WO2022110502A1 - 车载触控装置的线性参数的测试方法及装置 - Google Patents
车载触控装置的线性参数的测试方法及装置 Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/0416—Control or interface arrangements specially adapted for digitisers
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- the present invention claims the priority of the Chinese patent application with the application number of 202011328260.3 and the invention titled “Method and Device for Testing Linear Parameters of Vehicle-mounted Touch Device", which was submitted to the Chinese Patent Office on November 24, 2020, the entire contents of which are by reference Incorporated in the present invention.
- the invention relates to the field of electromechanical technology, and in particular, to a method and device for testing linear parameters of a vehicle-mounted touch device.
- Haptic feedback plays an important role in the interactive experience of electronic products, which can bring people an immersive and real experience.
- linear motors are more and more widely used in mid-to-high-end mobile phones, and have received good user experience feedback.
- haptic feedback is mainly used in mobile phones and less in the automotive industry.
- the interaction between the user and the car is usually realized through physical buttons.
- haptic feedback is becoming more and more important in interactive applications.
- the purpose of the present invention is to provide a method and device for testing linear parameters of a vehicle touch control device, which are used to realize haptic feedback on the vehicle.
- an embodiment of the present invention provides a method for testing linear parameters of a vehicle-mounted touch control device, where the vehicle-mounted touch control device includes a linear motor, and the method includes:
- the electrical equation of the linear motor and the mechanical equation of the vehicle-mounted touch device deduce the transfer function of the voltage to the current of the vehicle-mounted touch device
- the target value of the linear parameter of the vehicle-mounted touch device is calculated.
- the vehicle-mounted touch device further includes a touch screen and a vehicle-mounted spring
- the linear parameters include linear motor vibrator mass, linear motor spring stiffness coefficient, linear motor mechanical damping coefficient, linear motor electromagnetic force coefficient, linear motor voice coil inductance, linear motor voice coil resistance, vehicle touch device mass, vehicle spring stiffness coefficient and vehicle spring damping coefficient.
- the method is derived according to the mechanical equation of the linear motor, the electrical equation of the linear motor, and the mechanical equation of the vehicle-mounted touch device.
- the method further includes:
- the mechanical equation of the linear motor includes the linear motor vibrator mass, the linear motor mechanical damping coefficient, the linear motor spring stiffness coefficient and the linear motor electromagnetic force coefficient;
- the electrical equation of the linear motor including the linear motor voice coil resistance, the linear motor voice coil inductance and the linear motor electromagnetic force coefficient;
- a mechanical equation of the vehicle-mounted touch device is established, and the mechanical equation of the vehicle-mounted touch device includes the mass of the vehicle-mounted touch device, the vehicle-mounted spring damping coefficient, the linear motor mechanical damping coefficient, and the vehicle-mounted spring stiffness coefficient, the linear motor spring stiffness coefficient and the linear motor electromagnetic force coefficient.
- the method is derived according to the mechanical equation of the linear motor, the electrical equation of the linear motor, and the mechanical equation of the vehicle-mounted touch device.
- Obtaining the voltage-to-current transfer function of the vehicle-mounted touch device including:
- the transfer function of the voltage to the current of the vehicle touch device is derived.
- the transformation processing includes Laplace transformation processing.
- the calculation is performed according to the voltage measurement value, the current measurement value, the initial value of the linear parameter, and the transfer function.
- the target value of the linear parameter of the vehicle-mounted touch device including:
- Data fitting is performed on the current calculated value and the current measurement value to obtain the target value of the linear parameter of the vehicle-mounted touch device.
- the data fitting is performed on the current calculated value and the current measurement value to obtain the linear parameter of the vehicle-mounted touch device.
- Target values including:
- the initial value of the linear parameter corresponding to the current fitting result is used as the target value of the linear parameter of the vehicle-mounted touch device.
- an embodiment of the present invention provides a device for testing linear parameters of a vehicle-mounted touch device, the vehicle-mounted touch device includes a linear motor, and the test device includes:
- a derivation module configured to derive the transfer function from the voltage to the current of the vehicle-mounted touch device according to the mechanical equation of the linear motor, the electrical equation of the linear motor and the mechanical equation of the vehicle-mounted touch device;
- a first acquisition module configured to acquire initial values of linear parameters of the vehicle-mounted touch device
- a second acquisition module configured to acquire a voltage measurement value and a current measurement value of the linear motor in a vibrating state
- the calculation module is configured to calculate and obtain the target value of the linear parameter of the vehicle-mounted touch device according to the voltage measurement value, the current measurement value, the initial value of the linear parameter and the transfer function.
- an embodiment of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, which is implemented when the processor executes the computer program The steps of the method for testing the linear parameters of the vehicle-mounted touch device as described above.
- embodiments of the present invention provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the linearity of the vehicle-mounted touch device as described above is realized. The steps of the test method for the parameters.
- an embodiment of the present invention provides a method for testing linear parameters of a vehicle-mounted touch control device, wherein the vehicle-mounted touch control device includes a linear motor, and the method includes: according to the mechanical equation of the linear motor, the According to the electrical equation of the linear motor and the mechanical equation of the vehicle touch device, the transfer function from the voltage to the current of the vehicle touch device is derived; the initial value of the linear parameters of the vehicle touch device is obtained; voltage measurement value and current measurement value of the linear motor in the state; according to the voltage measurement value, the current measurement value, the initial value of the linear parameter and the transfer function, the The target value of the linear parameter, by testing the linear parameters of the linear model of the vehicle-mounted touch device, a set of accurate linear parameter values can be obtained for the linear model, so that a linear model that accurately describes the vehicle-mounted touch device can be obtained.
- the vehicle-mounted touch device can be simulated and modeled according to the linear model, thereby providing a high-accuracy haptic feedback solution applied to the vehicle
- FIG. 1 is a first schematic flowchart of a method for testing linear parameters of a vehicle-mounted touch device according to an embodiment of the present invention
- FIG. 2 is a schematic diagram of a vehicle-mounted touch device provided by an embodiment of the present invention.
- FIG. 3 is a schematic diagram of an equivalent two-degree-of-freedom mass-spring system of the vehicle-mounted touch device shown in FIG. 2;
- FIG. 4 is a second schematic flowchart of a method for testing linear parameters of a vehicle-mounted touch device according to an embodiment of the present invention
- Fig. 5 is the comparison schematic diagram of actual measurement result and fitting result provided by the embodiment of the present invention.
- FIG. 6 is a schematic diagram of a device for testing linear parameters of a vehicle-mounted touch device according to an embodiment of the present invention
- FIG. 7 is a schematic diagram of a terminal device according to an embodiment of the present invention.
- FIG. 1 is a first schematic flowchart of a method for testing linear parameters of a vehicle-mounted touch device according to an embodiment of the present invention. As shown in FIG. 1 , the method for testing the linear parameters of the vehicle-mounted touch device provided in this embodiment includes the following steps:
- the mechanical equation of the linear motor the electrical equation of the linear motor, and the mechanical equation of the vehicle-mounted touch device, derive a transfer function from the voltage to the current of the vehicle-mounted touch device.
- the execution body of this embodiment is a device for testing the linear parameters of the vehicle-mounted touch device, and the device for testing the linear parameters of the vehicle-mounted touch device may specifically be a test terminal, such as a computer.
- the vehicle-mounted touch device of this embodiment includes: a linear motor 21 , a touch screen 22 , a vehicle-mounted spring 23 and a base 24 .
- the working principle of the vehicle-mounted touch device of this embodiment is that: under the driving action of the linear motor, the touch screen directly or indirectly connected with the linear motor realizes reciprocating motion under the action of the restoring force of the vehicle-mounted spring.
- the mechanical equation of the linear motor may include linear parameters of the vehicle-mounted touch device, and may specifically include: linear motor vibrator mass, linear motor mechanical damping coefficient, linear motor spring stiffness coefficient, and linear motor electromagnetic force coefficient.
- the electrical equation of the linear motor may include linear parameters of the vehicle-mounted touch device, and may specifically include: the linear motor voice coil resistance, the linear motor voice coil inductance, and the linear motor electromagnetic force coefficient.
- the mechanical equation of the on-board touch device may include the linear parameters of the on-board touch device, and may specifically include: the mass of the on-board touch device (including the mass of the touch screen and the mass of the linear motor except the mass of the motor vibrator), the damping coefficient of the on-board spring, the linear Motor mechanical damping coefficient, on-board spring stiffness coefficient, linear motor spring stiffness coefficient and linear motor electromagnetic force coefficient.
