WO2023093332A1

WO2023093332A1 - Control method and device for multidimensional vibration device

Info

Publication number: WO2023093332A1
Application number: PCT/CN2022/124486
Authority: WO
Inventors: 刘兵; 刘钰佳; 杨鑫峰
Original assignee: 歌尔股份有限公司
Priority date: 2021-11-23
Filing date: 2022-10-11
Publication date: 2023-06-01
Also published as: CN114123848B; CN114123848A

Abstract

Disclosed in the present invention is a control method for a multidimensional vibration device. The method comprises: setting a changing curve of the voltage amplitude of each resonant frequency of each motor changing over time; constructing, on the basis of the resonant frequencies of each motor, a driving voltage family corresponding to the motor, the driving voltage family comprising a sine driving voltage family and/or a cosine driving voltage family; performing linear superposition on the driving voltage family of each motor, respectively, so as to obtain corresponding driving voltages; and on the basis of the driving voltages, driving each motor by a power amplifying circuit to generate corresponding vibration. By means of the control method for multidimensional vibration and the multidimensional vibration device corresponding to the control method provided in embodiments of the present application, the restoration of a vibration vector in the direction of any axis of a three-dimensional space can be realized, and multidimensional vibration feedback can be implemented by controlling changes in the vibration vector in real time, thereby improving the vibration experience.

Description

A control method and control device for a multi-dimensional three-dimensional vibration device

technical field

The invention relates to the field of computer technology, in particular to a control method and a control device for a multi-dimensional three-dimensional vibration device.

Background technique

Linear Resonant Actuator (LRA) has been widely used in various vibration occasions of consumer electronics, especially games and AR/VR products, due to its advantages of strong vibration, richness, crispness, and low energy consumption.

The richness of vibration in a single direction and a single frequency is limited, which can no longer meet the vibration needs of current consumer products. Compared with single-axis vibration, multi-dimensional vibration can provide a richer and more realistic tactile experience, and has a very good application prospect in games, AR/VR and other fields.

However, currently there is no device capable of providing multi-dimensional vibration and its related control method in the market. Therefore, the prior art needs a device capable of generating multi-dimensional vibration and its control method.

Contents of the invention

Embodiments of the present application provide a control method, device, computer equipment, and storage medium for a multi-dimensional stereoscopic vibration device. In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is presented below. This summary is not an overview, nor is it intended to identify key/critical elements or delineate the scope of these embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.

In the first aspect, the embodiment of the present application provides a control method for a multi-dimensional stereoscopic vibration device. The control method is applied to a multi-dimensional stereoscopic vibration device composed of a plurality of motors, and each motor in the multi-dimensional stereoscopic vibration device has For single-dimensional vibration, two motors are combined to form a two-dimensional three-dimensional vibration device, and three motors are combined to form a three-dimensional three-dimensional vibration device. The method includes:

Based on the number of motors, number each motor in the current multi-dimensional three-dimensional vibration device in turn, and identify the number of corresponding resonance frequencies;

Set the voltage amplitude variation curve of each resonance frequency of each motor with time;

Constructing a drive voltage family corresponding to the motor based on the resonant frequency of each motor, the drive voltage family comprising a sinusoidal drive voltage family and/or a cosine drive voltage family;

The driving voltage family of each motor is linearly superimposed to obtain the corresponding driving voltage;

Based on the driving voltage, each motor is driven to generate corresponding vibration through the power amplifier circuit.

In a possible implementation manner, the driving each motor to generate corresponding vibration through the power amplification circuit includes:

When the current multi-dimensional vibration device is a three-dimensional vibration device, and the number of motors in the three-dimensional vibration device is three, three different power amplification circuits drive corresponding motors to generate corresponding vibrations.

The current multi-dimensional vibration device is a three-dimensional vibration device, the number of motors in the three-dimensional vibration device is three, three different motors are respectively driven by three independent power amplifiers, and there is no overlapping resonance between the motors frequency, the driving voltages corresponding to each motor are synthesized into a total driving voltage, and based on the total driving voltage, each motor is driven through the same power amplifier circuit to generate corresponding vibrations.

When the current multi-dimensional vibration device is a three-dimensional vibration device, the number of motors of the three-dimensional vibration device is three, and any two motors in the three motors have overlapping resonant frequencies, then two different power The amplifying circuits are respectively driven to generate corresponding vibrations.

In a possible implementation manner, before the power amplification circuit is used to drive each motor to generate corresponding vibrations, the method further includes:

Configure the time-varying curve of the voltage amplitude of each resonant frequency for each motor.

