WO2022134219A1

WO2022134219A1 - Motor vibration signal generation method and apparatus, computer device, and storage medium

Info

Publication number: WO2022134219A1
Application number: PCT/CN2021/070540
Authority: WO
Inventors: 郑亚军
Original assignee: 瑞声声学科技(深圳)有限公司; 瑞声光电科技(常州)有限公司
Priority date: 2020-12-22
Filing date: 2021-01-07
Publication date: 2022-06-30
Also published as: CN112650388B; CN112650388A

Abstract

Disclosed in embodiments of the present invention is a motor vibration signal generation method, comprising: acquiring initial data of a motor, the initial data comprising target center frequency, boundary condition values and nonlinear parameters of a motor vibrator; calculating a target displacement signal of the motor by using a motor nonlinear positive model according to the target center frequency, an initial displacement starting point, an initial displacement end point, and the nonlinear parameters; and performing, on the basis of the target displacement signal and the nonlinear parameters, calculation by using a motor nonlinear inverse model, to obtain a target excitation voltage signal of the motor. Since the target excitation voltage signal is obtained by calculation by means of the motor nonlinear inverse model on the basis of the target center frequency, the calculation accuracy of the target excitation voltage signal is ensured, and the motor is driven using the target excitation voltage signal so that the motor vibrates at the target center frequency. Therefore, the motor vibration signal is short, the vibration sense is strong, the frequency is diversified, the tactile effect of the motor is improved, and the precise control of motor vibration is achieved.

Description

Motor vibration signal generation method, device, computer equipment and storage medium

【Technical field】

The present invention relates to the technical field of vibration motors and signal processing, and in particular, to a method, device, computer equipment and storage medium for generating a motor vibration signal.

【Background technique】

With the wide use of various smart devices and electronic touch screens, the application of tactile feedback in electronic products has also received more and more attention. For example, the diversity of application scenarios requires rich tactile effects to distinguish different scenarios, so that the haptic feedback The design of the effect poses a great challenge, especially the short signal with short time, strong vibration and various frequencies is highly praised in electronic products. How to design a short signal with different frequencies of strong seismic sensation is also the goal that designers are constantly pursuing.

However, in the pursuit of low cost and high performance, the non-linearity of the motor is getting higher and higher, and it is limited by the motor capacity and voltage output capability, resulting in a long vibration signal time, weak vibration, and single frequency. , so that the motor vibration signal effect is poor, reducing the haptic effect.

[Content of the invention]

In view of this, the present invention provides a method, device, computer equipment and storage medium for generating a motor vibration signal, so that the motor can automatically generate short signals with different frequencies and strong vibration, so as to improve the haptic effect.

The specific technical scheme of the embodiment of the present invention is:

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

Obtain the initial data of the motor, the initial data includes the target center frequency of the motor vibrator, the boundary condition value and the nonlinear parameter, wherein the boundary condition value is the initial displacement starting point of the segmental displacement signal of the motor vibrator and the The initial displacement end point, the nonlinear parameter is the coefficient of the nonlinear structural parameter in the electromechanical coupling equation of the motor;

According to the target center frequency, the initial displacement start point, the initial displacement end point and the nonlinear parameter, the target displacement signal of the motor is calculated by using the motor nonlinear positive model;

Based on the target displacement signal and the nonlinear parameter, a target excitation voltage signal of the motor is obtained by calculating a nonlinear inverse model of the motor.

Further, according to the target center frequency, the initial displacement start point, the initial displacement end point and the nonlinear parameter, the target displacement signal of the motor is calculated by using the motor nonlinear positive model, including:

According to the target center frequency, the nonlinear parameter, the i-th displacement starting point and the i-th displacement end point, use the preset displacement and voltage transformation formula and the motor nonlinear positive model to calculate the i-th segment of the motor The ideal voltage half-waveform, wherein the preset displacement and voltage transformation formula is obtained based on the response characteristics of the motor oscillator, the initial value of i is 1, and the first displacement starting point is the initial displacement starting point, The first displacement end point is the initial displacement end point and is the maximum limit displacement of the motor oscillator;

According to the preset maximum limit voltage, adjusting the ideal voltage half-waveform of the i-th segment to obtain the displacement half-waveform of the i-th segment and the adjusted displacement end point;

Determine the i+1 th displacement starting point and the i+1 th displacement end point according to the displacement end point and the maximum limit displacement, let i=i+1, and return to executing the above according to the target center frequency, the nonlinear parameters, i-th displacement starting point and i-th displacement end point, using the preset displacement and voltage transformation formula and the non-linear positive model of the motor to calculate the step of the ideal voltage half-waveform of the i-th segment of the motor, to obtain the N-th segment of the ideal voltage half-waveform. the displacement half-waveform, the i and the N are both natural numbers, i∈[1,N];

The N segments of the displacement half-waveforms are spliced according to a preset rule to obtain the target displacement signal.