- the transfer function may include linear parameters of the vehicle-mounted touch device, and may specifically include: linear motor vibrator mass, linear motor spring stiffness coefficient, linear motor mechanical damping coefficient, linear motor electromagnetic force coefficient, linear motor voice coil inductance, linear motor voice coil Resistance, on-board touch device mass, on-board spring stiffness coefficient and on-board spring damping coefficient, etc.
- the linear parameters included in the mechanical equation of the linear motor, the electrical equation of the linear motor, the mechanical equation of the vehicle-mounted touch device, and the transfer function can be set by the tester according to the actual situation, and the linear parameters included in the transfer function can be based on the mechanical equation of the linear motor,
- the linear parameters included in the electrical equation of the linear motor and the mechanical equation of the vehicle-mounted touch device are determined, and there is no specific limitation here, and the actual demand shall prevail.
- the specific parameters of the linear parameters of the vehicle-mounted touch device and the quantity of the linear parameters of the vehicle-mounted touch device can be determined by the tester according to the actual situation.
- the initial value of the linear parameter of the vehicle-mounted touch device can also be set according to the actual situation, which is not specifically limited here.
- the initial values of the linear parameters of the vehicle-mounted touch device may be empirical values, simulation values and design reference values.
- the linear motor can be driven to vibrate, and the voltage measurement value and the current measurement value can be obtained through a signal acquisition device connected to the test device of the vehicle-mounted touch device.
- the testing device for the linear parameter of the vehicle touch device can measure the voltage, current measurement value, the initial value of the linear parameter and the transfer function according to the , and calculate the target value of the linear parameters of the vehicle-mounted touch device.
- This embodiment provides a method for testing linear parameters of a vehicle-mounted touch device.
- the vehicle-mounted touch device includes a linear motor, and the method includes: deriving, according to a mechanical equation of the linear motor, an electrical equation of the linear motor, and a mechanical equation of the vehicle-mounted touch device Obtain the voltage-to-current transfer function of the vehicle-mounted touch device; obtain the initial value of the linear parameters of the vehicle-mounted touch device; obtain the voltage measurement value and current measurement value of the linear motor in a vibrating state; The initial value and transfer function of the linear parameters are calculated to obtain the target value of the linear parameters of the vehicle-mounted touch device.
- a set of accurate linear parameter values can be obtained for the linear model. , so that a linear model that accurately describes the vehicle touch device can be obtained, so that the vehicle touch device can be simulated and modeled according to the linear model, thereby providing a highly accurate haptic feedback solution applied to the vehicle.
- the linear parameters of the vehicle-mounted touch device may include: linear motor vibrator mass, linear motor spring stiffness coefficient, linear motor mechanical damping coefficient, linear motor electromagnetic force coefficient, linear motor voice coil inductance, linear motor voice coil Resistance, on-board touch device mass, on-board spring stiffness coefficient and on-board spring damping coefficient.
- step 101 it may include:
- the mechanical equation of the linear motor includes the linear motor vibrator mass, the linear motor mechanical damping coefficient, the linear motor spring stiffness coefficient and the linear motor electromagnetic force coefficient;
- the electrical equation of the linear motor includes the linear motor voice coil resistance, the linear motor voice coil inductance and the linear motor electromagnetic force coefficient;
- the mechanical equation of the vehicle touch device includes the weight of the vehicle touch device, the vehicle spring damping coefficient, the linear motor mechanical damping coefficient, the vehicle spring stiffness coefficient, the linear motor spring stiffness coefficient and the linear motor electromagnetic force coefficient.
- the vehicle-mounted touch device can be equivalent to the two-degree-of-freedom mass-spring system shown in FIG. 3 .
- the test device for the linear parameters of the vehicle touch device can establish the electromechanical coupling differential equation of the vehicle touch device according to the characteristics of the two-degree-of-freedom mass-spring system shown in Figure 3, which specifically includes the mechanical equation of the linear motor, the electrical equation of the linear motor and the Mechanical equations for in-vehicle touch devices.
- m 2 is the linear motor vibrator mass
- k 2 is the linear motor spring stiffness coefficient
- c 2 is the linear motor mechanical damping coefficient
- Bl is the linear motor electromagnetic force coefficient
- L is the linear motor voice coil inductance
- Re is the linear motor.
- m 1 is the mass of the on-board touch device (including the mass of the touch screen and the mass of the linear motor except the linear motor vibrator mass)
- k 1 is the stiffness coefficient of the on-board spring
- c 1 is the damping coefficient of the on-board spring
- x 1 is the displacement of the touch screen
- x 2 is the displacement of the linear motor vibrator
- t is the vibration time of the linear motor
- u is the voltage across the linear motor
- i is the current of the linear motor.
- step 101 may include:
- the voltage-to-current transfer function of the vehicle-mounted touch device is derived.
- the mechanical equation of the linear motor, the electrical equation of the linear motor, and the mechanical equation of the vehicle-mounted touch device may be the above equations (1) to (3), the above-mentioned mechanical equation of the linear motor (1), the electrical equation of the linear motor ( 2) and the mechanical equation (3) of the vehicle touch device is to model the vehicle touch device in the time domain, and the time domain needs to be transformed into the frequency domain for analysis.
- the transformation from the time domain to the frequency domain can be realized by transform processing such as Laplace transform and Fourier transform.
- Laplace transform processing can be selected from the time domain to the frequency domain.
- Laplace transform processing is performed on the above equations (1) to (3), respectively, to obtain the transformed equations (4) to (6).
- equations (4) to (6) are respectively the expression of the mechanical equation of the linear motor after the transformation, the electrical equation of the linear motor after the transformation, and the vehicle-mounted touch device after the transformation. expression of the mechanical equation.
- the transfer function H(s) of the voltage to the current of the on-board touch device can be derived.
- H(s) of the transfer function from the voltage to the current of the vehicle touch device is:
- T 1 m 1 s 2 +(c 1 +c 2 )s+(k 1 +k 2 )
- T 2 m 2 s 2 +c 2 s+k 2
- step 104 may include:
- Data fitting is performed on the current calculated value and the current measured value to obtain the target value of the linear parameter of the vehicle-mounted touch device.
- the initial value of the linear parameter can be an empirical value, a simulation value, etc.
- the difference between the calculated current value and the measured current value obtained by inputting the initial value of the linear parameter and the measured voltage value into the transfer function may be It will be relatively large. If the initial value of the linear parameter is directly used as the target value of the linear parameter of the vehicle touch device, the accuracy of the touch feedback will be affected. For the above reasons, data fitting can be performed on the current calculated value and the current measured value to reduce the difference between the current calculated value and the current measured value.
- the initial value of the linear parameter that makes the difference between the calculated current value and the measured current value small can be used as the target value of the linear parameter of the vehicle-mounted touch device .
- the step of performing data fitting on the current calculated value and the current measured value to obtain the target value of the linear parameter of the vehicle-mounted touch device may include:
- the initial value of the linear parameter corresponding to the current fitting result is used as the target value of the linear parameter of the vehicle-mounted touch device.
- the initial value of the linear parameter and the measured voltage value can be input into the above formula (7), and the calculated current value can be obtained by calculation.
- the least squares method can be used to fit the current calculated value and the current measured value to obtain the fitting result.
- the least squares method also known as the least squares method, is a mathematical optimization technique, which finds the optimal test result of the test parameters of the vehicle-mounted touch device by minimizing the squared sum of errors.
- the unknown data can be easily obtained by the least squares method, and the sum of squares of the errors between the obtained data and the actual data can be minimized.
- the least squares method is directly used by the existing algorithm, which is not repeated in this embodiment.
- the preset condition may be a first preset threshold
- the current fitting result may be the difference between the current calculated value and the measured current value, if the difference between the current calculated value and the measured current value is greater than the first If a preset threshold is set, it can be determined that the current fitting result does not meet the preset condition, and the initial value of the linear parameter can be adjusted.
- how to adjust the initial value of the linear parameter can be determined according to the actual situation, as long as the adjusted initial value of the linear parameter can reduce the difference between the current calculated value and the current measured value.
- FIG. 4 is a second schematic flowchart of a method for testing linear parameters of a vehicle-mounted touch device according to an embodiment of the present invention.
- the vehicle-mounted touch device includes: a linear motor, a touch screen, a vehicle-mounted spring and a base, and the linear parameters of the vehicle-mounted touch device may include: linear motor vibrator mass, linear motor spring stiffness coefficient, linear motor mechanical damping coefficient, linear motor Electromagnetic force coefficient, linear motor voice coil inductance, linear motor voice coil resistance, vehicle touch device mass, vehicle spring stiffness coefficient and vehicle spring damping coefficient.