In a possible implementation manner, the vibration of the motor is controlled by a spatial vibration vector, and before the step of encoding the motor, the method further includes:

According to the projection decomposition model of three-dimensional coordinates, the space vibration vector is decomposed into the first projection vector, the second projection vector and the third projection vector of the xyz axis.

In a possible implementation manner, before sequentially numbering each motor in the current multi-dimensional stereo vibration device based on the number of motors and identifying the corresponding number of resonance frequencies, the method further includes:

Based on the number of motors, a corresponding number of motors is matched to the current multi-dimensional stereo vibration device.

In the second aspect, the embodiment of the present application provides a control device for a multi-dimensional vibration device, the control device is applied to a multi-dimensional vibration device composed of a plurality of motors, and each motor in the multi-dimensional vibration device has For single-dimensional vibration, two motors are combined to form a two-dimensional vibration device, and three motors are combined to form a three-dimensional vibration device. The device includes:

The numbering and identification module is used to sequentially number each motor in the current multi-dimensional three-dimensional vibration device based on the number of motors, and identify the number of corresponding resonance frequencies;

The setting module is used to set the variation curve of the voltage amplitude of each resonant frequency of each motor as a function of time;

A construction module, configured to construct a driving voltage family corresponding to the motor based on the resonant frequency of each motor, the driving voltage family including a sinusoidal driving voltage family and/or a cosine driving voltage family;

A superposition module, configured to perform linear superposition on the driving voltage family of each motor constructed by the structural modules to obtain corresponding driving voltages;

The control module is configured to drive each motor to generate corresponding vibrations through a power amplification circuit based on the driving voltage obtained by the superposition module.

In the third aspect, the embodiment of the present application provides a multi-dimensional vibration device, the vibration device includes: a plurality of motors, each motor has a single dimension of vibration, if the number of motors is two, then the combination of two motors A two-dimensional vibration device is formed; if the number of motors is three, three motors form a three-dimensional vibration device.

In a fourth aspect, an embodiment of the present application provides a terminal device, where the terminal device includes a multi-dimensional stereo vibration device, and the multi-dimensional stereo vibration device is configured to execute the above control method.

The technical solutions provided by the embodiments of the present application may include the following beneficial effects:

In the embodiment of the present application, the control method is applied to a multi-dimensional vibration device composed of multiple motors, each motor in the multi-dimensional vibration device has a single-dimensional vibration, and two motors are combined to form a two-dimensional vibration device. A vibration device, three motors are combined to form a three-dimensional vibration device. The control method includes: based on the number of motors, sequentially number each motor in the current multi-dimensional vibration device, and identify the corresponding number of resonant frequencies; set each A time-varying curve of the voltage amplitude of each resonant frequency of a motor; a drive voltage family corresponding to the motor is constructed based on the resonant frequency of each motor, and the drive voltage family includes a sinusoidal drive voltage family and/or a cosine drive voltage family; The driving voltage family of each motor is linearly superimposed to obtain corresponding driving voltages; and based on the driving voltages, each motor is driven to generate corresponding vibrations through a power amplifier circuit. Using the control method provided in the embodiment of the present application, through the multi-dimensional stereo vibration control method provided in the embodiment of the present application, and the multi-dimensional stereo vibration device corresponding to the control method, the restoration of the vibration vector in any axis direction in three-dimensional space can be realized, and through Controlling the change of the vibration vector in real time can realize multi-dimensional vibration feedback and improve the vibration experience.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description serve to explain the principles of the invention.

FIG. 1 is a schematic flowchart of a control method for a multi-dimensional stereo vibration device provided in an embodiment of the present application;

Fig. 2 is a schematic diagram of 2LRA adhesion in a multi-dimensional stereoscopic vibration device in a specific application scenario provided by the embodiment of the present application, wherein (a) vertically stacked; (b) horizontally placed; (c) three-dimensional coordinate axis;

Fig. 3 is a schematic diagram of 3LRA adhesion in a multi-dimensional stereoscopic vibration device in a specific application scenario provided by the embodiment of the present application, wherein, (a) 3 are vertically stacked; (b) 2 are vertically stacked, and 1 is horizontally placed sideways; (c) 3D coordinate axis;

Fig. 4 is a schematic diagram of the LRA contact surface in the multi-dimensional stereoscopic vibration device in the specific application scenario provided by the embodiment of the present application;

Fig. 5(a), Fig. 5(b) and Fig. 5(c) in Fig. 5 show respectively that the motors in the multi-dimensional stereo vibration device are designed as one, two and Schematic diagram of the acceleration frequency response characteristic curves of the three resonant frequencies;

Fig. 6 is a schematic diagram of a decomposition process 1 of a spatial vibration vector in a specific application scenario provided by an embodiment of the present application;

Fig. 7 is a schematic diagram of the decomposition process 2 of the spatial vibration vector in the specific application scenario provided by the embodiment of the present application;

FIG. 8 is a block diagram of a hardware drive system used in a control method in a specific application scenario provided by an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a control device for a multi-dimensional stereoscopic vibration device provided in an embodiment of the present application.

