WO2021258483A1

WO2021258483A1 - Method and device for generating voltage driving signal, and storage medium

Info

Publication number: WO2021258483A1
Application number: PCT/CN2020/104643
Authority: WO
Inventors: 郑亚军
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: 2020-06-24
Filing date: 2020-07-24
Publication date: 2021-12-30
Also published as: CN111722721B; CN111722721A

Abstract

A method and device for generating a voltage driving signal, and a storage medium. The voltage driving signal is used for driving a motor. The method comprises: providing an expected vibration acceleration signal (S100); determining, according to the acceleration signal, a timestamp of which the acceleration is zero (S200); performing quadratic integration on the acceleration signal to obtain a displacement signal (S300); according to the timestamp, obtaining all displacement values, corresponding to the timestamp, on the displacement signal to form a first number sequence (S400); performing interpolation processing on the first number sequence to generate a bias curve comprising all the displacement values (S500); subtracting the bias curve from the displacement signal to obtain a bias-free displacement signal (S600); and converting the bias displacement signal by using an electromechanical coupling equation of the motor into the voltage driving signal used for driving the motor (S700). By means of the method, the bias generated by quadratic integration in the voltage driving signal can be effectively removed.

Description

Method, equipment and storage medium for generating voltage drive signal

Technical field

The present invention relates to the technical field of haptic effects, in particular to a method and equipment for generating a voltage drive signal, and a storage medium.

Background technique

In a vibration system, acceleration, velocity, and displacement are commonly used physical quantities that characterize the state of a vibrator. However, in practical applications, acceleration is the most commonly used physical quantity, because it is very convenient to measure it, just an acceleration sensor with sufficient accuracy. Although displacement is the most direct state representation of the state of the vibrator, velocity and acceleration only require one derivative and two derivative of the displacement, but the measurement of displacement requires more stringent measurement conditions. Therefore, in the pursuit of low-cost engineering production, Generally, the displacement signal will not be measured directly. Therefore, the acceleration signal is usually used to characterize the ideal vibration effect.

When designing the motor drive signal corresponding to the ideal vibration effect, how to combine the acceleration signal to facilitate the measurement and the displacement signal to be more intuitive? The acceleration signal can be selected by the acquisition object, and the displacement signal can be selected by the analysis object. However, a certain offset will be introduced during the second integration of the acceleration. If these offsets are not removed, the displacement signal from the second integration will appear "floating" (increasing), which does not meet the actual application scenario. of. Therefore, how to use the acceleration signal to design an accurate motor drive signal is a very important problem in engineering applications.

Summary of the invention

The present invention mainly provides a method for generating a voltage drive signal, a device, and a storage medium, which can solve the problem of introducing bias when the acceleration is integrated twice in the prior art.

In order to solve the above technical problems, a technical solution adopted by the present invention is to provide a method for generating a voltage drive signal, the voltage drive signal is used to drive a motor, and the method includes: providing a desired vibration acceleration signal; The acceleration signal determines the time stamp at which the acceleration is zero; the acceleration signal is integrated twice to obtain the displacement signal; according to the time stamp, all the displacement values on the displacement signal corresponding to the time stamp are obtained to form the first A sequence of numbers; performing interpolation processing on the first sequence of numbers to generate an offset curve containing all the displacement values; subtracting the displacement signal from the offset curve to obtain an unbiased displacement signal; using a motor The electromechanical coupling equation converts the bias displacement signal into a voltage drive signal for driving the motor.

Wherein, performing interpolation processing on the first number sequence to generate an offset curve including all the displacement values includes: inserting continuous monotonic values between adjacent timestamps, so that the first number sequence is expanded as required.述Offset curve.

Wherein, the length of the offset curve is the same as the length of the displacement signal.

Wherein, the method further includes: outputting the voltage driving signal to the motor by a voltage driving signal, so that the device performs haptic effect playback based on the voltage driving signal.