- the method for testing the linear parameters of the vehicle-mounted touch device provided in this embodiment includes the following steps:
- m 2 is the linear motor vibrator mass
- k 2 is the linear motor spring stiffness coefficient
- c 2 is the linear motor mechanical damping coefficient
- x 1 is the touch screen displacement
- x 2 is the linear motor vibrator displacement
- Bl is the linear motor electromagnetic Force coefficient
- i is the linear motor current.
- R e is the linear motor voice coil resistance
- i is the linear motor current
- L is the linear motor voice coil inductance
- t is the linear motor vibration time
- Bl is the linear motor electromagnetic force coefficient
- x 1 is the touch screen displacement
- x 2 is the displacement of the vibrator of the linear motor
- u is the voltage across the linear motor.
- the mechanical equation of the vehicle-mounted touch device includes the mass of the vehicle-mounted touch device, the vehicle-mounted spring damping coefficient, the linear motor mechanical damping coefficient, the vehicle-mounted spring stiffness coefficient, the linear motor spring stiffness coefficient and the linear Motor electromagnetic force coefficient.
- m 1 is the mass of the on-board touch device (including the mass of the touch screen and the mass of the linear motor except the mass of the linear motor vibrator), x 1 is the displacement of the touch screen, x 2 is the displacement of the linear motor vibrator, and c 1 is the on-board spring Damping coefficient, c 2 is the mechanical damping coefficient of the linear motor, k 1 is the stiffness coefficient of the on-board spring, k 2 is the spring stiffness coefficient of the linear motor, Bl is the electromagnetic force coefficient of the linear motor, and i is the current of the linear motor.
- the Laplace transform can be performed on the above equations (1) to (3) to obtain the expression (4) of the mechanical equation of the linear motor after the transformation, and the expression of the electrical equation of the linear motor after the transformation. (5) and the expression (6) of the vehicle-mounted touch device after transformation processing.
- the expression (7) of the transfer function H(s) of the voltage to the current of the vehicle-mounted touch device can be derived according to the above equations (4) to (6).
- T 1 m 1 s 2 +(c 1 +c 2 )s+(k 1 +k 2 )
- T 2 m 2 s 2 +c 2 2+k 2
- a test device for linear parameters of a vehicle-mounted touch device can generate excitation signals according to test requirements.
- the excitation signal can use a nonlinear test signal with a peak voltage less than a preset value, which can prevent the linear motor from being damaged by a test signal with a large value while accurately testing the linear parameters.
- this embodiment filters the generated excitation signals to obtain excitation signals with a certain bandwidth, and uses the excitation signals to excite the linear motor.
- the generated excitation signal is a full-bandwidth white noise signal, which is filtered by a band-pass filter to obtain an excitation signal with a certain bandwidth.
- the filtered excitation signal is sent to a signal acquisition device connected to the linear motor, and the excitation signal is converted into digital-to-analog by the signal acquisition device, converted into an analog signal, amplified by a power amplifier, and transmitted to the linear motor to drive it to vibrate.
- the test device for the linear parameters of the vehicle-mounted touch device collects the voltage and current of the linear motor through the signal acquisition device.
- a high-precision resistor is added between the power amplifier and the linear motor, and the obtained current of the high-precision resistor is is the current of the linear motor.
- the way to obtain the current can directly obtain the current of the high-precision resistor, or obtain the voltage across the high-precision resistor and the resistance of the high-precision resistor, and calculate the current indirectly.
- the current is obtained by indirectly calculating the current. Specifically, the voltage across the two ends of the high-precision resistor is collected by the signal acquisition device, and the resistance value of the high-precision resistor is known (for example, the resistance value is 1 ⁇ (ohm). The high-precision resistance), the current is calculated from the voltage and resistance.
- the signal collection device When the voltage across the high-precision resistor is collected by the signal collection device, the current of the linear motor is collected synchronously. After the signal acquisition device obtains the voltage and current of the linear motor, it performs analog-to-digital conversion to obtain the voltage measurement value and the current measurement value.
- the specific models of the power amplifier, signal amplifier, linear motor and other devices used are not specifically limited.
- the linear parameters of the vehicle-mounted touch device include: mass m 1 of the vehicle-mounted touch device, mass m 2 of the linear motor vibrator, vehicle-mounted spring stiffness coefficient k 1 , linear motor spring stiffness coefficient k 2 , vehicle-mounted spring damping coefficient c 1 , The linear motor mechanical damping coefficient c 2 , the linear motor electromagnetic force coefficient Bl, the linear motor voice coil resistance Re , and the linear motor voice coil inductance L.
- the initial estimated value of the linear parameter of the vehicle-mounted touch device may be defined as the initial value of the linear parameter of the vehicle-mounted touch device.
- the estimated value is generally an empirical value, a simulation value, a design reference value, and the like.
- steps 408 to 412 may be:
- the initial value of the linear parameter and the measured voltage value can be input into the above formula (7), and the calculated current value can be obtained by calculation.
- the least squares method can be used to fit the current calculated value and the current measured value to obtain the fitting result.
- the least squares method also known as the least squares method, is a mathematical optimization technique, which finds the optimal test result of the test parameters of the vehicle touch device by minimizing the squared sum of errors.
- the unknown data can be easily obtained by the least squares method, and the sum of squares of the errors between the obtained data and the actual data can be minimized.
- the least squares method is directly used by the existing algorithm, which is not repeated in this embodiment.
- the preset condition may be a first preset threshold
- the current fitting result may be the difference between the current calculated value and the measured current value, if the difference between the current calculated value and the measured current value is greater than the first If a preset threshold is set, it can be determined that the current fitting result does not meet the preset condition, and the initial value of the linear parameter can be adjusted.
- how to adjust the initial value of the linear parameter can be determined according to the actual situation, as long as the adjusted initial value of the linear parameter can reduce the difference between the current calculated value and the current measured value.
- the target value of the linear parameter can be substituted into equations (1) to (3) to obtain the equation (1) after substituting the target value of the linear parameter. ) to (3).
- the equations (1) to (3) after substituting the target value of the linear parameter can be used as the target electromechanical coupling differential equation of the vehicle-mounted touch device.
- the result of an experiment is shown in Figure 5, where the abscissa represents the number of samples, the ordinate represents the current value, and the white part in the middle area between the measured data and the fitted data represents the deviation. It can be seen from FIG. 5 that the deviation between the actual measurement result and the fitting result is very small, which shows that the linear parameter measurement method of the vehicle touch device provided by this embodiment has obvious effect on the measurement of the linear parameter of the vehicle touch device. and accuracy.
- H(s) of the transfer function from the voltage to the current of the vehicle touch device is:
- m 2 is the linear motor vibrator mass
- k 2 is the linear motor spring stiffness coefficient
- c 2 is the linear motor mechanical damping coefficient
- Bl is the linear motor electromagnetic force coefficient
- L is the linear motor voice coil inductance
- Re is the linear motor.
- Voice coil resistance m 1 is the mass of the on-board touch device
- k 1 is the stiffness coefficient of the on-board spring
- c 1 is the damping coefficient of the on-board spring
- x 1 is the displacement of the touch screen
- x 2 is the displacement of the linear motor vibrator
- t is the linear motor Vibration time
- u is the voltage across the linear motor
- i is the linear motor current
- s is the frequency.
- T 1 m 1 s 2 +(c 1 +nc 2 )s+(k 1 +nk 2 )
- T 2 m 2 s 2 +c 2 s+k 2
- This embodiment provides a method for testing linear parameters of a vehicle-mounted touch device.
- the vehicle-mounted touch device includes a linear motor, and the method includes: deriving, according to a mechanical equation of the linear motor, an electrical equation of the linear motor, and a mechanical equation of the vehicle-mounted touch device Obtain the voltage-to-current transfer function of the vehicle-mounted touch device; obtain the initial value of the linear parameters of the vehicle-mounted touch device; obtain the voltage measurement value and current measurement value of the linear motor in a vibrating state; The initial value and transfer function of the linear parameters are calculated to obtain the target value of the linear parameters of the vehicle-mounted touch device.
- a set of accurate linear parameter values can be obtained for the linear model. , so that a linear model that accurately describes the vehicle touch device can be obtained, so that the vehicle touch device can be simulated and modeled according to the linear model, thereby providing a highly accurate haptic feedback solution applied to the vehicle.
- the vibration characteristics of the vehicle-mounted touch device can be analyzed based on the linear model, and related algorithms can be developed to control the motion of the linear motor in the later stage, so as to provide the vehicle-mounted touch device with vibration sensations of different frequencies and intensities.
- FIG. 6 is a schematic diagram of a device for testing linear parameters of a vehicle-mounted touch device according to an embodiment of the present invention.
- the vehicle-mounted touch device includes a linear motor, a touch screen, a vehicle-mounted spring, and the like.