Further, according to the preset maximum limit voltage, the ideal voltage half-waveform of the ith segment is adjusted to obtain the displacement half-waveform of the ith segment and the adjusted displacement end point, including:

Determine whether the ideal voltage maximum value of the i-th ideal voltage half-waveform is less than or equal to the maximum limit voltage;

If the maximum value of the ideal voltage is less than or equal to the maximum limit voltage, the displacement waveform corresponding to the ideal voltage half-waveform of the i-th segment is determined as the displacement half-waveform of the i-th segment, and the i-th displacement end point is determined as the displacement waveform of the i-th segment. is the ith displacement end point after adjustment.

Further, the method also includes:

If the maximum value of the ideal voltage is greater than the maximum limit voltage, the i-th displacement end point is reduced according to the preset reduction ratio rule to obtain the adjusted i-th displacement end point;

Return to execute the calculation of the motor according to the target center frequency, the nonlinear parameter, the i-th displacement starting point and the i-th displacement end point, using the preset displacement and voltage transformation formula and the motor nonlinear positive model The step of the ideal voltage half-waveform of the ith segment.

Further, the determining of the i+1th displacement starting point and the i+1th displacement end point according to the displacement end point and the maximum limit displacement includes:

Taking the i-th displacement end point as the i+1-th displacement start point;

If the displacement half-waveform of the i-th segment is a rising waveform, the negative value of the maximum limit displacement is taken as the i+1-th displacement end point; if the displacement half-waveform of the i-th segment is a falling waveform, the The maximum limit displacement takes a positive value as the end point of the i+1th displacement.

Further, before obtaining the target excitation voltage signal of the motor based on the target displacement signal and the nonlinear parameter, using the non-linear inverse model of the motor to calculate, further comprising:

Low-pass filtering is performed on the target displacement signal.

Further, the nonlinear parameters include the value of the electromagnetic coupling coefficient of the motor, the spring elasticity coefficient, the damping coefficient of the motion of the motor vibrator, the value of the electromagnetic coupling coefficient of the motor, the spring elasticity coefficient of the motor, the mass of the motor vibrator and the value of the motor voice coil. The resistance value; the target excitation voltage signal of the motor is obtained by calculating the non-linear inverse model of the motor based on the target displacement signal and the nonlinear parameter, including:

The formula of the non-linear inverse model of the motor is:

Wherein, u is the target excitation voltage signal, x is the target displacement signal,

is the speed of the motor oscillator,

is the acceleration of the motor vibrator, i is the motor voice coil current, p_BL1 represents the value of the electromagnetic coupling coefficient when the displacement of the motor vibrator is x, p _kdx represents the spring elasticity coefficient when the displacement of the motor vibrator is x, and p _cdx represents The damping coefficient of the motion of the motor vibrator when the displacement of the motor vibrator is x, p _BLx represents the value of the electromagnetic coupling coefficient when the displacement of the motor vibrator is x, p _md represents the mass of the motor vibrator, and p _Re represents the motor voice coil resistance value;

Substitute the target displacement signal and the nonlinear parameter into the formula of the non-linear inverse model of the motor for calculation to obtain the target excitation voltage signal.

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

an acquisition module, configured to acquire initial data of the motor, where the initial data includes the target center frequency of the motor vibrator, boundary condition values and nonlinear parameters, wherein the boundary condition value is the segmental displacement signal of the motor vibrator The initial displacement starting point and the initial displacement end point of , and the nonlinear parameter is the coefficient of the nonlinear structural parameter in the electromechanical coupling equation of the motor;

a first calculation module, configured to calculate the target displacement signal of the motor by using the motor nonlinear positive model according to the target center frequency, the initial displacement starting point, the initial displacement end point and the nonlinear parameter;

The second calculation module is configured to calculate the target excitation voltage signal of the motor by using the motor nonlinear inverse model based on the target displacement signal and the nonlinear parameter.

In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, when the processor executes the computer program Implement the steps of the motor vibration signal generating method as described above.

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

Implementing the embodiment of the present invention will have the following beneficial effects:

After adopting the above-mentioned motor vibration signal generating method, device, computer equipment and storage medium, the initial data of the motor is obtained, and the initial data includes the target center frequency of the motor oscillator, boundary condition values and nonlinear parameters, wherein all the The boundary condition value is the initial displacement starting point and the initial displacement end point of the segmental displacement signal of the motor oscillator, and the nonlinear parameter is the coefficient of the nonlinear structural parameter in the electromechanical coupling equation of the motor; according to the target center frequency, the The initial displacement starting point, the initial displacement end point, and the nonlinear parameters are used to calculate the target displacement signal of the motor by using the motor nonlinear positive model; based on the target displacement signal and the nonlinear parameters, the motor nonlinear inverse model is used. The target excitation voltage signal of the motor is obtained by calculation. Since the target excitation voltage signal is based on the target center frequency, it is calculated through the non-linear inverse model of the motor, which ensures the accuracy of the calculation of the target excitation voltage signal. The motor is driven to make the motor vibrate at the target center frequency, so that the motor vibration signal is short, the vibration sense is strong, and the frequency is diversified, which improves the haptic effect of the motor and realizes the precise control of the motor vibration.

