波形)存储，并利用转换模型转换出各种LRA的激励信号，以便在不同的设备之间获得相同或者相似的触觉体验的方法。It is a method to store the vibration waveforms (such as acceleration waveforms) of unified tactile feedback, and use the conversion model to convert various LRA excitation signals, so as to obtain the same or similar tactile experience between different devices.
图1为本发明一实施例提供的振动控制方法的流程图。Fig. 1 is a flowchart of a vibration control method provided by an embodiment of the present invention.
图2为本发明一实施例提供的振动控制方法的具体流程图。Fig. 2 is a specific flowchart of a vibration control method provided by an embodiment of the present invention.
图3为本发明另一实施例提供的振动控制方法的具体流程图。FIG. 3 is a specific flowchart of a vibration control method provided by another embodiment of the present invention.
图4为本发明一实施例提供的振动设备的示意图。Fig. 4 is a schematic diagram of a vibration device provided by an embodiment of the present invention.
下面结合附图和实施方式对本发明作进一步说明。The present invention will be further described below in conjunction with the drawings and embodiments.
请参看图1，本发明的一实施方式提供了振动控制方法，应用于不同型号振动设备上实现同一预设触觉反馈，所述振动控制方法包括：Referring to FIG. 1, an embodiment of the present invention provides a vibration control method, which is applied to different types of vibration devices to achieve the same preset haptic feedback, and the vibration control method includes:
步骤S10：将所述预设触觉反馈的振动波形储存于云端；Step S10: Store the preset haptic feedback vibration waveform in the cloud;
具体地，所述预设触觉反馈的振动波形为加速度波形；；Specifically, the preset haptic feedback vibration waveform is an acceleration waveform;
步骤S20：测试获取所述振动设备的差异参数；Step S20: Test and obtain the difference parameter of the vibration device;
具体地，所述测试获取所述振动设备的差异参数的步骤，包括：将所述振动设备固定于工装，施加一激励电压于所述振动设备，所述振动设备带动工装反向振动，通过加速度计测量采集所述工装的振动加速度，基于所述激励电压和振动加速度得到所述振动设备的差异参数；应当指出的是，测试过程中，每一振动设备的自身参数包括马达驱动电压Ue、马达振子运动引起的反向电动势U、电磁力F、马达音圈电流I、马达振子位移X、马达振子速度V、马达直流阻抗R
e、马达音圈电感L
e、马达振子质量M
ms、马达电磁力系数BL、弹性元件劲度系数K
ms、阻尼元件力阻系数R
ms等，每一振动设备与其他振动设备相区分的差异参数包括因振动设备的型号结构的 不同而可能产生差异的马达直流阻抗R
e、马达音圈电感L
e、马达电磁力系数BL、马达振子质量M
ms、弹性元件劲度系数K
ms、阻尼元件力阻系数R
ms、谐振频率W
0中的一个或多个参数；在本实施例中，谐振频率W
0为例，可以通过几个周期的单频信号来激励马达，让马达振子偏离平衡位置后做自由振荡，并检测自由振荡的频率，即谐振频率，不同LRA类型，其谐振频率的值不同。因此，可通过输入包含谐振频率在内的差异参数，将统一的触觉反馈的振动波形转换成适配于不同LRA类型的激励电压信号；
Specifically, the step of obtaining the difference parameters of the vibration device by the test includes: fixing the vibration device to the tooling, applying an excitation voltage to the vibration device, and the vibration device drives the tooling to vibrate in the opposite direction, and the vibration device is driven by the acceleration The meter measures and collects the vibration acceleration of the tooling, and obtains the difference parameters of the vibration device based on the excitation voltage and the vibration acceleration; counter electromotive force induced U pendulum motion, the electromagnetic force F., a voice coil motor current I, Ma Dazhen sub displacement X, Ma Dazhen sub velocity V, the motor current resistance R e, the motor coil inductance L e, Mada Zhen sub mass M ms, the electromagnetic motor Force coefficient BL, elastic element stiffness coefficient K ms , damping element resistance coefficient R ms, etc. The difference parameters that distinguish each vibration device from other vibration devices include the motor DC that may be different due to the difference in the type and structure of the vibration device impedance R e, the motor coil inductance L e, the electromagnetic force of the motor coefficient BL, Mada Zhen sub mass M ms, the elastic element stiffness coefficient K ms, the damping coefficient mechanical resistance element R ms, a resonance frequency W 0 or more parameters In this embodiment, the