- the testing device for the linear parameters of the vehicle-mounted touch device provided in this embodiment includes:
- the derivation module 61 is used for deriving the transfer function from the voltage to the current of the on-board touch device according to the mechanical equation of the linear motor, the electrical equation of the linear motor and the mechanical equation of the on-board touch device;
- the first obtaining module 62 is used to obtain the initial value of the linear parameter of the vehicle-mounted touch device
- the second acquisition module 63 is configured to acquire the voltage measurement value and the current measurement value of the linear motor in a vibrating state
- the calculation module 64 is configured to calculate and obtain the target value of the linear parameter of the vehicle-mounted touch device according to the voltage measurement value, the current measurement value, the initial value of the linear parameter and the transfer function.
- the device for testing the linear parameters of the vehicle-mounted touch device provided in this embodiment is used to implement the method for testing the linear parameters of the vehicle-mounted touch device described in the above embodiments, and the functions of each module can refer to the corresponding descriptions in the method embodiments. , its implementation principle and technical effect are similar, and details are not repeated here.
- FIG. 7 is a schematic diagram of a terminal device provided by an embodiment of the present invention.
- the terminal device 7 in this embodiment includes: a processor 70 , a memory 71 , and a computer program 72 stored in the memory 71 and running on the processor 70 , such as a computer program of a vehicle-mounted touch device. Test procedure for linear parameters.
- the processor 70 executes the computer program 72
- the steps in the above-mentioned embodiments of the method for testing linear parameters of each vehicle-mounted touch device are implemented, for example, steps 101 to 104 shown in FIG. 1 .
- the processor 70 executes the computer program 72
- the functions of the modules in the foregoing device embodiments for example, the functions of the modules 61 to 64 shown in FIG. 6 , are implemented.
- the computer program 72 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 71 and executed by the processor 70 to complete the this invention.
- the one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 72 in the terminal device 7 .
- the computer program 72 can be divided into a derivation module, a first acquisition module, a second acquisition module and a calculation module (unit modules in the virtual device), and the specific functions of each module are as follows:
- the derivation module is used to derive the transfer function from the voltage to the current of the on-board touch device according to the mechanical equation of the linear motor, the electrical equation of the linear motor and the mechanical equation of the on-board touch device;
- a first acquisition module used to acquire initial values of linear parameters of the vehicle-mounted touch device
- a second acquisition module configured to acquire the voltage measurement value and the current measurement value of the linear motor in a vibrating state
- the calculation module is used for calculating the target value of the linear parameter of the vehicle-mounted touch device according to the voltage measurement value, the current measurement value, the initial value of the linear parameter and the transfer function.
- the terminal device 7 may be a computing device such as a desktop computer, a notebook, a palmtop computer, and a cloud server.
- the terminal device 7 may include, but is not limited to, a processor 70 and a memory 71 .
- FIG. 7 is only an example of the terminal device 7, and does not constitute a limitation on the terminal device 7, and may include more or less components than the one shown, or combine some components, or different components
- the terminal device 7 may also include an input and output device, a network access device, a bus, and the like.
- the processor 70 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), ready-made Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
- a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
- the memory 71 may be an internal storage unit of the terminal device 7 , such as a hard disk or a memory of the terminal device 7 .