【Description of drawings】

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

in:

1 is a schematic flowchart of a method for generating a motor vibration signal in one embodiment;

FIG. 2 is a schematic diagram of the calculation principle of the non-linear positive model of the motor in one embodiment;

3 is a schematic diagram of the calculation principle of the non-linear inverse model of the motor in one embodiment;

FIG. 4 is a schematic diagram of the spring coefficient of the motor as a function of displacement in one embodiment;

5 is a waveform diagram of the target displacement half-waveform in one embodiment;

6 is a schematic diagram of a calculation process of the target displacement signal in one embodiment;

7 is a schematic diagram of the calculation process of the target excitation voltage signal in one embodiment;

8 is a schematic waveform diagram of the waveform of the target excitation voltage in one embodiment;

9 is a schematic structural diagram of the motor vibration signal generating device in one embodiment;

FIG. 10 is a schematic diagram of the internal structure of a computer device running the above-mentioned method for generating a motor vibration signal in one embodiment.

【Detailed ways】

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In order to solve the problem of inaccurate excitation voltage signal driving the motor to vibrate due to the unreasonable waveform design of the motor vibration signal in the traditional technology, the motor vibration signal has a long time, weak vibration and a single frequency, which makes the motor vibration signal ineffective and reduces the frequency. Haptic effect.

Based on the above problem, in this embodiment, a method for generating a motor vibration signal is proposed. The implementation of the method can rely on a computer program that can run on a computer system based on the von Neumann architecture.

As shown in FIG. 1 , the method for generating a motor vibration signal in this embodiment is applicable to a motor, and the method for generating a motor vibration signal specifically includes the following steps:

Step 102: Obtain the initial data of the motor, the initial data includes the target center frequency of the motor oscillator, the boundary condition value and the nonlinear parameter, wherein the boundary condition value is the initial displacement starting point and the initial displacement end point of the segmental displacement signal of the motor oscillator, and the non- The linear parameters are the coefficients of the nonlinear structural parameters in the electromechanical coupling equation of the motor.

Among them, the target center frequency refers to the center frequency of the vibration signal designed by the designer and expecting to produce the ideal haptic effect. The boundary condition values are the initial displacement starting point and the initial displacement end point of the segmental displacement signal of the motor vibrator. The displacement waveform of the motor vibrator is composed of multiple waveforms with different amplitudes, that is, it is divided into multiple displacement signals. In this embodiment, the initial displacement starting point and the initial displacement ending point respectively refer to the initial value and the ending value of the first segment of the displacement signal. Since the signal is designed so that the motor vibrator starts to move from a static state, the initial displacement starting point is usually 0, and the initial displacement The end point is the maximum limit displacement of the motor oscillator. The nonlinear parameter is the coefficient of the nonlinear structural parameter in the electromechanical coupling equation of the motor, such as the spring elastic coefficient of the motor, the mass of the motor vibrator, and the resistance value of the motor voice coil.

Step 104: Calculate the target displacement signal of the motor by using the motor nonlinear positive model according to the target center frequency, the initial displacement start point, the initial displacement end point and the nonlinear parameters.

Wherein, the motor nonlinear positive model in this embodiment is a mathematical model for determining the displacement signal based on the voltage signal, and the motor nonlinear positive model includes the motor electromechanical coupling equation, as shown in FIG. Schematic diagram of the calculation principle of the linear positive model. Specifically, the displacement signals of the initial displacement starting point and the initial displacement ending point are converted into voltage signals by using the preset displacement and voltage transformation expressions, and then the converted voltage signals and nonlinear parameters are used as the input of the motor electromechanical coupling equation to solve Then, a displacement signal is obtained, that is, the target displacement signal in this embodiment. It is understandable that the target displacement signal is calculated based on the target center frequency through the nonlinear positive model of the motor, which ensures the accuracy of the calculation of the target displacement signal.

Step 106: Based on the target displacement signal and the nonlinear parameters, the target excitation voltage signal of the motor is obtained by calculating the motor nonlinear inverse model.

Among them, the non-linear inverse model of the motor is a mathematical model opposite to the non-linear positive model of the motor, and the non-linear inverse model of the motor includes the electromechanical coupling equation of the motor, that is, the non-linear inverse model of the motor is a mathematical model that determines the voltage signal based on the displacement signal, such as Figure 3 is a schematic diagram of the calculation principle of the non-linear inverse model of the motor. Specifically, the target displacement signal and the nonlinear parameter in step 104 are used as the input of the motor electromechanical coupling equation to be solved to obtain a voltage signal, that is, the target excitation voltage signal in this embodiment. The voltage signal is based on the target center frequency and is calculated by the non-linear inverse model of the motor, which ensures the accuracy of the target excitation voltage signal calculation. The target excitation voltage signal is used to drive the motor, so that the motor vibrates at the target center frequency, so that The motor vibration signal is short, the vibration sense is strong and the frequency is diverse, which improves the motor haptic effect and realizes the precise control of the motor vibration.