Detailed ways

The following description and drawings illustrate specific embodiments of the invention sufficiently to enable those skilled in the art to practice them.

It should be clear that the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Optional embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings.

Please refer to FIG. 1 , which provides a schematic flowchart of a method for controlling a multi-dimensional stereoscopic vibration device according to an embodiment of the present application. As shown in Figure 1, the control method of the multi-dimensional stereoscopic vibration device in the embodiment of the present application may include the following steps:

S101. Based on the number of motors, sequentially number each motor in the current multi-dimensional stereo vibration device, and identify the number of corresponding resonance frequencies.

The control method provided in the embodiment of the present application is based on a multi-dimensional three-dimensional vibration device. Two or three linear resonant motors (LRA) are connected together to form a multi-dimensional vibration device, and the volume, weight and cost of the multi-dimensional vibration device are reduced by canceling the two-two contact surfaces, and the compactness is improved; each linear resonant motor LRA can be Designed as one or more resonance frequencies; the frequency response characteristics of each LRA can be consistent or inconsistent; through the three-dimensional coordinate decomposition of the target space vibration vector, the projection vector on each coordinate axis is obtained, and then combined with each coordinate axis The drive signal is designed corresponding to the frequency response characteristics of the LRA.

The multi-dimensional three-dimensional vibration device corresponding to the control method provided in the embodiment of the present application is described as follows:

Multi-dimensional vibration device:

1) Adhere 2 or 3 LRA devices according to different axis directions, as shown in Figure 2, for 2 LRAs, adhere according to the x/y axis direction, the adhesion method can be stacked vertically, as shown in Figure 2(a) It can also be placed horizontally, as shown in Figure 2(b); the direction of the three-dimensional coordinate axes in space is shown in Figure 2(c), where xy is the vibration axis direction of the two LRAs.

2) Adhere the three LRA devices according to the three axis directions of x/y/z respectively, and the adhesion method can be three stacks, as shown in Figure 3(a); or two stacks, one on the side, as shown in the figure 3(b); the direction of the three-dimensional coordinate axes in space is shown in Figure 3(c). Figure 3 only gives two examples of adhesion, and the actual adhesion methods are not limited to these two, and the axes of vibration directions in the examples can also be interchanged, for example, in Figure 3(a), the positions of LRA _y and LRA _z are interchanged, Among them, xyz are the vibration axis directions of the three LRAs respectively.

3) Optimized design scheme, the casing parts of multiple motors in contact with each other can save one of the casings, thereby reducing the overall volume, weight and cost, and improving the compactness of the structure. As shown in Figure 4, the definition of LRA The top, bottom, left, right, front, and back are planes a, b, c, d, e, and f respectively. In the stacking mode shown in Figure 4(a), the b plane of LRA _x and the a plane of LRA _y One of them can be omitted if the surfaces are in contact with each other; if the b-surface of LRA _y and the a-surface of LRA _z are in contact with each other, one of them can be omitted.

4) Multiple motors can be designed to have only one resonant frequency, or can be designed to have two or more resonant frequencies, as shown in Figure 5, Figure 5(a), Figure 5(b) and Figure 5(c) respectively The acceleration frequency response characteristic curves of motors designed with 1, 2 and 3 resonant frequencies are given.

5) Multiple motors can be designed to have consistent frequency response characteristics, that is, multiple motors have the same resonance frequency and number of resonance frequencies, or can be designed to have inconsistent frequency response characteristics, including but not limited to resonance between multiple motors The difference in frequency and the number of resonant frequencies increase the richness of vibration when they are combined. For example, LRA _x , LRA _y and LRA _z can all be designed as the acceleration frequency response characteristics shown in Figure 5(a), or can be designed as shown in Figure 5(a), Figure 5(b) and Figure 5(c) The acceleration frequency response characteristics shown.