- the memory 71 can also be an external storage device of the terminal device 7, such as a plug-in hard disk equipped on the terminal device 7, a smart memory card (Smart Media Card, SMC), a secure digital card (Secure Digital, SD), Flash card (Flash Card) and so on.
- the memory 71 may also include both an internal storage unit of the terminal device 7 and an external storage device.
- the memory 71 is used to store the computer program and other programs and data required by the terminal device 7 .
- the memory 71 can also be used to temporarily store data that has been output or is to be output.
- the disclosed apparatus/terminal device and method may be implemented in other manners.
- the apparatus/terminal device embodiments described above are only illustrative.
- the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
- the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
- the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
- each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
- the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
- the integrated modules/units if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium.
- the present invention can implement all or part of the processes in the methods of the above embodiments, and can also be completed by instructing relevant hardware through a computer program.
- the computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps of the foregoing method embodiments can be implemented.
- the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like.
- the computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, Read-Only Memory (ROM) , Random Access Memory (Random Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable media Electric carrier signals and telecommunication signals are not included.
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Abstract
一种车载触控装置的线性参数的测试方法及装置，车载触控装置包括线性马达，方法包括：根据线性马达的机械方程、线性马达的电学方程和车载触控装置的机械方程，推导得到车载触控装置的电压到电流的传递函数（101）；获取车载触控装置的线性参数的初始值（102）；获取处于振动状态的线性马达的电压测量值和电流测量值（103）；根据电压测量值、电流测量值、线性参数的初始值以及传递函数，计算得到车载触控装置的线性参数的目标值（104）。该方法可以提供一种应用于汽车上的准确性较高的触觉反馈方案。
Description
本发明要求于2020年11月24日提交中国专利局、申请号为202011328260.3、发明名称为“车载触控装置的线性参数的测试方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本发明中。
本发明涉及机电技术领域，尤其涉及一种车载触控装置的线性参数的测试方法及装置。
触觉反馈在电子产品的交互体验中起着重要作用，可以给人带来一种身临其境的真实体验。尤其以线性马达为代表在中高端手机中的应用越来越广泛，获得了很好的用户体验反馈。
目前，触觉反馈主要应用在手机中，在汽车行业应用较少。比如，现有技术中，通常通过物理按键实现用户与汽车之间的交互。而随着汽车交互系统的全面屏发展和传统物理按键取消，触觉反馈在交互应用中显得越来越重要。
因此，有必要提供一种应用在汽车上的触觉反馈方案。
【发明内容】
本发明的目的在于提供一种车载触控装置的线性参数的测试方法及装置，用于实现在汽车上的触觉反馈。
本发明的技术方案如下：
第一方面，本发明实施例提供一种车载触控装置的线性参数的测试方法，所述车载触控装置包括线性马达，所述方法包括：
根据所述线性马达的机械方程、所述线性马达的电学方程和所述车载触控装置的机械方程，推导得到所述车载触控装置的电压到电流的传递函数；
获取所述车载触控装置的线性参数的初始值；
获取处于振动状态的所述线性马达的电压测量值和电流测量值；
根据所述电压测量值、所述电流测量值、所述线性参数的初始值以及所述传递函数，计算得到所述车载触控装置的线性参数的目标值。
在本发明实施例所提供的车载触控装置的线性参数的测试方法中，所述车载触控装置还包括触控屏和车载弹簧，所述线性参数包括线性马达振子质量、线性马达弹簧劲度系数、线性马达机械阻尼系数、线性马达电磁力系数、线性马达音圈电感、线性马达音圈电阻、车载触控装置质量、车载弹簧劲度系数和车载弹簧阻尼系数。
在本发明实施例所提供的车载触控装置的线性参数的测试方法中，所述根据所述线性马达的机械方程、所述线性马达的电学方程和所述车载触控装置的机械方程，推导得到所述车载触控装置的电压到电流的传递函数之前，还包括：
建立所述线性马达的机械方程，所述线性马达的机械方程包括所述线性马达振子质量、所述线性马达机械阻尼系数、所述线性马达弹簧劲度系数和所述线性马达电磁力系数；
建立所述线性马达的电学方程，所述线性马达的电学方程包括所述线性马达音圈电阻、所述线性马达音圈电感和所述线性马达电磁力系数；
建立所述车载触控装置的机械方程，所述车载触控装置的机械方程包括所述车载触控装置质量、所述车载弹簧阻尼系数、所述线性马达机械阻尼系数、所述车载弹簧劲度系数、所述线性马达弹簧劲度系数和所述线性马达电磁力系数。
在本发明实施例所提供的车载触控装置的线性参数的测试方法中，所述根据所述线性马达的机械方程、所述线性马达的电学方程和所述车载触控装置的机械方程，推导得到所述车载触控装置的电压到电流的传递函数，包括：
对所述线性马达的机械方程、所述线性马达的电学方程和所述车载触控装置的机械方程，分别进行变换处理，得到变换处理后的线性马达的机械方程、变换处理后的线性马达的电学方程和变换处理后的车载触控装置的机械方程；
根据变换处理后的线性马达的机械方程、变换处理后的线性马达 的电学方程和变换处理后的车载触控装置的机械方程，推导得到车载触控装置的电压到电流的传递函数。
在本发明实施例所提供的车载触控装置的线性参数的测试方法中，所述变换处理包括拉普拉斯变换处理。
在本发明实施例所提供的车载触控装置的线性参数的测试方法中，所述根据所述电压测量值、所述电流测量值、所述线性参数的初始值以及所述传递函数，计算得到所述车载触控装置的线性参数的目标值，包括：
将所述线性参数的初始值和所述电压测量值输入所述传递函数，计算得到电流计算值；
对所述电流计算值和所述电流测量值进行数据拟合，得到所述车载触控装置的线性参数的目标值。
在本发明实施例所提供的车载触控装置的线性参数的测试方法中，所述对所述电流计算值和所述电流测量值进行数据拟合，得到所述车载触控装置的线性参数的目标值，包括：
对所述电流计算值和所述电流测量值进行数据拟合，得到当前拟合结果；
若当前拟合结果不满足预设条件，则调整线性参数的初始值；
将调整后的线性参数的初始值作为新的线性参数的初始值，并返回执行将线性参数的初始值输入所述传递函数，计算得到电流计算值的步骤，直至当前拟合结果满足预设条件；
若当前拟合结果满足预设条件，则将当前拟合结果对应的线性参数的初始值作为所述车载触控装置的线性参数的目标值。
第二方面，本发明实施例提供一种车载触控装置的线性参数的测试装置，所述车载触控装置包括线性马达，所述测试装置包括：
推导模块，用于根据所述线性马达的机械方程、所述线性马达的电学方程和所述车载触控装置的机械方程，推导得到所述车载触控装置的电压到电流的传递函数；
第一获取模块，用于获取所述车载触控装置的线性参数的初始值；
第二获取模块，用于获取处于振动状态的所述线性马达的电压测 量值和电流测量值；
计算模块，用于根据所述电压测量值、所述电流测量值、所述线性参数的初始值以及所述传递函数，计算得到所述车载触控装置的线性参数的目标值。
第三方面，本发明实施例提供一种终端设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上所述的车载触控装置的线性参数的测试方法的步骤。
第四方面，本发明实施例提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时，实现如上所述的车载触控装置的线性参数的测试方法的步骤。