In the above method for generating a motor vibration signal, the initial data of the motor is obtained, and the initial data includes the target center frequency of the motor vibrator, the boundary condition value and the nonlinear parameter, wherein the boundary condition value is the initial displacement starting point of the segmental displacement signal of the motor vibrator. and the initial displacement end point, the nonlinear parameters are the coefficients of the nonlinear structural parameters in the electromechanical coupling equation of the motor; according to the target center frequency, the initial displacement starting point, the initial displacement end point and the nonlinear parameters, use the motor nonlinear positive model to calculate the target displacement signal of the motor ; Based on the target displacement signal and nonlinear parameters, the target excitation voltage signal of the motor is obtained by calculating the nonlinear inverse model of the motor. Since the target excitation voltage signal is based on the target center frequency and is calculated by the non-linear inverse model of the motor, the accuracy of the calculation of the target excitation voltage signal is ensured. Vibration makes the motor vibration signal short, the vibration sense is strong and the frequency is diversified, the tactile effect of the motor is improved, and the precise control of the motor vibration is realized.

In one embodiment, according to the target center frequency, the initial displacement starting point, the initial displacement end point, and the nonlinear parameters, the target displacement signal of the motor is calculated by using the motor nonlinear positive model, including: according to the target center frequency, the nonlinear parameter, the ith The displacement starting point and the ith displacement end point are used to calculate the ideal voltage half-waveform of the ith segment of the motor by using the preset displacement and voltage transformation formula and the non-linear positive model of the motor. The preset displacement and voltage transformation formula is based on the motor oscillator. The response characteristics are obtained, the initial value of i is 1, and the first displacement starting point is the initial displacement starting point, and the first displacement end point is the initial displacement ending point and is the maximum limit displacement of the motor oscillator; according to the preset maximum limit voltage, for the first Adjust the ideal voltage half-waveform of segment i to obtain the displacement half-waveform of segment i and the adjusted displacement end point; determine the i+1th displacement starting point and the i+1th displacement end point according to the displacement end point and the maximum limit displacement, let i= i+1, return to execute According to the target center frequency, nonlinear parameters, the ith displacement starting point and the ith displacement end point, use the preset displacement and voltage transformation formula and the motor nonlinear positive model to calculate the ideal voltage of the ith segment of the motor The step of the half-waveform is to obtain N-segment displacement half-waveforms, where i and N are both natural numbers, i∈[1,N]; the N-segment displacement half-waveforms are spliced according to preset rules to obtain the target displacement signal.

In this embodiment, the preset displacement-voltage conversion formula is obtained based on the response characteristics of the motor oscillator. Optionally, the preset displacement-voltage conversion formula is as follows:

u=αx+β;

in,

p _ct1 =p _cd1 ² +p _BL1 ² /p _Re1 ; X ₀ represents the initial displacement start point, X ₁ represents the initial displacement end point, Fn represents the target center frequency, u represents the converted voltage signal, and x represents the motor oscillator at the current moment. Displacement; p_BL1 represents the electromagnetic coupling coefficient value when the displacement of the motor vibrator is X1, p_kd1 represents the spring elastic coefficient when the displacement of the motor vibrator is X1, as shown in Figure 4, it is a schematic diagram of the change of the spring elastic coefficient of the motor with the displacement. p_cd1 represents the damping coefficient of the motor oscillator motion when the motor oscillator displacement is X1, p_BL0 represents the electromagnetic coupling coefficient value when the motor oscillator displacement is X0, p_kd0 represents the spring elastic coefficient when the motor oscillator displacement is X0, p_md represents the motor oscillator mass , p_Re represents the resistance value of the motor voice coil. The ideal voltage half-waveform refers to the ideal voltage waveform of the motor in a half cycle, and the desired displacement half-waveform refers to the ideal displacement waveform of the motor in a half cycle, and the displacement half-waveform of each segment and the ideal voltage half-waveform of each segment are One-to-one correspondence, which can be calculated by inverse transformation of the formula u=αx+β. N refers to the number of segments of the displacement half-waveform participating in the splicing, and the size of N is specifically determined according to the duration of the desired displacement signal. The more segments, the longer the duration of the displacement signal, and vice versa.