In the embodiment of the present application, a three-dimensional vibrating device is taken as an example to describe the control method of the proposed multi-dimensional three-dimensional vibrating device. If it is a two-dimensional vibrating device, it is sufficient to cancel the z-axis motor and its related control signals.

In the embodiment of the present application, taking the three-dimensional vibrating device as an example, the motors are numbered LRA _x , LRA _y and LRA _z , and the corresponding numbers of resonance frequencies are l, m, and n respectively, that is, LRA _x has one resonance frequency , respectively denoted as f _x1 , f _x2 ... f _xl ; LRA _y has m resonant frequencies, denoted as f _y1 , f _y2 ... f _ym ; LRA _z has n resonant frequencies, denoted as f _z1 , f _z2 ... f _zn .

In a possible implementation, before sequentially numbering each motor in the current multi-dimensional stereoscopic vibration device based on the number of motors, and identifying the corresponding number of resonance frequencies, the control method provided by the embodiment of the present application further includes The following steps:

S102, setting a time-varying curve of the voltage amplitude of each resonant frequency of each motor.

In the embodiment of this application, taking the three-dimensional vibration device as an example, the voltage amplitude variation curve A(t) of each resonance frequency of the three motors with time is set, that is, the voltage amplitude corresponding to one resonance frequency of LRA _x The change curve with time is A _x1 (t), A _x2 (t)...A _xl (t); the change curve of the voltage amplitude corresponding to the m resonance frequencies of LRA _y with time is A _y1 (t), A _y2 (t)...A _ym (t); the voltage amplitude corresponding to n resonant frequencies of LRA _z varies with time curves are A _z1 (t), A _z2 (t)...A _zn (t).

S103. Construct a driving voltage family corresponding to the motor based on the resonant frequency of each motor, where the driving voltage family includes a sinusoidal driving voltage family and/or a cosine driving voltage family.

In the embodiment of the present application, taking the three-dimensional vibration device as an example, combining the resonant frequency of each motor to construct the sine (or cosine) drive voltage family corresponding to three motors, that is, the sine drive voltage family corresponding to the motor LRA _x is: u _x1 (t)＝A _x1 (t)sin(2πf _x1 t), u _x2 (t)＝A _x2 (t)sin(2πf _x2 t)...u _xl (t)＝A _xl (t)sin(2πf _xl t); the sinusoidal drive voltage family corresponding to the motor LRA _y is: u _y1 (t) = A _y1 (t) sin(2πf _y1 t), u _y2 (t) = A _y2 (t) sin (2πf _y2 t)… u _ym (t)＝A _ym (t)sin(2πf _ym t); the sinusoidal driving voltage family corresponding to the motor LRA _z is: u _z1 (t)＝A _z1 (t)sin(2πf _z1 t), u _z2 ( t)=A _z2 (t) sin(2πf _z2 t)... u _zn (t)=A _zn (t) sin(2πf _zn t).

S104. Perform linear superposition on the driving voltage family of each motor to obtain corresponding driving voltages.

In the embodiment of this application, taking the three-dimensional vibration device as an example, the driving voltage family of each motor is linearly superimposed to obtain the driving voltage of each motor, that is, the driving voltage of LRA _x is

The driving voltage of LRA _y is

The driving voltage of LRA _z is

S105, based on the driving voltage, drive each motor to generate corresponding vibration through the power amplifier circuit.

In the embodiment of the present application, taking the three-dimensional vibration device as an example, the motors LRA _x , LRA _y and LRA _z are respectively driven to vibrate through three independent power amplifier circuits; in addition, if the three motors do not have overlapping resonant frequencies, then It is also possible to combine the driving voltages of the three motors into a total driving voltage u(t)=u _x (t)+u _y (t)+u _z (t), and only use one power amplifier circuit to drive the three motors at the same time; if Only 2 of the 3 motors have a coincident resonant frequency, for example, the resonant frequency f _x1 = f _y1 of LRA _x and LRA _y , while the other resonant frequencies do not coincide, you only need to drive LRA _x and LRA _y separately That is, two power amplifying circuits can be used to drive, for example: one of the power amplifying circuits drives LRA _x , the other drives LRA _y and LRA _z ; or one of the power amplifying circuits drives LRA _y , and the other drives LRA _x and LRA _z .

In a possible implementation manner, driving each motor to generate corresponding vibrations through a power amplifier circuit includes the following steps:

When the current multi-dimensional vibration device is a three-dimensional vibration device, and the number of motors of the three-dimensional vibration device is three, the corresponding motors are driven by three different power amplification circuits to generate corresponding vibrations.