Wherein, the calculation formula of the voltage drive signal is:

Where, m denotes the mass of the mover of the motor, c denotes a motor mechanical damping, k is the spring constant of the motor; BL represents the electromechanical coupling coefficient, the coil resistance R _e represents a motor, L _e is Represents the coil inductance of the motor, i is the current, u is the voltage, x is the displacement,

Is the speed,

Is acceleration; where, acceleration

Provided by the acceleration signal, speed

It is obtained by performing one integration of the acceleration signal, and the displacement x is provided by the unbiased displacement signal.

Wherein, the interpolation processing on the first number sequence includes one of linear interpolation, polynomial interpolation, and spline interpolation.

In order to solve the above technical problems, another technical solution adopted by the present invention is to provide a device for generating bias of a voltage drive signal, the device including a processor and a memory, the memory storing computer instructions, and the processor Coupled with the memory, the processor executes the computer instructions during work to implement the foregoing generating method.

In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the above-mentioned generating method.

The beneficial effect of the present invention is: different from the situation in the prior art, the present invention provides a method for generating a voltage drive signal, a device, and a storage medium. The original acceleration signal is double-integrated to obtain the displacement signal. The value of the displacement signal at the recording time stamp is read to obtain the first number sequence, and the first number sequence is interpolated and through interpolation, the first number sequence is expanded to the length and The offset curve with the same length of the displacement signal, and finally the displacement signal is subtracted from the offset curve to obtain the displacement signal without offset, which can effectively remove the offset generated by the second integral in the AC signal.

Description of the drawings

In order to explain the technical solutions in the embodiments of the present invention more clearly, the following will briefly introduce the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings, among which:

FIG. 1 is a schematic flowchart of an embodiment of a method for generating a voltage drive signal according to the present invention;

Fig. 2 is a schematic diagram of an embodiment of the original AC signal of the present invention;

Fig. 3 is a schematic diagram of an embodiment of the original integrated signal of the present invention;

4 is a schematic diagram of an embodiment of the first number sequence of the present invention;

Fig. 5 is a schematic diagram of an embodiment of an unbiased integral signal of the present invention;

Fig. 6 is a schematic block diagram of an embodiment of a device for generating a voltage drive signal according to the present invention;

Fig. 7 is a schematic block diagram of an embodiment of a computer-readable storage medium provided by the present invention.

detailed description

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

Please also refer to FIG. 1. FIG. 1 is a schematic flowchart of an embodiment of a method for generating a voltage drive signal according to the present invention. As shown in FIG. 1, the method provided by the present invention includes the following steps:

S100: Provide a desired vibration acceleration signal.

Further combined with FIG. 2, FIG. 2 is a schematic diagram of an embodiment of the original AC signal of the present invention. Optionally, the original AC signal A0 in the embodiment of the present invention is an integrated signal. For example, in an application where an acceleration signal is integrated and converted into a displacement signal, the original AC signal A0 is a desired vibration acceleration signal.

S200: Determine a time stamp at which the acceleration is zero according to the acceleration signal.

Further, the time stamp T0 when the acceleration is zero is determined according to the acceleration signal and recorded. The time stamp T0 when all accelerations are zero is recorded as a series L0, that is, the series L0 represents the time of each zero-crossing point of the original AC signal A0 (acceleration signal).

S300: Perform quadratic integration on the acceleration signal to obtain a displacement signal.

Further combined with FIG. 3, FIG. 3 is a schematic diagram of an embodiment of the original integrated signal of the present invention. It can be understood that the original AC signal A0 in the present invention is an acceleration signal, so the acceleration signal can be integrated twice to obtain the original integrated signal, where the original integrated signal D0 is a displacement signal.

It should be noted that step S200 and step S300 of the present invention can also be performed at the same time, which is not specifically limited here.

S400: Obtain all displacement values corresponding to the timestamp on the displacement signal according to the timestamp to form a first number sequence.