Specifically, firstly, according to the initial displacement starting point and the initial displacement end point, use u=αx+β to calculate the voltage signal obtained by transforming the displacement signal, and use the voltage signal and nonlinear parameters as input to combine the motor in the nonlinear positive model of the motor. The electromechanical coupling equation calculates the ideal voltage half-waveform of each segment of the motor, that is, the ideal voltage half-waveform of the first segment, the ideal voltage half-waveform of the second segment...the ideal voltage half-waveform of the N segment; and then based on the preset maximum limit voltage and The voltage signals corresponding to the ideal voltage half-waveforms of each segment are compared, and the i-th displacement starting point and the i-th displacement end point in the boundary condition value are updated according to the comparison results, and then the ideal voltage half-waveform of the i-th segment is adjusted. The adjusted ideal voltage half-waveform of the i-th segment and the formula u=αx+β are calculated to obtain the displacement half-waveform of the i-th segment and the adjusted displacement end point; then determine the i+1th displacement starting point and the first displacement according to the displacement end point and the maximum limit displacement. i+1 displacement end points, let i=i+1, return to execute according to the target center frequency, nonlinear parameters, the i-th displacement starting point and the i-th displacement end point, using the preset displacement and voltage transformation formula and motor nonlinearity The step of calculating the ideal voltage half-waveform of the ith segment of the motor by the positive model; finally, the N-segment displacement half-waveform is obtained, where i and N are both natural numbers, i∈[1,N]; the N-segment displacement half-waveform is performed according to the preset rules Splicing to obtain the target displacement signal. The splicing rule can be directly splicing the N-segment displacement half-waveforms to obtain the acceleration displacement waveform; then inverting the acceleration displacement waveform to obtain the deceleration displacement waveform; finally, splicing the acceleration displacement waveform and the deceleration displacement waveform to obtain the target displacement signal. For example, the displacement half-waveforms of N segments are D ₁ , D ₂ , ..., Dn respectively, and splicing to obtain acceleration displacement waveform A=[D ₁ , D ₂ , ..., Dn], and inverting the acceleration waveform to obtain deceleration displacement waveform B =flip(A), and then splicing A and B to obtain the target displacement signal E=[A,B]. For example, when N=3, as shown in FIG. 5 , it is a schematic diagram of the waveform of the half-waveform of the target displacement. D ₁ =(a ₁ ,a ₂ ,a ₃ ,a ₄ ), D ₂ =(a ₅ ,a ₆ ,a ₇ ,a ₈ ),D ₃ =(a ₉ ,a ₁₀ ,a ₁₁ ,a ₁₂ ) , splicing to obtain A=[a ₁ , a ₂ , a ₃ , a ₄ , a ₅ , a ₆ , a ₇ , a ₈ , a ₉ , a ₁₀ , a ₁₁ , a ₁₂ ], respectively for D ₁ , D ₂ Invert with D ₃ to get F ₃ =(a ₁₂ ,a ₁₁ ,a ₁₀ ,a ₉ ),F ₂ =(a ₈ ,a ₇ ,a ₆ ,a ₅ ) and F ₁ =(a ₄ ,a ₃ ,a ₂ ,a ₁ ), B=[F ₁ ,F ₂ ,F ₃ ]=[a ₁₂ ,a ₁₁ ,a ₁₀ ,a ₉ ,a ₈ ,a ₇ ,a ₆ ,a ₅ ,a ₄ , a ₃ ,a ₂ ,a ₁ ], and finally obtain the target E=[a ₁ ,a ₂ ,a ₃ ,a ₄ ,a ₅ ,a ₆ ,a ₇ ,a ₈ ,a ₉ ,a ₁₀ ,a ₁₁ ,a ₁₂ ,a ₁₂ ,a ₁₁ ,a ₁₀ ,a ₉ ,a ₈ ,a ₇ ,a ₆ ,a ₅ ,a ₄ ,a ₃ ,a ₂ ,a ₁ ].

In one embodiment, adjusting the ideal voltage half-waveform of the i-th segment according to the preset maximum limit voltage to obtain the displacement half-waveform of the i-th segment and the adjusted displacement end point, including: judging the ideal voltage half-waveform of the i-th segment Whether the ideal voltage maximum value is less than or equal to the maximum limit voltage; if the ideal voltage maximum value is less than or equal to the maximum limit voltage, determine the displacement waveform corresponding to the ideal voltage half-waveform of the i-th segment is the displacement half-waveform of the i-th segment, and the i-th The displacement end point is the ith displacement end point after adjustment.

In this embodiment, the ideal voltage maximum value refers to the amplitude in the ideal voltage waveform of the ith segment. When the ideal voltage maximum value is less than or equal to the maximum limit voltage, the displacement waveform corresponding to the ideal voltage half-waveform of the ith segment is determined to be the ith segment. The i-th displacement half-waveform, and the i-th displacement end point is the i-th displacement end point after adjustment. That is to say, when the maximum ideal voltage is less than or equal to the maximum limit voltage, the adjustment of the ideal voltage half-waveform of the i-th segment is stopped, and the corresponding displacement half-waveform of the i-th segment is directly determined according to the ideal voltage half-waveform of the i-th segment, so as to obtain the i-segment half-waveform. The displacement half-waveform is used to subsequently determine the target displacement half-waveform based on the i-segment displacement half-waveform.

In one embodiment, the motor vibration signal generating method further includes: if the maximum ideal voltage is greater than the maximum limit voltage, reducing the ith displacement end point according to a preset reduction ratio rule to obtain the adjusted ith displacement end point ; Return to execute the calculation of the ideal voltage half-waveform of the ith segment of the motor using the preset displacement and voltage transformation formula and the motor nonlinear positive model according to the target center frequency, nonlinear parameters, the ith displacement starting point and the ith displacement end point. step.