本发明的有益效果在于：本发明实施例提供一种车载触控装置的线性参数的测试方法，所述车载触控装置包括线性马达，所述方法包括：根据所述线性马达的机械方程、所述线性马达的电学方程和所述车载触控装置的机械方程，推导得到所述车载触控装置的电压到电流的传递函数；获取所述车载触控装置的线性参数的初始值；获取处于振动状态的所述线性马达的电压测量值和电流测量值；根据所述电压测量值、所述电流测量值、所述线性参数的初始值以及所述传递函数，计算得到所述车载触控装置的线性参数的目标值，通过对车载触控装置的线性模型的线性参数进行测试，可以为该线性模型得到一组准确的线性参数值，从而可得到一准确描述车载触控装置的线性模型，从而可根据该线性模型对车载触控装置进行仿真建模，进而可以提供一种应用于汽车上的准确性较高的触觉反馈方案。
图1为本发明实施例提供的车载触控装置的线性参数的测试方法的第一种流程示意图；
图2为本发明实施例提供的车载触控装置的示意图；
图3为图2所示的车载触控装置的等效二自由度质量弹簧系统的示意图；
图4为本发明实施例提供的车载触控装置的线性参数的测试方法的第二种流程示意图；
图5为本发明实施例提供的实测结果与拟合结果对比示意图；
图6为本发明实施例提供的车载触控装置的线性参数的测试装置的示意图；
图7为本发明实施例提供的终端设备的示意图。
下面结合附图和实施方式对本发明作进一步说明。
图1是本发明实施例提供的车载触控装置的线性参数的测试方法的第一种流程示意图。如图1所示，本实施例提供的车载触控装置的线性参数的测试方法，包括以下步骤：
101、根据线性马达的机械方程、线性马达的电学方程和车载触控装置的机械方程，推导得到车载触控装置的电压到电流的传递函数。
本实施例的执行主体为车载触控装置的线性参数的测试装置，该车载触控装置的线性参数的测试装置可具体为测试终端，如计算机。
如图2所示，本实施例的车载触控装置包括：线性马达21、触控屏22、车载弹簧23和底座24。
本实施例的车载触控装置的工作原理是：在线性马达的驱动作用下，与线性马达直接或间接相连的触控屏在车载弹簧回复力作用下实现往复运动。
在本实施例中，线性马达的机械方程可包括车载触控装置的线性参数，具体可包括：线性马达振子质量、线性马达机械阻尼系数、线性马达弹簧劲度系数和线性马达电磁力系数。
线性马达的电学方程可包括车载触控装置的线性参数，具体可包括：线性马达音圈电阻、线性马达音圈电感和线性马达电磁力系数。
车载触控装置的机械方程可包括车载触控装置的线性参数，具体可包括：车载触控装置质量(包括触控屏质量和除马达振子质量外的线性马达质量)、车载弹簧阻尼系数、线性马达机械阻尼系数、车载弹簧劲度系数、线性马达弹簧劲度系数和线性马达电磁力系数。
传递函数可包括车载触控装置的线性参数，具体可包括：线性马达振子质量、线性马达弹簧劲度系数、线性马达机械阻尼系数、线性马达电磁力系数、线性马达音圈电感、线性马达音圈电阻、车载触控装置质量、车载弹簧劲度系数和车载弹簧阻尼系数，等等。
需要说明的是，以上仅仅是对线性马达的机械方程、线性马达的电学方程、车载触控装置的机械方程和传递函数所包括的线性参数的一种示例，并不用于限制本发明。也即，线性马达的机械方程、线性马达的电学方程和车载触控装置的机械方程所包括的线性参数可由测试人员根据实际情况设置，传递函数所包括的线性参数可以根据线性马达的机械方程、线性马达的电学方程和车载触控装置的机械方程所包括的线性参数确定，此处不作具体限制，以实际需求为准。
102、获取车载触控装置的线性参数的初始值。
在本实施例中，车载触控装置的线性参数具体为哪些参数、车载触控装置的线性参数的数量可以由测试人员根据实际情况确定。车载触控装置的线性参数的初始值也可以根据实际情况设置，此处不作具体限制。
比如，该车载触控装置的线性参数的初始值可以为经验值、仿真值和设计参考值。
103、获取处于振动状态的线性马达的电压测量值和电流测量值。
比如，可以驱使线性马达振动，并通过与车载触控装置的测试装置连接的信号采集装置获取该电压测量值和电流测量值。
104、根据电压测量值、电流测量值、线性参数的初始值以及传递函数，计算得到车载触控装置的线性参数的目标值。
比如，当得到电压测量值、电流测量值、线性参数的初始值以及传递函数之后，车载触控装置的线性参数的测试装置可以根据电压测量值、电流测量值、线性参数的初始值以及传递函数，计算得到车载触控装置的线性参数的目标值。
本实施例提供一种车载触控装置的线性参数的测试方法，车载触控装置包括线性马达，方法包括：根据线性马达的机械方程、线性马达的电学方程和车载触控装置的机械方程，推导得到车载触控装置的 电压到电流的传递函数；获取车载触控装置的线性参数的初始值；获取处于振动状态的线性马达的电压测量值和电流测量值；根据电压测量值、电流测量值、线性参数的初始值以及传递函数，计算得到车载触控装置的线性参数的目标值，通过对车载触控装置的线性模型的线性参数进行测试，可以为该线性模型得到一组准确的线性参数值，从而可得到一准确描述车载触控装置的线性模型，从而可根据该线性模型对车载触控装置进行仿真建模，进而可以提供一种应用于汽车上的准确性较高的触觉反馈方案。
在一些实施例中，车载触控装置的线性参数可以包括：线性马达振子质量、线性马达弹簧劲度系数、线性马达机械阻尼系数、线性马达电磁力系数、线性马达音圈电感、线性马达音圈电阻、车载触控装置质量、车载弹簧劲度系数和车载弹簧阻尼系数。
在另一些实施例中，在步骤101之前，可以包括：
建立线性马达的机械方程，线性马达的机械方程包括线性马达振子质量、线性马达机械阻尼系数、线性马达弹簧劲度系数和线性马达电磁力系数；
建立线性马达的电学方程，线性马达的电学方程包括线性马达音圈电阻、线性马达音圈电感和线性马达电磁力系数；
建立车载触控装置的机械方程，车载触控装置的机械方程包括车载触控装置质量、车载弹簧阻尼系数、线性马达机械阻尼系数、车载弹簧劲度系数、线性马达弹簧劲度系数和线性马达电磁力系数。
比如，车载触控装置可等效为如图3所示的二自由度质量弹簧系统。车载触控装置的线性参数的测试装置可以根据图3所示的二自由度质量弹簧系统特征，建立车载触控装置的机电耦合微分方程，具体包括线性马达的机械方程、线性马达的电学方程和车载触控装置的机械方程。
其中，线性马达的机械方程的表达式为：
线性马达的电学方程的表达式为：
车载触控装置的机械方程的表达式为：
其中，m
2为线性马达振子质量，k
2为线性马达弹簧劲度系数，c
2为线性马达机械阻尼系数，Bl为线性马达电磁力系数，L为线性马达音圈电感，R
e为线性马达音圈电阻，m
1为车载触控装置质量(包括触控屏质量和除线性马达振子质量外的线性马达质量)，k
1为车载弹簧劲度系数，c
1为车载弹簧阻尼系数，x
1为触控屏位移，x
2为线性马达振子位移，t为线性马达振动时间，u为线性马达两端的电压，i为线性马达电流。
在一些实施例中，步骤101可以包括：
对线性马达的机械方程、线性马达的电学方程和车载触控装置的机械方程，分别进行变换处理，得到变换处理后的线性马达的机械方程、变换处理后的线性马达的电学方程和变换处理后的车载触控装置的机械方程；
根据变换处理后的线性马达的机械方程、变换处理后的线性马达的电学方程和变换处理后的车载触控装置的机械方程，推导得到车载触控装置的电压到电流的传递函数。
比如，线性马达的机械方程、线性马达的电学方程和车载触控装置的机械方程可以为上式(1)至式(3)，上述线性马达的机械方程(1)、线性马达的电学方程(2)和车载触控装置的机械方程(3)是在时域上对车载触控装置建模，进行分析时，需要将时域变换到频域上。其中，从时域到频域可以通过拉普拉斯变换和傅里叶变换等变换处理实现。
本实施例中，从时域到频域可以选用拉普拉斯变换处理。对上述式(1)至式(3)分别进行拉普拉斯变换处理，分别得到变换后的式(4)至式(6)。
-(c
2s+k
2)X
1(s)+(m
2s
2+c
22+k
2)X
2(s)＝BlI(s) (4)
(R
e+sL)I(s)+Bls(X
2-X
1)＝U(s) (5)
[m
1s
2+(c
1+c
2)s+(k
1+k
2)]X
1(s)-(c
2s+k
2)X
2(s)＝-BlI(s) (6)
其中，s为频率。
可以理解的是，式(4)至式(6)分别为变换处理后的线性马达的机械方程的表达式、变换处理后的线性马达的电学方程的表达式和变换处理后的车载触控装置的机械方程的表达式。
随后，可以根据变换处理后的线性马达的机械方程、线性马达的电学方程和车载触控装置的机械方程，推导得到车载触控装置的电压到电流的传递函数H(s)。
其中，车载触控装置的电压到电流的传递函数的表达式H(s)为：
其中，T
1＝m
1s
2+(c
1+c
2)s+(k
1+k
2)
T
2＝m
2s
2+c
2s+k
2
P＝c
2s+k
2
在另一些实施例中，步骤104可以包括：
将线性参数的初始值和电压测量值输入传递函数，计算得到电流计算值；
对电流计算值和电流测量值进行数据拟合，得到车载触控装置的线性参数的目标值。
可以理解的是，虽然线性参数的初始值可以为经验值、仿真值等，但是将线性参数的初始值和电压测量值输入传递函数计算得到的电流计算值与电流测量值之间的差值可能会相对较大，若直接将该线性参数的初始值作为车载触控装置的线性参数的目标值会影响触控反馈的准确性。基于上述原因，可以对电流计算值和电流测量值进行数据拟合，以减小电流计算值与电流测量值之间的差值。当电流计算值与电流测量值之间的差值较小时，可以将使得电流计算值与电流测量值之间的差值较小的线性参数的初始值作为车载触控装置的线性参数的目标值。
在一些实施例中，对电流计算值和电流测量值进行数据拟合，得到车载触控装置的线性参数的目标值的步骤，可以包括：
对电流计算值和电流测量值进行数据拟合，得到当前拟合结果；
若当前拟合结果不满足预设条件，则调整线性参数的初始值；
将调整后的线性参数的初始值作为新的线性参数的初始值，并返回执行将线性参数的初始值和电压测量值输入传递函数，计算得到电流计算值的步骤，直至当前拟合结果满足预设条件；
若当前拟合结果满足预设条件，则将当前拟合结果对应的线性参数的初始值作为车载触控装置的线性参数的目标值。
首先，可将线性参数的初始值和电压测量值输入上式(7)，计算得到电流计算值。
其次，可以采用最小二乘法对电流计算值和电流测量值进行数据拟合，得到拟合结果。
其中，最小二乘法又称最小平方法，是一种数学优化技术，它通过最小化误差的平方和寻找车载触控装置的测试参数的最优测试结果。利用最小二乘法可以简便地求得未知的数据，并使得这些求得的数据与实际数据之间误差的平方和为最小。最小二乘法为现有的算法直接使用，本实施例中不再赘述。
当然，还可以采用其他方法进行数据拟合，例如用解析表达式逼近离散数据方法等，本实施例不做具体限定。