resonant frequency W 0 is taken as an example. The motor can be excited by a single frequency signal of several cycles, allowing the motor vibrator to oscillate freely after deviating from the equilibrium position, and detecting the frequency of free oscillation, that is, the resonant frequency. LRA type, the value of its resonance frequency is different. Therefore, by inputting the difference parameters including the resonance frequency, the vibration waveform of the unified tactile feedback can be converted into an excitation voltage signal suitable for different LRA types;
步骤S30：输入所述振动设备的差异参数和所述预设触觉反馈的振动波形至转换模型，所述转换模型基于所述振动设备的差异参数将所述预设触觉反馈的振动波形转换为激励信号；Step S30: Input the difference parameter of the vibration device and the vibration waveform of the preset haptic feedback to a conversion model, and the conversion model converts the vibration waveform of the preset haptic feedback into an excitation based on the difference parameter of the vibration device Signal;
具体地，所述转换模型基于所述振动设备的差异参数将所述预设触觉反馈的振动波形转换为激励信号的步骤，具体包括步骤S31或步骤S32；Specifically, the step of converting the preset haptic feedback vibration waveform into an excitation signal by the conversion model based on the difference parameter of the vibration device specifically includes step S31 or step S32;
具体地，请参看图2，步骤S31：当所述振动设备的差异参数为线性参数或非线性参数时，所述转换模型为白盒模型；；Specifically, please refer to Figure 2. Step S31: When the difference parameter of the vibration device is a linear parameter or a non-linear parameter, the conversion model is a white box model;
通过线性均衡方法或非线性均衡方法将所述预设触觉反馈的振动波形转换为激励信号；Converting the preset haptic feedback vibration waveform into an excitation signal through a linear equalization method or a nonlinear equalization method;
具体地，请参看图3，步骤S32：当所述振动设备的差异参数为传递函数或核函数时，所述转换模型为黑盒模型；Specifically, please refer to FIG. 3, step S32: when the difference parameter of the vibration device is a transfer function or a kernel function, the conversion model is a black box model;
通过维纳滤波方法或核函数滤波方法将所述预设触觉反馈的振动波形转换为激励信号；Converting the preset haptic feedback vibration waveform into an excitation signal through a Wiener filtering method or a kernel function filtering method;
针对不同振动设备的参数，采用不同的转换方法，这样能够保证每种振动设备的参数均能被识别出，应用范围广；According to the parameters of different vibration equipment, different conversion methods are adopted to ensure that the parameters of each type of vibration equipment can be identified, and the application range is wide;
下面以核函数滤波方法为例，介绍下所识别到的振动设备的参数和预设的触觉反馈波形转换为所识别到的振动设备对应的激励信号方法：核函数模型，具体为：The following uses the kernel function filtering method as an example to introduce the method of converting the identified vibration device parameters and preset haptic feedback waveforms into the corresponding excitation signal of the identified vibration device: the kernel function model, which is specifically:
其中，y(n)表示马达振动量，x(n-i)表示马达驱动信号，h
p表示P阶核函数，M
p表示p阶核函数对应的总采样点数，i表示核函数h的取样点坐标；将每个加速驱动信号参数输入运算模型中分别进行计算，每个加速驱动信号参数计算出对应的一个马达振动量；
Among them, y(n) represents the amount of motor vibration, x(ni) represents the motor drive signal, h p represents the P-order kernel function, M p represents the total number of sampling points corresponding to the p-order kernel function, and i represents the sampling point coordinates of the kernel function h ; Input each acceleration drive signal parameter into the calculation model for calculation separately, and calculate the corresponding motor vibration for each acceleration drive signal parameter;
步骤S40：响应于所述激励信号，所述振动设备振动，产生预设触觉反馈。Step S40: In response to the excitation signal, the vibration device vibrates to generate preset tactile feedback.