When the current multi-dimensional vibration device is a three-dimensional vibration device, the number of motors of the three-dimensional vibration device is three, three different motors are respectively driven by three independent power amplifiers, and there is no overlapping resonant frequency between the motors, the The driving voltages corresponding to each motor are synthesized into a total driving voltage, and based on the total driving voltage, each motor is driven through the same power amplifier circuit to generate corresponding vibrations.

If the current multi-dimensional vibration device is a three-dimensional vibration device, the number of motors of the three-dimensional vibration device is three, and any two motors in the three motors have overlapping resonant frequencies, then two different power amplifier circuits are used to perform Drive to generate corresponding vibration.

In a possible implementation, before driving each motor to generate corresponding vibration through the power amplifier circuit, the control method provided in the embodiment of the present application further includes the following steps:

In the embodiment of this application, taking the three-dimensional vibration device as an example, by designing the variation curve A(t) of the voltage amplitude of each resonance frequency of the three motors over time, that is, the design curves A _x1 (t), A _x2 (t)…A _xl (t); A _y1 (t), A _y2 (t)…A _ym (t); A _z1 (t), A _z2 (t)…A _zn (t), can achieve very rich multi-dimensional vibration experience.

In a possible implementation, the vibration of the motor is controlled by a spatial vibration vector. Before the step of encoding the motor, the control method provided in the embodiment of the present application further includes the following steps:

According to the projection decomposition model of three-dimensional coordinates, the spatial vibration vector is decomposed into a first projection vector, a second projection vector and a third projection vector of xyz axes.

In the embodiment of the present application, taking the three-dimensional vibration device as an example, according to the projection decomposition rule of three-dimensional coordinates, the vibration in any axis direction of three-dimensional space can be decomposed into xyz three-axis vibration, that is, the space vibration vector a can be decomposed into the projection of xyz axis Vectors a _x , a _y and a _z . The specific decomposition process 1 is shown in Figure 6, and the decomposition steps are:

Step a: First calculate the projection vector a _xy of the space vibration vector a on the xy axis plane and the projection vector a _xz of the space vibration vector a on the xz axis plane respectively, the calculation formula is: a _xy = acosγ _xy , a _xz = acosγ _xz , In the formula, γ _xy and γ _xz are the angles between the spatial vibration vector a and the xy-axis plane and the xz-axis plane respectively;

Step b: Calculate the projection vectors a _x , a y and a z of the projection vectors a _xy and a _xz on the x, _y and _z axes respectively. The calculation formula is: a _x = a _xy cosγ _x , a _y = a _xy cosγ _y , a _z = a _xz cosγ _z , where γ _x and γ _y are the angles between the projection vector a _xy and the x-axis and y-axis respectively, and γ _z is the angle between the projection vector a _xz and the z-axis.

In addition, the process of decomposing the spatial vibration vector a to the xyz axis can also be, as shown in Figure 7, directly calculate its projection vectors a _x , a _y and a _z on the xyz axis according to the spatial vibration vector a, the calculation formula is: a _x = acosγ _ax , a _y = acosγ _ay , a _z = acosγ _az , where γ _ax , γ _ay and γ _az are the angles between the spatial vibration vector a and the x-axis, y-axis and z-axis respectively.

After obtaining the projection vectors a _x , a _y and a _z of the spatial vibration vector a on the xyz axis, select one or more resonance frequencies from the motors of each axis to construct the sine (or cosine) drive voltage, for example, select only Resonant frequencies f _x1 , f _y1 and f _z1 of motors LRA _x , LRA _y and LRA _z , construct sinusoidal driving voltage u _x (t)=a _x sin(2πf _x1 t), u _y (t)=a _y sin( 2πf _y1 t) and u _z (t)=a _z sin(2πf _z1 t); in addition, when the spatial vibration vector a is not constant, but a vector that changes with time, that is, when the spatial vibration vector is expressed as a(t) , according to the aforementioned decomposition steps, similarly, its projection vectors a _x (t), a _y (t) and a _z (t) on the xyz axis that change with time can be obtained, and then use the method described in this step to construct the sinusoidal drive Voltage u _x (t) = a _x (t) sin (2πf _x1 t), u _y (t) = a _y (t) sin (2πf _y1 t) and u _z (t) = a _z (t) sin ( 2πf _z1 t).

After the driving voltages of the motors LRA _x , LRA _y and LRA _z are obtained, each motor is controlled to generate a corresponding three-dimensional vibration through a power amplifier circuit.