In this embodiment, the preset reduction ratio rule refers to the reduction according to a preset ratio. For example, Xmax represents the maximum limit displacement, the first displacement end point is X ₁ =Xmax, and the maximum ideal voltage is greater than the maximum limit voltage, After reducing X ₁ to 0.9·Xmax, if the maximum ideal voltage is greater than the maximum limit voltage, reduce X ₁ to 0.8·Xmax, and reduce in this way to obtain the adjusted i-th displacement end point. Return to the step of calculating the ideal voltage half-waveform of the ith segment of the motor according to the target center frequency, nonlinear parameters, the ith displacement starting point and the ith displacement end point, using the preset displacement and voltage transformation formula and the nonlinear positive model of the motor .

In one embodiment, determining the i+1th displacement start point and the i+1th displacement end point according to the displacement end point and the maximum limit displacement includes: using the ith displacement end point as the i+1th displacement start point; If the displacement half-waveform of the segment is a rising waveform, the negative value of the maximum limit displacement is taken as the end point of the i+1th displacement; if the displacement half-waveform of the i-th segment is a falling waveform, the positive value of the maximum limit displacement is taken as the i+1th displacement end point. displacement end point.

In this embodiment, in order to ensure the waveform connection of each displacement half-waveform, the boundary condition value is corrected, specifically, the i-th displacement end point is taken as the i+1-th displacement starting point; if the i-th displacement half-waveform is rising waveform, take the negative value of the maximum limit displacement as the i+1th displacement end point; if the displacement half-waveform of the i-th segment is a falling waveform, take the positive value of the maximum limit displacement as the i+1th displacement end point. That is, the corrected displacement end point is always the value corresponding to the opposite sign of the previous displacement end point. As shown in FIG. 6 , it is a schematic diagram of the calculation process of the target displacement signal.

In one embodiment, the method for generating a motor vibration signal further includes: before obtaining the target excitation voltage signal of the motor by using the non-linear inverse model of the motor based on the target displacement signal and the nonlinear parameters, further comprising: performing a low-level operation on the target displacement signal. pass filtering.

In this embodiment, low-pass filtering is performed on the target displacement signal E, so as to realize the optimization of the target displacement signal, thereby ensuring the rationality of the motion of the motor oscillator. Preferably, the cut-off frequency of the low-pass frequency wave is 4 times the fixed frequency of the motor, that is, if the natural frequency of the motor is 150 Hz, the cut-off frequency of the low-pass filter is 600 Hz.

In one embodiment, the nonlinear parameters include the value of the electromagnetic coupling coefficient of the motor, the spring elasticity coefficient, the damping coefficient of the motion of the motor vibrator, the value of the electromagnetic coupling coefficient of the motor, the spring elasticity coefficient of the motor, the mass of the motor vibrator, and the resistance of the motor voice coil value; based on the target displacement signal and nonlinear parameters, the target excitation voltage signal of the motor is calculated by using the non-linear inverse model of the motor, including: the formula of the non-linear inverse model of the motor is:

Among them, u is the target excitation voltage signal, x is the target displacement signal,

is the speed of the motor oscillator,

is the acceleration of the motor vibrator, i is the motor voice coil current, p_BL1 represents the electromagnetic coupling coefficient value when the displacement of the motor vibrator is x, p _kdx represents the spring elastic coefficient when the displacement of the motor vibrator is x, and p _cdx means when the displacement of the motor vibrator is x The damping coefficient of the motor vibrator motion, p _BLx represents the electromagnetic coupling coefficient value when the motor vibrator displacement is x, p _md represents the motor vibrator mass, p _Re represents the resistance value of the motor voice coil; Substitute the target displacement signal and nonlinear parameters into the motor Solve in the formula of the nonlinear inverse model to obtain the target excitation voltage signal.

In this embodiment, as shown in FIG. 7 , it is a schematic diagram of the calculation process of the target excitation voltage signal. The nonlinear parameter is a set constant value. Therefore, input the nonlinear parameter and the target displacement signal into the formula of the nonlinear inverse model of the motor to solve the equation, and the obtained u value is the target excitation voltage. FIG. 8 is a schematic waveform diagram of the waveform of the target excitation voltage. It is understandable that the accurate calculation of the target excitation voltage signal is achieved through the formula of the non-linear inverse model of the motor. Therefore, the designer only needs to determine the target center frequency to generate the vibration signal corresponding to each target center frequency, which improves the vibration signal. frequency diversity.

Based on the same inventive concept, an embodiment of the present invention provides an apparatus 900 for generating a motor vibration signal, as shown in FIG. 9 , including: an acquisition module 902 for acquiring initial data of the motor, where the initial data includes the target of the motor vibrator Center frequency, boundary condition value and nonlinear parameter, wherein, the boundary condition value is the initial displacement starting point and initial displacement end point of the segmental displacement signal of the motor vibrator, and the nonlinear parameter is the nonlinearity in the electromechanical coupling equation of the motor The coefficient of the structural parameter; the first calculation module 904 is used for calculating the target of the motor by using the motor nonlinear positive model according to the target center frequency, the initial displacement start point, the initial displacement end point and the nonlinear parameter Displacement signal; the second calculation module 906 is configured to calculate the target excitation voltage signal of the motor by using the motor nonlinear inverse model based on the target displacement signal and the nonlinear parameter.