请参看图4，为了实现上述目的，本发明的还提供了一种电子设备，所述电子设备包括存储器、处理器以及存储在所述存储器上并可在所述处理器上运行的振动控制程序，所述振动控制程序被所述处理器执行时实现如上述振动控制方法的步骤。Please refer to FIG. 4, in order to achieve the above object, the present invention also provides an electronic device, the electronic device includes a memory, a processor, and a vibration control program stored on the memory and running on the processor When the vibration control program is executed by the processor, the steps of the above vibration control method are realized.
为了实现上述目的，本发明的还提供了一种存储介质，所述计算机可读存储介质上存储有振动控制程序，所述振动控制程序被处理器运行时执行上述振动控制方法的步骤。In order to achieve the above objective, the present invention also provides a storage medium with a vibration control program stored on the computer-readable storage medium, and the vibration control program executes the steps of the above vibration control method when the vibration control program is run by a processor.
以上所述的仅是本发明的实施方式，在此应当指出，对于本领域的普通技术人员来说，在不脱离本发明创造构思的前提下，还可以做出改进，但这些均属于本发明的保护范围。The above are only the embodiments of the present invention. It should be pointed out here that for those of ordinary skill in the art, improvements can be made without departing from the inventive concept of the present invention, but these all belong to the present invention. The scope of protection.
Claims (10)
- 一种振动控制方法，应用于不同型号振动设备上实现同一预设触觉反馈，其特征在于，所述振动控制方法包括：A vibration control method applied to different models of vibration equipment to achieve the same preset tactile feedback, characterized in that the vibration control method includes:将所述预设触觉反馈的振动波形储存于云端；Storing the preset haptic feedback vibration waveform in the cloud;测试获取所述振动设备的差异参数；Test to obtain the difference parameters of the vibration equipment;输入所述振动设备的差异参数和所述预设触觉反馈的振动波形至转换模型，所述转换模型基于所述振动设备的差异参数将所述预设触觉反馈的振动波形转换为激励信号；Inputting the difference parameter of the vibration device and the vibration waveform of the preset haptic feedback to a conversion model, and the conversion model converts the vibration waveform of the preset haptic feedback into an excitation signal based on the difference parameter of the vibration device;响应于所述激励信号，所述振动设备振动，产生预设触觉反馈。In response to the excitation signal, the vibration device vibrates to generate preset tactile feedback.
- 根据权利要求1所述的振动控制方法，其特征在于：所述预设触觉反馈的振动波形为加速度波形。The vibration control method according to claim 1, wherein the vibration waveform of the preset haptic feedback is an acceleration waveform.
- 根据权利要求1所述的振动控制方法，其特征在于：测试获取所述振动设备的差异参数，具体为：将所述振动设备固定于工装，施加一激励电压于所述振动设备，所述振动设备带动工装反向振动，通过加速度计测量采集所述工装的振动加速度，基于所述激励电压和振动加速度得到所述振动设备的差异参数。The vibration control method according to claim 1, wherein the test to obtain the difference parameter of the vibration device is specifically: fixing the vibration device to a tooling, applying an excitation voltage to the vibration device, and the vibration The equipment drives the tooling to vibrate in the reverse direction, the vibration acceleration of the tooling is measured and collected by an accelerometer, and the difference parameters of the vibration equipment are obtained based on the excitation voltage and the vibration acceleration.