具体的，预设条件可以为第一预设阈值，当前拟合结果可以为当前电流计算值与电流测量值之间的差值，若当前电流计算值与电流测量值之间的差值大于第一预设阈值，则可以确定当前拟合结果不满足预设条件，则可以调整线性参数的初始值。将调整后的线性参数的初始值作为新的线性参数的初始值，并返回执行将线性参数的初始值输入传递函数，计算得到电流计算值的步骤，并将该计算得到的电流计算值作为当前电流计算值和电流测量值进行数据拟合，直至当前电流计算值与电流测量值之间的差值不大于第一预设阈值，即直至当前拟合结果满足预设条件。若当前电流计算值与电流测量值之间的差值不大于第一预设阈值，则可以确定当前拟合结果满足预设条件，则可以 将当前拟合结果对应的线性参数的初始值作为车载触控装置的线性参数的目标值。
其中，具体如何调整线性参数的初始值可以根据实际情况确定，只要调整后的线性参数的初始值可以使得电流计算值与电流测量值之间的差值减小即可。
请参阅图4，图4为本发明实施例提供的车载触控装置的线性参数的测试方法的第二种流程示意图。其中，车载触控装置包括：线性马达、触控屏、车载弹簧和底座，车载触控装置的线性参数可以包括：线性马达振子质量、线性马达弹簧劲度系数、线性马达机械阻尼系数、线性马达电磁力系数、线性马达音圈电感、线性马达音圈电阻、车载触控装置质量、车载弹簧劲度系数和车载弹簧阻尼系数。本实施例提供的车载触控装置的线性参数的测试方法，包括以下步骤：
401、建立线性马达的机械方程，线性马达的机械方程包括线性马达振子质量、线性马达机械阻尼系数、线性马达弹簧劲度系数和线性马达电磁力系数。
比如，线性马达的机械方程的表达式为：
其中，m
2为线性马达振子质量，k
2为线性马达弹簧劲度系数，c
2为线性马达机械阻尼系数，x
1为触控屏位移，x
2为线性马达振子位移，Bl为线性马达电磁力系数，i为线性马达电流。
402、建立线性马达的电学方程，线性马达的电学方程包括线性马达音圈电阻、线性马达音圈电感和线性马达电磁力系数。
比如，线性马达的电学方程的表达式为：
其中，R
e为线性马达音圈电阻，i为线性马达电流，L为线性马达音圈电感，t为线性马达振动时间，Bl为线性马达电磁力系数，x
1为触控屏位移，x
2为线性马达振子位移，u为线性马达两端的电压。
403、建立车载触控装置的机械方程，车载触控装置的机械方程包括车载触控装置质量、车载弹簧阻尼系数、线性马达机械阻尼系数、 车载弹簧劲度系数、线性马达弹簧劲度系数和线性马达电磁力系数。
比如，车载触控装置的机械方程的表达式为：
其中，m
1为车载触控装置质量(包括触控屏质量和除线性马达振子质量外的线性马达质量)，x
1为触控屏位移，x
2为线性马达振子位移，c
1为车载弹簧阻尼系数，c
2为线性马达机械阻尼系数，k
1车载弹簧劲度系数，k
2为线性马达弹簧劲度系数，Bl为线性马达电磁力系数，i为线性马达电流。
404、对线性马达的机械方程、线性马达的电学方程和车载触控装置的机械方程，分别进行拉普拉斯变换处理，得到变换处理后的线性马达的机械方程、变换处理后的线性马达的电学方程和变换处理后的车载触控装置的机械方程。
比如，可以对上式(1)至(3)进行拉普拉斯变换处理，得到变换处理后的线性马达的机械方程的表达式(4)、变换处理后的线性马达的电学方程的表达式(5)和变换处理后的车载触控装置的表达式(6)。
-(c
2s+k
2)X
1(s)+(m
2s
2+c
2s+k
2)X
2(s)＝BlI(s) (4)
(R
e+sL)I(s)+Bls(X
2-X
1)＝U(s) (5)
[m
1s
2+(c
1+c
2)s+(k
1+k
2)]X
1(s)-(c
2s+k
2)X
2(s)＝-BlI(s) (6)
其中，s为频率。
405、根据变换处理后的线性马达的机械方程、变换处理后的线性马达的电学方程和变换处理后的车载触控装置的机械方程，推导得到车载触控装置的电压到电流的传递函数。
比如，可以根据上式(4)至(6)，推导得到车载触控装置的电压到电流的传递函数H(s)的表达式(7)。
其中，T
1＝m
1s
2+(c
1+c
2)s+(k
1+k
2)
T
2＝m
2s
2+c
22+k
2
P＝c
2s+k
2
406、获取处于振动状态的线性马达的电压测量值和电流测量值。
比如，车载触控装置的线性参数的测试装置可以根据测试需求生成激励信号。比如，该激励信号可以使用峰值电压小于预设值的非线性测试信号，在实现精确测试线性参数的同时，可避免采用大幅值的测试信号损坏线性马达。
为了准确建模，对各种位移处的线性马达进行激励，本实施例对生成的激励信号进行滤波处理，得到一定带宽的激励信号，以此激励信号激励线性马达。比如，生成的激励信号为全带宽的白噪声信号，采用带通滤波器对其进行滤波处理，得到一定带宽的激励信号。
将滤波处理后的激励信号发送至与线性马达连接的信号采集装置，通过信号采集装置将激励信号进行数模转换，转换为模拟信号经过功率放大器进行放大，传输到线性马达上，驱使其振动。
车载触控装置的线性参数的测试装置通过信号采集装置采集线性马达的电压和电流。
由于串联电路中电流处处相等且等于回路电流，为了方便获取处于振动状态的线性马达的电流，本实施例中，在功率放大器与线性马达之间增设一高精度电阻，获取的高精度电阻的电流即为线性马达的电流。获取电流的方式可以直接获取高精度电阻的电流，也可以获取高精度电阻两端的电压和高精度电阻的电阻，间接计算电流。
本实施例中，采用间接计算电流的方式获取电流，具体的：通过信号采集装置采集高精度电阻两端的电压，该高精度电阻的阻值为已知的(例如采用阻值为1Ω(欧姆)的高精度电阻)，通过电压和电阻计算得到电流。
通过信号采集装置采集高精度电阻两端的电压时，同步采集线性马达的电流。信号采集装置得到线性马达的电压和电流后，对其进行模数转换，从而得到电压测量值和电流测量值。
本实施例中获取线性马达的电压测量值和电流测量值时，对采用 的功率放大器、信号放大器以及线性马达等装置的具体型号不做具体限定。
407、获取车载触控装置的线性参数的初始值。
其中，车载触控装置的线性参数包括：车载触控装置质量m
1，线性马达振子质量m
2，车载弹簧劲度系数k
1，线性马达弹簧劲度系数k
2，车载弹簧阻尼系数c
1，线性马达机械阻尼系数c
2，线性马达电磁力系数Bl，线性马达音圈电阻R
e，线性马达音圈电感L。
本实施例中，可以定义上述车载触控装置的线性参数的初始预估值，作为车载触控装置的线性参数的初始值。其中，该预估值一般为经验值、仿真值、设计参考值等。
408、将线性参数的初始值和电压测量值输入传递函数，计算得到电流计算值。
409、对电流计算值和电流测量值进行数据拟合，得到当前拟合结果。
410、若当前拟合结果不满足预设条件，则调整线性参数的初始值。
411、将调整后的线性参数的初始值作为新的线性参数的初始值，并返回执行步骤408，直至当前拟合结果满足预设条件。
412、若当前拟合结果满足预设条件，则将当前拟合结果对应的线性参数的初始值作为车载触控装置的线性参数的目标值。
比如，步骤408至412可以为：
首先，可将线性参数的初始值和电压测量值输入上式(7)，计算得到电流计算值。
其次，可以采用最小二乘法对电流计算值和电流测量值进行数据拟合，得到拟合结果。
其中，最小二乘法又称最小平方法，是一种数学优化技术，它通过最小化误差的平方和寻找车载触控装置的测试参数的最优测试结果。利用最小二乘法可以简便地求得未知的数据，并使得这些求得的数据与实际数据之间误差的平方和为最小。最小二乘法为现有的算法直接使用，本实施例中不再赘述。
当然，还可以采用其他方法进行数据拟合，例如用解析表达式逼近离散数据方法等，本实施例不做具体限定。
具体的，预设条件可以为第一预设阈值，当前拟合结果可以为当前电流计算值与电流测量值之间的差值，若当前电流计算值与电流测量值之间的差值大于第一预设阈值，则可以确定当前拟合结果不满足预设条件，则可以调整线性参数的初始值。将调整后的线性参数的初始值作为新的线性参数的初始值，并返回执行将线性参数的初始值输入传递函数，计算得到电流计算值的步骤，并将该计算得到的电流计算值作为当前电流计算值和电流测量值进行数据拟合，直至当前电流计算值与电流测量值之间的差值不大于第一预设阈值，即直至当前拟合结果满足预设条件。若当前电流计算值与电流测量值之间的差值不大于第一预设阈值，则可以确定当前拟合结果满足预设条件，则可以将当前拟合结果对应的线性参数的初始值作为车载触控装置的线性参数的目标值。
其中，具体如何调整线性参数的初始值可以根据实际情况确定，只要调整后的线性参数的初始值可以使得电流计算值与电流测量值之间的差值减小即可。
可以理解的是，当得到车载触控装置的线性参数的目标值之后，可以将该线性参数的目标值代入式(1)至(3)中，得到代入线性参数的目标值之后的式(1)至(3)。该代入线性参数的目标值之后的式(1)至(3)可以作为车载触控装置的目标机电耦合微分方程。
当得到目标机电耦合微分方程之后，可以进行以下实验：
驱动线性马达振动，并获取线性马达振子位移、触控屏位移和线性马达两端的电压值，代入目标机电耦合微分方程中，计算出电流计算值作为拟合结果。随后，可获取线性马达的实际电流值作为实测结果，比较拟合结果和实测结果之间的偏差。通过多次进行上述过程，可以得到多个实测结果与多个拟合结果，以及各实测结果与其对应的拟合结果的偏差。
例如，某次实验结果如图5所示，其中，横坐标表示采样数，纵坐标表示电流值，实测数据和拟合数据的中间区域的白色部分表示偏 差。从图5可以看出，实测结果与拟合结果的偏差很小，可以说明采用本实施例提供的车载触控装置的线性参数的测试方法对车载触控装置的线性参数进行测量具有明显的效果和准确性。
需要说明的是，上述车载触控装置的线性参数的测试方法也适用于在触控屏上安装多个线性马达，只需对线性马达的机械方程、线性马达的电学方程和车载触控装置的机械方程进行修改即可。
比如，若安装n(n≥1)个线性马达，则线性马达的机械方程的表达式可以为：
线性马达的电学方程的表达式为：
车载触控装置的机械方程的表达式为：
同样的，对式(8)至式(10)进行拉普拉斯变换，并推导得到车载触控装置的电压到电流的传递函数H(s)。
其中，车载触控装置的电压到电流的传递函数的表达式H(s)为：
其中，m
2为线性马达振子质量，k
2为线性马达弹簧劲度系数，c
2为线性马达机械阻尼系数，Bl为线性马达电磁力系数，L为线性马达音圈电感，R
e为线性马达音圈电阻，m
1为车载触控装置质量，k
1为车载弹簧劲度系数，c
1为车载弹簧阻尼系数，x
1为触控屏位移，x
2为线性马达振子位移，t为线性马达振动时间，u为线性马达两端的电压，i为线性马达电流，s为频率。
T
1＝m
1s
2+(c
1+nc
2)s+(k
1+nk
2)
T
2＝m
2s
2+c
2s+k
2