The following is a specific example of a control method based on a multi-dimensional three-dimensional vibration device in a specific application scenario, specifically as follows:

Example 1:

Set the time-varying curves A _z1 (t), A _z2 (t)...A _zn (t) of the voltage amplitude of each resonant frequency of the z-axis motor to 0; set the voltage amplitude of each resonant frequency of the x-axis motor to Value change curves over time A _x1 (t), A _x2 (t)...A _xl (t) are all set to sin(2πf ₁ t); the voltage amplitude of each resonance frequency of the y-axis motor changes over time A _y1 (t), A _y2 (t)...A _ym (t) are all set to cos(2πf ₁ t), where f ₁ is the horizontal rotation frequency of the vibration axis, then the vibration axis of the device can be periodically on the xy plane The ground rotates from 0-90 degrees, providing a vibration experience of plane rotation.

Example 2:

Keep the A _x1 (t), A _x2 (t)...A _xl (t) and A _y1 (t), A _y2 (t)...A _ym (t) waveforms of the x/y axis unchanged, and change the A of the z axis _z1 (t), A _z2 (t)...A _zn (t) waveforms are all set to sin(2πf ₂ t), where f ₂ is the vertical oscillation frequency of the vibration axis, then the periodic rotation of the vibration axis in three dimensions can be realized , providing a three-dimensional rotating vibration experience.

As shown in FIG. 8 , it is a block diagram of a hardware drive system used in the control method in a specific application scenario provided by the embodiment of the present application.

Input signal 1:

The input signal is the spatial vibration vector a(t) designed by the user according to the resonance frequencies of the motors of the constructed multi-dimensional vibration device and the stereo vibration effect to be realized, or the voltage amplitude of each resonance frequency of the motor Variation curves over time A _x1 (t), A _x2 (t)...A _xl (t); A _y1 (t), A _y2 (t)...A _ym (t) and A _z1 (t), A _z2 ( t)... A _zn (t).

Algorithm processing 2:

The algorithm processing module performs signal processing on the input signal as described in steps 1) to 9) of the control method, and drives the motor to generate expected three-dimensional vibration feedback.

Vibration signal 3:

The vibration signal is the motor drive voltage signal obtained after the algorithm processing module processes the input signal.

Power amplification 4:

The power amplifier selected here is usually an amplifier that performs power matching on the input signal, such as Class A, Class B, Class AB, or Class D drivers. The input signal can be an analog signal or a customized digital signal. .

Multi-dimensional vibration device 5:

The multi-dimensional three-dimensional vibrating device is a vibrating device obtained by a plurality of motors using the adhesion method described in this design, and each motor is a linear motor (Linear Resonant Actuator) device body for generating tactile vibration feedback.

In the embodiment of the present application, the control method is applied to a multi-dimensional vibration device composed of multiple motors, each motor in the multi-dimensional vibration device has a single-dimensional vibration, and two motors are combined to form a two-dimensional vibration device. A vibration device, three motors are combined to form a three-dimensional vibration device. The control method includes: based on the number of motors, sequentially number each motor in the current multi-dimensional vibration device, and identify the corresponding number of resonant frequencies; set each The voltage amplitude of each resonance frequency of a motor varies with time; the drive voltage family corresponding to the motor is constructed based on the resonance frequency of each motor, and the drive voltage family includes a sinusoidal drive voltage family and/or a cosine drive voltage family; for each The driving voltage groups of the motors are respectively linearly superimposed to obtain corresponding driving voltages; and based on the driving voltages, each motor is driven to generate corresponding vibrations through a power amplifier circuit. Using the control method provided in the embodiment of the present application, through the multi-dimensional stereo vibration control method provided in the embodiment of the present application, and the multi-dimensional stereo vibration device corresponding to the control method, the restoration of the vibration vector in any axis direction in three-dimensional space can be realized, and through Controlling the change of the vibration vector in real time can realize multi-dimensional vibration feedback and improve the vibration experience.

The following is an embodiment of the control device of the multi-dimensional vibration device of the present invention, which can be used to implement an embodiment of the control method of the multi-dimensional vibration device of the present invention. For the details not disclosed in the embodiment of the control device of the multi-dimensional vibration device of the present invention, please refer to the embodiment of the control method of the multi-dimensional vibration device of the present invention.