Specifically, the apparatus 900 for generating a motor vibration signal in the embodiment of the present invention, as shown in FIG. 9 , includes: an acquisition module 902, configured to acquire initial data of the motor, where the initial data includes the target center frequency and boundary of the motor oscillator. Condition value and nonlinear parameter, wherein, the boundary condition value is the initial displacement starting point and the initial displacement end point of the segmental displacement signal of the motor oscillator, and the nonlinear parameter is the coefficient of the nonlinear structural parameter in the motor electromechanical coupling equation ; The first calculation module 904 is used to calculate the target displacement signal of the motor using the motor nonlinear positive model according to the target center frequency, the initial displacement starting point, the initial displacement end point and the nonlinear parameter; the first The second calculation module 906 is configured to calculate and obtain the target excitation voltage signal of the motor based on the target displacement signal and the nonlinear parameter by using the non-linear inverse model of the motor. Since the target excitation voltage signal is based on the target center frequency, through The nonlinear inverse model of the motor is calculated, which ensures the accuracy of the calculation of the target excitation voltage signal. The motor is driven by the target excitation voltage signal, so that the motor vibrates at the target center frequency, so that the motor vibration signal is short, the vibration sense is strong and the frequency is high. Diversified, improved motor haptic effect, and achieved precise control of motor vibration.

It should be noted that the implementation of the device for generating motor vibration signals in this embodiment is consistent with the implementation idea of the above-mentioned method for generating motor vibration signals, and the implementation principle will not be repeated here.

Figure 10 shows an internal structure diagram of a computer device in one embodiment. Specifically, the computer device may be a server or a terminal. As shown in FIG. 10, the computer device 600 includes a processor 610, a memory 620 and a network interface 630 connected through a system bus. Among them, the memory 620 includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system, and also stores a computer program, which, when executed by the processor, enables the processor to implement the method for generating a motor vibration signal. A computer program may also be stored in the internal memory, and when the computer program is executed by the processor, the processor may execute the method for generating the motor vibration signal. Those skilled in the art can understand that the structure shown in FIG. 10 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than those shown in Figure 10, or combine certain components, or have a different arrangement of components.

In one embodiment, the method for generating a motor vibration signal provided by the present application may be implemented in the form of a computer program, and the computer program may be executed on a computer device as shown in FIG. 10 . Various program modules constituting the means for generating the motor vibration signal may be stored in the memory of the computer device. For example, the acquisition module 902 , the first calculation acquisition module 904 , and the second calculation module 906 .

In one embodiment, a computer device is proposed, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor is caused to perform the following steps:

In one embodiment, a computer-readable storage medium is provided, and the computer-readable storage medium stores a computer program, characterized in that, when the computer program is executed by a processor, the following steps are implemented:

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

The above disclosures are only preferred embodiments of the present invention, and of course, the scope of the rights of the present invention cannot be limited by this. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

A method for generating a motor vibration signal, comprising:

Obtain the initial data of the motor, the initial data includes the target center frequency of the motor vibrator, the boundary condition value and the nonlinear parameter, wherein the boundary condition value is the initial displacement starting point of the segmental displacement signal of the motor vibrator and the The initial displacement end point, the nonlinear parameter is the coefficient of the nonlinear structural parameter in the electromechanical coupling equation of the motor;

According to the target center frequency, the initial displacement start point, the initial displacement end point and the nonlinear parameter, the target displacement signal of the motor is calculated by using the motor nonlinear positive model;

Based on the target displacement signal and the nonlinear parameter, a target excitation voltage signal of the motor is obtained by calculating a nonlinear inverse model of the motor.
The method for generating a motor vibration signal according to claim 1, wherein the calculation is performed using a motor nonlinear positive model according to the target center frequency, the initial displacement starting point, the initial displacement ending point, and the nonlinear parameter. The target displacement signal of the motor, including:

According to the target center frequency, the nonlinear parameter, the i-th displacement starting point and the i-th displacement end point, use the preset displacement and voltage transformation formula and the motor nonlinear positive model to calculate the i-th segment of the motor The ideal voltage half-waveform, wherein the preset displacement and voltage transformation formula is obtained based on the response characteristics of the motor oscillator, the initial value of i is 1, and the first displacement starting point is the initial displacement starting point, The first displacement end point is the initial displacement end point and is the maximum limit displacement of the motor oscillator;

According to the preset maximum limit voltage, adjusting the ideal voltage half-waveform of the i-th segment to obtain the displacement half-waveform of the i-th segment and the adjusted displacement end point;