- 根据权利要求1所述的振动控制方法，其特征在于：所述振动设备的差异参数包括因所述振动设备的型号结构的不同而产生差异的直流阻抗R e、音圈电感L e、电磁力系数BL、振子质量M ms、弹性元件劲度系数K ms、阻尼元件力阻系数R ms、谐振频率W 0中的一个或多个。 The vibration control method according to claim 1, wherein: the vibration device comprises a DC parameter differences due to the different types of vibrating equipment configuration and a difference in impedance R e, voice coil inductance L e, electromagnetic force One or more of coefficient BL, vibrator mass M ms , elastic element stiffness coefficient K ms , damping element resistance coefficient R ms , and resonance frequency W 0 .
- 根据权利要求1所述的振动控制方法，其特征在于：所述转换模型包括白盒模型和黑盒模型中的一种或多种。The vibration control method according to claim 1, wherein the conversion model includes one or more of a white box model and a black box model.
- 根据权利要求5所述的振动控制方法，其特征在于：所述转换模型基于所述振动设备的差异参数将所述预设触觉反馈的振动波形转换为激励信号，具体还包括所述转换模型与所述振动设备的差异参数的匹配；The vibration control method according to claim 5, wherein the conversion model converts the preset haptic feedback vibration waveform into an excitation signal based on the difference parameters of the vibration device, and specifically further comprises the conversion model and Matching of the difference parameters of the vibration equipment;当所述振动设备的差异参数为线性参数或非线性参数时，所述转换模型为白盒模型；当所述振动设备的差异参数为传递函数或核函数时，所述 转换模型为黑盒模型。When the difference parameter of the vibration device is a linear parameter or a nonlinear parameter, the conversion model is a white box model; when the difference parameter of the vibration device is a transfer function or a kernel function, the conversion model is a black box model .
- 根据权利要求6所述的振动控制方法，其特征在于：所述转换模型为白盒模型时，通过线性均衡方法或非线性均衡方法将所述预设触觉反馈的振动波形转换为激励信号。The vibration control method according to claim 6, wherein when the conversion model is a white box model, the vibration waveform of the preset haptic feedback is converted into an excitation signal by a linear equalization method or a nonlinear equalization method.
- 根据权利要求6所述的振动控制方法，其特征在于：所述转换模型为黑盒模型时，通过维纳滤波方法或核函数滤波方法将所述预设触觉反馈的振动波形转换为激励信号。The vibration control method according to claim 6, wherein when the conversion model is a black box model, the vibration waveform of the preset haptic feedback is converted into an excitation signal by a Wiener filtering method or a kernel function filtering method.
- 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有振动控制程序，所述振动控制程序被处理器运行时执行如权利要求1-8任一项所述的振动控制方法的步骤。A computer-readable storage medium, characterized in that a vibration control program is stored on the computer-readable storage medium, and when the vibration control program is run by a processor, the vibration control program according to any one of claims 1-8 is executed. Steps of the control method.
- 一种电子设备，其特征在于，所述电子设备包括存储器、处理器以及存储在所述存储器上并可在所述处理器上运行的振动控制程序，所述振动控制程序被所述处理器执行时实现如权利要求1-8任一项所述的振动控制方法的步骤。An electronic device, characterized in that the electronic device includes a memory, a processor, and a vibration control program stored in the memory and running on the processor, and the vibration control program is executed by the processor When realizing the steps of the vibration control method according to any one of claims 1-8.
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| CN111897524B (en) * | 2020-07-06 | 2022-04-29 | 瑞声新能源发展(常州)有限公司科教城分公司 | Method and system for realizing Haptics haptic effect |
| CN111949133B (en) * | 2020-08-27 | 2022-06-21 | 歌尔科技有限公司 | Haptic feedback method, related device and computer-readable storage medium |
| CN112121411A (en) * | 2020-09-18 | 2020-12-25 | 腾讯科技（深圳）有限公司 | Vibration control method, device, electronic equipment and computer readable storage medium |
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