Further combined with FIG. 4, FIG. 4 is a schematic diagram of an embodiment of the first number sequence of the present invention. Specifically, all the displacement values corresponding to the time stamp on the original integrated signal D0 (displacement signal) are selected to form the first series DL as shown in FIG. 4.

S500: Perform interpolation processing on the first number sequence to generate an offset curve including all displacement values.

Specifically, by performing interpolation processing on the first number sequence DL, that is, a continuous monotonic value is inserted between the signal whose time is L0 and the value is DL, so that the first number sequence DL is expanded into the offset curve Rc. Wherein, the length of the offset curve Rc is equal to the length of the displacement signal 0. It can be understood that the interpolation method in the embodiment of the present invention may be one of linear interpolation, polynomial interpolation, and spline interpolation, which is selected according to actual application scenarios, and is not specifically limited here.

S600: Subtract the displacement signal and the offset curve to obtain an unbiased displacement signal.

Combined with Fig. 5, Fig. 5 is a schematic diagram of an embodiment of the unbiased integral signal of the present invention. The original integral signal D0 (displacement signal) is subtracted from the above-mentioned offset curve Rc, and the unbiased integral as shown in Fig. 5 can be obtained. The signal D1 is a displacement signal without paranoia.

In the above embodiment, by identifying and recording the time stamp when the expected vibration acceleration signal number is zero, the original acceleration signal is integrated twice to obtain the displacement signal, and the value of the displacement signal at the recording time stamp is read to obtain the first A sequence of numbers, and the first sequence of numbers is interpolated and through interpolation, the first number sequence is expanded to an offset curve with the same length as the displacement signal, and finally the displacement signal is subtracted from the offset curve to obtain an unbiased displacement signal , This can effectively remove the offset generated by the second integral in the AC signal.

In addition, the method for generating a voltage drive signal provided by the present invention further includes:

S700, using the electromechanical coupling equation of the motor to convert the offset displacement signal into a voltage driving signal for driving the motor.

Specifically, the voltage drive signal is generated according to the unbiased displacement signal. Specifically, the unbiased integral signal D1 (displacement signal) is substituted into the electromechanical coupling equation to calculate the voltage drive signal, where the electromechanical coupling equation is:

Wherein, m represents a mass of the mover of the motor, c denotes mechanical damping of the motor, k represents a spring constant of the motor; BL represents the electromechanical coupling coefficient, R _e represents a coil resistance of the motor, L _e is a coil inductance of the motor, i is Current, u is voltage, x is displacement,

Is the speed,

Is acceleration; where, acceleration

Provided by acceleration signal, speed

It is obtained by integrating the acceleration signal once, and the displacement x is provided by the unbiased displacement signal. Optionally, in the embodiment of the present invention, when the displacement signal x=D1 is known, the displacement signal D1 is substituted into the motor coupling equation to obtain the voltage drive signal u=V1.

Further, the voltage driving signal V1 is output to the motor, so that the device performs haptic effect playback based on the voltage driving signal V1.

In this embodiment, the above-mentioned device can be any device with communication and storage functions, such as: tablet computer, mobile phone, e-reader, remote control, personal computer (PC), notebook computer, in-vehicle equipment, and Internet TV , Wearable devices and other smart devices with network functions.

In the above embodiment, by identifying and recording the time stamp at the time when the expected vibration acceleration signal is zero, the original acceleration signal is double-integrated to obtain the displacement signal, and the value of the displacement signal at the recording time stamp is read to obtain the first The first number sequence is interpolated and through interpolation, the first number sequence is expanded into an offset curve with the same length as the displacement signal. Finally, the displacement signal is subtracted from the offset curve to obtain an unbiased displacement signal. In this way, the offset generated by the second integration in the AC signal can be effectively removed.