P＝c
2s+k
2
本实施例提供一种车载触控装置的线性参数的测试方法，车载触 控装置包括线性马达，方法包括：根据线性马达的机械方程、线性马达的电学方程和车载触控装置的机械方程，推导得到车载触控装置的电压到电流的传递函数；获取车载触控装置的线性参数的初始值；获取处于振动状态的线性马达的电压测量值和电流测量值；根据电压测量值、电流测量值、线性参数的初始值以及传递函数，计算得到车载触控装置的线性参数的目标值，通过对车载触控装置的线性模型的线性参数进行测试，可以为该线性模型得到一组准确的线性参数值，从而可得到一准确描述车载触控装置的线性模型，从而可根据该线性模型对车载触控装置进行仿真建模，进而可以提供一种应用于汽车上的准确性较高的触觉反馈方案。
并且，可以基于该线性模型分析车载触控装置的振动特性，也为后期能够开发相关算法去控制线性马达运动，为车载触控装置提供不同频率和强度的振感。
图6为本发明实施例提供的车载触控装置的线性参数的测试装置的示意图。其中，车载触控装置包括线性马达、触控屏、车载弹簧等。如图6所示，本实施例提供的车载触控装置的线性参数的测试装置，包括：
推导模块61，用于根据线性马达的机械方程、线性马达的电学方程和车载触控装置的机械方程，推导得到车载触控装置的电压到电流的传递函数；
第一获取模块62，用于获取车载触控装置的线性参数的初始值；
第二获取模块63，用于获取处于振动状态的线性马达的电压测量值和电流测量值；
计算模块64，用于根据电压测量值、电流测量值、线性参数的初始值以及传递函数，计算得到车载触控装置的线性参数的目标值。
本实施例提供的车载触控装置的线性参数的测试装置，用于实现上述实施例所述的车载触控装置的线性参数的测试方法，其中各个模块的功能可以参考方法实施例中相应的描述，其实现原理和技术效果类似，此处不再赘述。
图7是本发明实施例提供的终端设备的示意图。如图7所示，本 实施例的终端设备7包括：处理器70、存储器71以及存储在所述存储器71中并可在所述处理器70上运行的计算机程序72，例如车载触控装置的线性参数的测试程序。所述处理器70执行所述计算机程序72时实现上述各个车载触控装置的线性参数的测试方法实施例中的步骤，例如图1所示的步骤101至104。或者，所述处理器70执行所述计算机程序72时实现上述各装置实施例中各模块的功能，例如图6所示模块61至64的功能。
示例性的，所述计算机程序72可以被分割成一个或多个模块/单元，所述一个或者多个模块/单元被存储在所述存储器71中，并由所述处理器70执行，以完成本发明。所述一个或多个模块/单元可以是能够完成特定功能的一系列计算机程序指令段，该指令段用于描述所述计算机程序72在所述终端设备7中的执行过程。例如，所述计算机程序72可以被分割成推导模块、第一获取模块、第二获取模块和计算模块(虚拟装置中的单元模块)，各模块具体功能如下：
推导模块，用于根据线性马达的机械方程、线性马达的电学方程和车载触控装置的机械方程，推导得到车载触控装置的电压到电流的传递函数；
第一获取模块，用于获取车载触控装置的线性参数的初始值；
第二获取模块，用于获取处于振动状态的线性马达的电压测量值和电流测量值；
计算模块，用于根据电压测量值、电流测量值、线性参数的初始值以及传递函数，计算得到车载触控装置的线性参数的目标值。
终端设备7可以是桌上型计算机、笔记本、掌上电脑及云端服务器等计算设备。终端设备7可包括，但不仅限于，处理器70、存储器71。本领域技术人员可以理解，图7仅仅是终端设备7的示例，并不构成对终端设备7的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如终端设备7还可以包括输入输出设备、网络接入设备、总线等。
处理器70可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor， DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
存储器71可以是终端设备7的内部存储单元，例如终端设备7的硬盘或内存。存储器71也可以是所述终端设备7的外部存储设备，例如所述终端设备7上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字卡(Secure Digital，SD)，闪存卡(Flash Card)等。进一步地，存储器71还可以既包括终端设备7的内部存储单元也包括外部存储设备。存储器71用于存储所述计算机程序以及所述终端设备7所需的其他程序和数据。存储器71还可以用于暂时地存储已经输出或者将要输出的数据。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将所述终端设备的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本发明的保护范围。上述系统中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每 个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
在本发明所提供的实施例中，应该理解到，所揭露的装置/终端设备和方法，可以通过其它的方式实现。例如，以上所描述的装置/终端设备实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口，装置或单元的间接耦合或通讯连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可 读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括电载波信号和电信信号。
应理解，上述实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。
Claims (10)
- 一种车载触控装置的线性参数的测试方法，其特征在于，所述车载触控装置包括线性马达，所述方法包括：根据所述线性马达的机械方程、所述线性马达的电学方程和所述车载触控装置的机械方程，推导得到所述车载触控装置的电压到电流的传递函数；获取所述车载触控装置的线性参数的初始值；获取处于振动状态的所述线性马达的电压测量值和电流测量值；根据所述电压测量值、所述电流测量值、所述线性参数的初始值以及所述传递函数，计算得到所述车载触控装置的线性参数的目标值。
- 根据权利要求1所述的车载触控装置的线性参数的测试方法，其特征在于，所述车载触控装置还包括触控屏和车载弹簧，所述线性参数包括线性马达振子质量、线性马达弹簧劲度系数、线性马达机械阻尼系数、线性马达电磁力系数、线性马达音圈电感、线性马达音圈电阻、车载触控装置质量、车载弹簧劲度系数和车载弹簧阻尼系数。
- 根据权利要求2所述的车载触控装置的线性参数的测试方法，其特征在于，所述根据所述线性马达的机械方程、所述线性马达的电学方程和所述车载触控装置的机械方程，推导得到所述车载触控装置的电压到电流的传递函数之前，还包括：建立所述线性马达的机械方程，所述线性马达的机械方程包括所述线性马达振子质量、所述线性马达机械阻尼系数、所述线性马达弹簧劲度系数和所述线性马达电磁力系数；建立所述线性马达的电学方程，所述线性马达的电学方程包括所述线性马达音圈电阻、所述线性马达音圈电感和所述线性马达电磁力系数；建立所述车载触控装置的机械方程，所述车载触控装置的机械方程包括所述车载触控装置质量、所述车载弹簧阻尼系数、所述线性马达机械阻尼系数、所述车载弹簧劲度系数、所述线性马达弹簧劲度系 数和所述线性马达电磁力系数。
- 根据权利要求1所述的车载触控装置的线性参数的测试方法，其特征在于，所述根据所述线性马达的机械方程、所述线性马达的电学方程和所述车载触控装置的机械方程，推导得到所述车载触控装置的电压到电流的传递函数，包括：对所述线性马达的机械方程、所述线性马达的电学方程和所述车载触控装置的机械方程，分别进行变换处理，得到变换处理后的线性马达的机械方程、变换处理后的线性马达的电学方程和变换处理后的车载触控装置的机械方程；根据变换处理后的线性马达的机械方程、变换处理后的线性马达的电学方程和变换处理后的车载触控装置的机械方程，推导得到车载触控装置的电压到电流的传递函数。
- 根据权利要求4所述的车载触控装置的线性参数的测试方法，其特征在于，所述变换处理包括拉普拉斯变换处理。
- 根据权利要求1所述的车载触控装置的线性参数的测试方法，其特征在于，所述根据所述电压测量值、所述电流测量值、所述线性参数的初始值以及所述传递函数，计算得到所述车载触控装置的线性参数的目标值，包括：将所述线性参数的初始值和所述电压测量值输入所述传递函数，计算得到电流计算值；对所述电流计算值和所述电流测量值进行数据拟合，得到所述车载触控装置的线性参数的目标值。
- 根据权利要求6所述的车载触控装置的线性参数的测试方法，其特征在于，所述对所述电流计算值和所述电流测量值进行数据拟合，得到所述车载触控装置的线性参数的目标值，包括：对所述电流计算值和所述电流测量值进行数据拟合，得到当前拟合结果；若当前拟合结果不满足预设条件，则调整线性参数的初始值；将调整后的线性参数的初始值作为新的线性参数的初始值，并返回执行将线性参数的初始值输入所述传递函数，计算得到电流计算值 的步骤，直至当前拟合结果满足预设条件；若当前拟合结果满足预设条件，则将当前拟合结果对应的线性参数的初始值作为所述车载触控装置的线性参数的目标值。
- 一种车载触控装置的线性参数的测试装置，其特征在于，所述车载触控装置包括线性马达，所述测试装置包括：推导模块，用于根据所述线性马达的机械方程、所述线性马达的电学方程和所述车载触控装置的机械方程，推导得到所述车载触控装置的电压到电流的传递函数；第一获取模块，用于获取所述车载触控装置的线性参数的初始值；第二获取模块，用于获取处于振动状态的所述线性马达的电压测量值和电流测量值；计算模块，用于根据所述电压测量值、所述电流测量值、所述线性参数的初始值以及所述传递函数，计算得到所述车载触控装置的线性参数的目标值。
- 一种终端设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1至7任一项所述的车载触控装置的线性参数的测试方法的步骤。
- 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时，实现如权利要求1至7任一项所述的车载触控装置的线性参数的测试方法的步骤。
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