Please refer to FIG. 9 , which shows a schematic structural diagram of a control device for a multi-dimensional stereoscopic vibration device provided by an exemplary embodiment of the present invention. The control device of the multi-dimensional three-dimensional vibration device can be implemented as all or a part of the terminal through software, hardware or a combination of the two. The control device is applied to a multi-dimensional three-dimensional vibration device composed of multiple motors, each motor in the multi-dimensional three-dimensional vibration device has a single-dimensional vibration, two motors are combined to form a two-dimensional three-dimensional vibration device, three motors are combined A three-dimensional vibration device is formed. The control device of the multi-dimensional stereo vibration device includes a numbering and identification module 10 , a setting module 20 , a construction module 30 , a superposition module 40 and a control module 50 .

Specifically, the numbering and identification module 10 is used to sequentially number each motor in the current multi-dimensional stereo vibration device based on the number of motors, and identify the corresponding number of resonance frequencies;

The setting module 20 is used to set the variation curve of the voltage amplitude of each resonant frequency of each motor as a function of time;

A construction module 30, configured to construct a driving voltage family corresponding to the motor based on the resonant frequency of each motor, the driving voltage family including a sinusoidal driving voltage family and/or a cosine driving voltage family;

The superposition module 40 is used to linearly superpose the driving voltage family of each motor constructed by the construction module 30 to obtain the corresponding driving voltage;

The control module 50 is configured to drive each motor to generate corresponding vibrations through a power amplifier circuit based on the driving voltage obtained by the superposition module 40 .

Optionally, the control module 50 is specifically used for:

Optionally, the device also includes:

The configuration module (not shown in FIG. 9 ) is used to configure the voltage amplitude of each resonant frequency changing with time for each motor before the control module 50 drives each motor to generate corresponding vibration through the power amplification circuit. Curve.

Optionally, the device also includes:

The decomposition module (not shown in Fig. 9) is used for controlling the vibration of the motor through the spatial vibration vector, before the step of encoding the motor, according to the projection decomposition model of the three-dimensional coordinates, the spatial vibration vector is decomposed into xyz axis The first, second, and third projection vectors of .

Optionally, the device also includes:

The matching module (not shown in FIG. 9 ) is used to serially number each motor in the current multi-dimensional stereoscopic vibration device based on the number of motors in the numbering and identification module 10, and identify the corresponding number of resonance frequencies, Based on the number of motors, a corresponding number of motors is matched to the current multi-dimensional stereo vibration device.

It should be noted that, when the control device of the multi-dimensional vibration device provided by the above-mentioned embodiments executes the control method of the multi-dimensional vibration device, it only uses the division of the above-mentioned functional modules for illustration. In practical applications, the above-mentioned Function allocation is accomplished by different functional modules, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the control device for the multi-dimensional vibration device provided in the above embodiment and the embodiment of the control method for the multi-dimensional vibration device belong to the same concept, and the implementation process thereof is detailed in the embodiment of the control method for the multi-dimensional vibration device, and will not be repeated here.

In the embodiment of the present application, the control device is applied to a multi-dimensional vibration device composed of multiple motors, each motor in the multi-dimensional vibration device has a single-dimensional vibration, and two motors are combined to form a two-dimensional vibration device. Vibration device, three motors are combined to form a three-dimensional vibration device. The numbering and identification modules are used to serially number each motor in the current multi-dimensional vibration device based on the number of motors, and mark the corresponding number of resonant frequencies; set the module It is used to set the variation curve of the voltage amplitude of each resonant frequency of each motor with time; the construction module is used to construct the driving voltage family of the corresponding motor based on the resonant frequency of each motor, and the driving voltage family includes sinusoidal driving voltage family and /or cosine driving voltage family; the superposition module is used to linearly superpose the driving voltage family of each motor constructed by the structural module to obtain the corresponding driving voltage; and the control module is used to obtain the driving voltage based on the superposition module through power amplification Circuits that drive each motor to generate corresponding vibrations. Using the control device provided in the embodiment of the application, the multi-dimensional vibration control device provided in the embodiment of the application can realize the restoration of the vibration vector in any axis direction in three-dimensional space, and by controlling the change of the vibration vector in real time, the multi-dimensional vibration control device can be realized. Vibration feedback improves the vibration experience.

In one embodiment, a multi-dimensional vibration device is proposed, the vibration device includes: a plurality of motors, each motor has a single dimension of vibration, if the number of motors is two, then the two motors are combined to form A two-dimensional vibration device; if the number of motors is three, three motors form a three-dimensional vibration device.

In one embodiment, a terminal device is proposed, the terminal device includes a multi-dimensional stereo vibration device, and the multi-dimensional stereo vibration device is configured to execute the above-mentioned control method.

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 realized by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods. Wherein, the aforementioned storage medium may be a nonvolatile storage medium such as a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM).