Determine the i+1 th displacement starting point and the i+1 th displacement end point according to the displacement end point and the maximum limit displacement, let i=i+1, and return to executing the above according to the target center frequency, the nonlinear parameters, i-th displacement starting point and i-th displacement end point, using the preset displacement and voltage transformation formula and the non-linear positive model of the motor to calculate the step of the ideal voltage half-waveform of the i-th segment of the motor, to obtain the N-th segment of the ideal voltage half-waveform. the displacement half-waveform, the i and the N are both natural numbers, i∈[1,N];

The N segments of the displacement half-waveforms are spliced according to a preset rule to obtain the target displacement signal.
According to the described motor vibration signal generation method of claim 2, described according to the preset maximum limit voltage, the ideal voltage half-waveform of the ith section is adjusted to obtain the displacement half-waveform of the ith section and the adjusted displacement end point, including:

Determine whether the ideal voltage maximum value of the i-th ideal voltage half-waveform is less than or equal to the maximum limit voltage;

If the maximum value of the ideal voltage is less than or equal to the maximum limit voltage, the displacement waveform corresponding to the ideal voltage half-waveform of the i-th segment is determined as the displacement half-waveform of the i-th segment, and the i-th displacement end point is determined as the displacement waveform of the i-th segment. is the ith displacement end point after adjustment.
The method for generating a motor vibration signal according to claim 3, wherein the method further comprises:

If the maximum value of the ideal voltage is greater than the maximum limit voltage, the i-th displacement end point is reduced according to the preset reduction ratio rule to obtain the adjusted i-th displacement end point;

Return to execute the calculation of the motor according to the target center frequency, the nonlinear parameter, the i-th displacement starting point and the i-th displacement end point, using the preset displacement and voltage transformation formula and the motor nonlinear positive model The step of the ideal voltage half-waveform of the ith segment.
The method for generating a motor vibration signal according to claim 2, wherein the determining the i+1 th displacement starting point and the i+1 th displacement end point according to the displacement end point and the maximum limit displacement comprises:

Taking the i-th displacement end point as the i+1-th displacement start point;

If the displacement half-waveform of the i-th segment is a rising waveform, the negative value of the maximum limit displacement is taken as the i+1-th displacement end point; if the displacement half-waveform of the i-th segment is a falling waveform, the The maximum limit displacement takes a positive value as the end point of the i+1th displacement.
The method for generating a motor vibration signal according to claim 1, characterized in that, before obtaining the target excitation voltage signal of the motor based on the target displacement signal and the nonlinear parameter by using the motor nonlinear inverse model, the method further comprises: :

Low-pass filtering is performed on the target displacement signal.
The method for generating a motor vibration signal according to claim 1, wherein the nonlinear parameters include an electromagnetic coupling coefficient value of the motor, a spring elastic coefficient, a damping coefficient of the motion of the motor oscillator, an electromagnetic coupling coefficient value of the motor, a motor The spring elastic coefficient, the quality of the motor vibrator and the resistance value of the motor voice coil; The target excitation voltage signal of the motor is obtained by calculating the motor nonlinear inverse model based on the target displacement signal and the nonlinear parameter, including:

The formula of the non-linear inverse model of the motor is:

Wherein, u is the target excitation voltage signal, x is the target displacement signal,
is the speed of the motor oscillator,
is the acceleration of the motor vibrator, i is the motor voice coil current, p_BL1 represents the value of the electromagnetic coupling coefficient when the displacement of the motor vibrator is x, p kdx represents the spring elasticity coefficient when the displacement of the motor vibrator is x, and p cdx represents The damping coefficient of the motion of the motor vibrator when the displacement of the motor vibrator is x, p BLx represents the value of the electromagnetic coupling coefficient when the displacement of the motor vibrator is x, p md represents the mass of the motor vibrator, and p Re represents the motor voice coil resistance value;

Substitute the target displacement signal and the nonlinear parameter into the formula of the non-linear inverse model of the motor for calculation to obtain the target excitation voltage signal.
A device for generating a motor vibration signal, comprising:

an acquisition module, configured to acquire initial data of the motor, where the initial data includes the target center frequency of the motor vibrator, boundary condition values and nonlinear parameters, wherein the boundary condition value is the segmental displacement signal of the motor vibrator The initial displacement starting point and the initial displacement end point of , and the nonlinear parameter is the coefficient of the nonlinear structural parameter in the electromechanical coupling equation of the motor;

a first calculation module, configured to calculate the target displacement signal of the motor by using the motor nonlinear positive model according to the target center frequency, the initial displacement starting point, the initial displacement end point and the nonlinear parameter;

The second calculation module is configured to calculate the target excitation voltage signal of the motor by using the motor nonlinear inverse model based on the target displacement signal and the nonlinear parameter.
A computer device, characterized in that it includes a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the rights when executing the computer program The steps of the motor vibration signal generating method according to any one of claims 1 to 7.
A computer-readable storage medium comprising computer instructions that, when executed on a computer, cause the computer to perform the steps of the motor vibration signal generating method according to any one of claims 1 to 7.