Referring to FIG. 6, FIG. 6 is a schematic block diagram of an embodiment of a device for generating a voltage drive signal provided by the present invention. The device in this embodiment includes a processor 310 and a memory 320. The processor 310 is coupled with the memory 320, and the memory 320 stores a computer Instruction, the processor 310 executes computer instructions during work to implement the voltage driving signal generation method in any of the foregoing embodiments.

The processor 310 may also be referred to as a CPU (Central Processing Unit, central processing unit). The processor 310 may be an integrated circuit chip with signal processing capabilities. The processor 310 may also be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component . The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, but is not limited to this.

Referring to FIG. 7, FIG. 7 is a schematic block diagram of an embodiment of a computer-readable storage medium provided by the present invention. The computer-readable storage medium in this embodiment stores a computer program 410, which can be executed by a processor to realize the foregoing A method for generating a voltage drive signal in any embodiment.

Optionally, the readable storage medium can be a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, etc., which can store The medium of the program code, or a terminal device such as a computer, server, mobile phone, or tablet.

Different from the prior art, the embodiments of the present invention provide a method for generating a voltage drive signal, a device, and a storage medium. By identifying and recording the time stamp at the time when the expected vibration acceleration signal is zero, the original acceleration signal is double-integrated. Obtain the displacement signal, read the value of the displacement signal at the recording time stamp to obtain the first number sequence, and perform interpolation processing on the first number sequence and through interpolation, so that the first number sequence is expanded into an offset curve with the same length as the displacement signal Finally, the displacement signal is subtracted from the offset curve to obtain the displacement signal without offset, which can effectively remove the offset generated by the second integral in the AC signal.

The above are only the embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the description and drawings of the present invention, or directly or indirectly applied to other related technologies In the same way, all fields are included in the scope of patent protection of the present invention.

Claims

A method for generating a voltage drive signal, where the voltage drive signal is used to drive a motor, characterized in that the method includes:

Provide the desired vibration acceleration signal;

Determining a time stamp at which the acceleration is zero according to the acceleration signal;

Performing quadratic integration on the acceleration signal to obtain a displacement signal;

According to the time stamp, obtain all the displacement values corresponding to the time stamp on the displacement signal to form a first number sequence;

Performing interpolation processing on the first number sequence to generate an offset curve including all the displacement values;

Subtracting the displacement signal and the offset curve to obtain an unbiased displacement signal;

The motor electromechanical coupling equation is used to convert the bias displacement signal into a voltage drive signal for driving the motor.
The generating method according to claim 1, wherein performing interpolation processing on the first number sequence to generate an offset curve including all the displacement values comprises:

A continuous monotonic value is inserted between adjacent time stamps, so that the first number sequence is expanded to the offset curve.
The generating method according to claim 2, wherein the length of the offset curve and the length of the displacement signal are the same.
The generating method according to claim 1, wherein the method further comprises:

The voltage driving signal is output to the motor, so that the device performs haptic effect playback based on the voltage driving signal.
The generating method according to claim 4, wherein the calculation formula of the voltage driving signal is:

Where, m denotes the mass of the mover of the motor, c denotes a motor mechanical damping, k is the spring constant of the motor; BL represents the electromechanical coupling coefficient, the coil resistance R e represents a motor, L e is Represents the coil inductance of the motor, i is the current, u is the voltage, x is the displacement,
Is the speed,
Is acceleration; where, acceleration
Provided by the acceleration signal, speed
It is obtained by performing one integration of the acceleration signal, and the displacement x is provided by the unbiased displacement signal.
The generating method according to claim 1, wherein the interpolation processing on the first number sequence includes one of linear interpolation, polynomial interpolation, and spline interpolation.
A device for generating a voltage drive signal, characterized in that the device includes a processor and a memory, the memory stores computer instructions, the processor is coupled to the memory, and the processor executes the computer during work. Instructions to implement the generating method according to any one of claims 1 to 6.
A computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the generating method according to any one of claims 1 to 6.