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above examples only express several implementations of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims

A control method for a multi-dimensional vibration device, characterized in that the control method is applied to a multi-dimensional vibration device composed of a plurality of motors, each motor in the multi-dimensional vibration device has a single-dimensional vibration, two Two motors are combined to form a two-dimensional three-dimensional vibration device, and three motors are combined to form a three-dimensional three-dimensional vibration device. The method includes:

Based on the number of motors, number each motor in the current multi-dimensional three-dimensional vibration device in turn, and identify the number of corresponding resonance frequencies;

Set the voltage amplitude variation curve of each resonance frequency of each motor with time;

Constructing a drive voltage family corresponding to the motor based on the resonant frequency of each motor, the drive voltage family comprising a sinusoidal drive voltage family and/or a cosine drive voltage family;

The driving voltage family of each motor is linearly superimposed to obtain the corresponding driving voltage;

Based on the driving voltage, each motor is driven to generate corresponding vibration through the power amplifier circuit.
The method according to claim 1, wherein said driving each motor to generate corresponding vibration through the power amplifier circuit comprises:

When the current multi-dimensional vibration device is a three-dimensional vibration device, and the number of motors in the three-dimensional vibration device is three, three different power amplification circuits drive corresponding motors to generate corresponding vibrations.
The method according to claim 1, wherein said driving each motor to generate corresponding vibration through the power amplification circuit comprises:

The current multi-dimensional vibration device is a three-dimensional vibration device, the number of motors in the three-dimensional vibration device is three, three different motors are respectively driven by three independent power amplifiers, and there is no overlapping resonance between the motors frequency, the driving voltages corresponding to each motor are synthesized into a total driving voltage, and based on the total driving voltage, each motor is driven through the same power amplifier circuit to generate corresponding vibrations.
The method according to claim 1, wherein said driving each motor to generate corresponding vibration through the power amplification circuit comprises:

When the current multi-dimensional vibration device is a three-dimensional vibration device, the number of motors of the three-dimensional vibration device is three, and any two motors in the three motors have overlapping resonant frequencies, then two different power The amplifying circuits are respectively driven to generate corresponding vibrations.
The method according to claim 1, characterized in that, before the power amplification circuit is used to drive each motor to generate corresponding vibrations, the method further comprises:

Configure the time-varying curve of the voltage amplitude of each resonant frequency for each motor.
The method according to claim 1, wherein the vibration of the motor is controlled by a spatial vibration vector, and before the step of encoding the motor, the method further comprises:

According to the projection decomposition model of three-dimensional coordinates, the spatial vibration vector is decomposed into a first projection vector, a second projection vector and a third projection vector of xyz axes.
The method according to claim 1, characterized in that, before the number of motors in the current multi-dimensional stereo vibration device is sequentially numbered based on the number of motors, and the number of corresponding resonance frequencies is identified, the method further include:

Based on the number of motors, a corresponding number of motors is matched to the current multi-dimensional stereo vibration device.
A control device for a multi-dimensional three-dimensional vibration device, the control device is applied to a multi-dimensional three-dimensional vibration device composed of multiple motors, each motor in the multi-dimensional three-dimensional vibration device has a single-dimensional vibration, and two motors are combined to form Two-dimensional three-dimensional vibration device, three motors are combined to form a three-dimensional three-dimensional vibration device, characterized in that the device includes:

The numbering and identification module is used to sequentially number each motor in the current multi-dimensional three-dimensional vibration device based on the number of motors, and identify the number of corresponding resonance frequencies;

The setting module is used to set the variation curve of the voltage amplitude of each resonant frequency of each motor as a function of time;

A construction module, configured to construct a driving voltage family corresponding to the motor based on the resonant frequency of each motor, the driving voltage family including a sinusoidal driving voltage family and/or a cosine driving voltage family;

A superposition module is used to linearly superpose the driving voltage family of each motor constructed by the structural module to obtain the corresponding driving voltage;

The control module is configured to drive each motor to generate corresponding vibrations through a power amplification circuit based on the driving voltage obtained by the superposition module.
A multi-dimensional vibration device, characterized in that the vibration device comprises:

Multiple motors, each motor has a single-dimensional vibration, if the number of motors is two, then two motors will be combined to form a two-dimensional vibration device; if the number of motors is three, then three motors will form a three-dimensional vibration device Stereo vibration device.
A terminal device, characterized by comprising a multi-dimensional three-dimensional vibration device configured to execute the control method described in any one of claims 1-7.